Instruction: Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.

{"steps": 12, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [121.5, 43.2, 1.1], "threshold_label": "medium"}


Instruction: I’m picking someone up. Please drive to the streetlight by the mailbox.

{"steps": 13, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Please turn right at the intersection ahead, then drive to the streetlight just before the next intersection.

{"steps": 9, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please go straight through the traffic lights ahead and pull up next to the speed limit sign.

{"steps": 7, "actions": ["EndTask(stopped)", "EndTask(stopped)", "EndTask(stopped)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please turn left at the traffic light ahead and go straight until the next traffic light.

{"steps": 9, "actions": ["EndTask(stopped)", "EndTask(stopped)", "EndTask(stopped)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please keep driving straight ahead until the next traffic light.

{"steps": 21, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please go straight at the intersection ahead until the next streetlight.

{"steps": 8, "actions": ["EndTask(stopped)", "EndTask(stopped)", "EndTask(stopped)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please turn right at the intersection ahead, then go straight to the traffic light at the next intersection.

{"steps": 9, "actions": ["EndTask(stopped)", "EndTask(stopped)", "EndTask(stopped)", "Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Drive to the first street lamp after crossing the intersection

Instruction: Please go straight through this intersection, stay in this lane, and stop at the very first streetlight you see along this roadside.

{"steps": 5, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please go straight at this intersection until the next traffic light.

{"steps": 6, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please turn right at the intersection ahead and drive to the next streetlight.

{"steps": 7, "actions": ["EndTask(stopped)", "EndTask(stopped)", "EndTask(stopped)", "Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please turn left at the intersection ahead and drive to the next streetlight.

{"steps": 9, "actions": ["EndTask(stopped)", "EndTask(stopped)", "EndTask(stopped)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please go straight along the current road until you reach the speed limit sign.

{"steps": 29, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please go straight through the intersection ahead and drive to the nearest tree in front.

{"steps": 8, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please drive straight through the traffic light and then stop next to the second streetlight.

{"steps": 11, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Drive to the last lamp before the intersection

Instruction: Please follow the current lane and stop at the final streetlight situated immediately before the intersection.

{"steps": 5, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please go straight to the final streetlight before you reach the intersection.

{"steps": 4, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please drive to the second streetlight after passing through this intersection.

{"steps": 6, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please drive to the lamppost next to the gate of the terracotta-colored house.

{"steps": 4, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please drive to the tree in front of the house ahead.

{"steps": 4, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please keep going straight on this road until you reach the final lamppost before the next intersection.

{"steps": 12, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Do you see the church ahead of the slide? If yes, please walk straight to the church door.

{"steps": 15, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "EndTask(success)"]}


See the streetlight past the two cars? Walk to it.

Instruction: Do you see the streetlight just beyond the two cars in front of you? Please walk up to the streetlight.

{"steps": 9, "actions": ["Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Meeting my friend at the green belt ahead. Please go there.

Instruction: I made plans with my friend to meet at the green belt up ahead. Please walk over there.

{"steps": 7, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Can you see the storefront marked by the red box? Please walk forward to the front of this shop.

{"steps": 14, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: I want to eat here, can you see the place marked with the red box? Walk over there.

{"steps": 13, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Rotate(right, 90)", "EndTask(success)"]}


Instruction: Please help me find the speed limit sign and walk over to it.

{"steps": 5, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Is there a stop sign ahead? Walk over there—I want to take a closer look.

{"steps": 11, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 3.0)", "EndTask(success)"]}


Walk to the soccer goal under the Coca-Cola sign.

Instruction: Can you find the soccer goal under the Coca-Cola sign? If so, please walk over there.

{"steps": 5, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Walk to the nearest lamp post by the parking sign in the soccer field.

Instruction: Can you walk to the lamp post closest to the parking sign inside the soccer field?

{"steps": 12, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Rotate(left, 90)", "Rotate(left, 90)", "EndTask(success)"]}


Red box shop? Walk to it.Go to the second office hallway ahead and wait.

Instruction: See the two office hallways ahead? Walk to the second one—I need to wait for someone there.

{"steps": 8, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Can you see the tree by the red frame? Walk over there. I need to wait for a friend.

{"steps": 7, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Walk to the security booth in front of this lawn. I need to find the guard.

{"steps": 7, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


See the Coca-Cola billboard? Walk under it.

Instruction: Can you see the Coca-Cola billboard? Please walk underneath it.

{"steps": 5, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Walk to the row of trees by the red frame

{"steps": 7, "actions": ["Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "EndTask(success)"]}


Go to the traffic light by the red frame.

Instruction: Walk to the traffic light under the red frame.

{"steps": 6, "actions": ["Rotate(right, 90)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Go to the red-framed street lamp in the park.

Instruction: Can you see the street lamp in the park? I marked it with a red frame. Walk over there.

{"steps": 3, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Can you see the utility pole in the image? Walk underneath it

{"steps": 10, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Can you see the house inside the red frame? That's my home. Walk over there.

{"steps": 10, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 3.0)", "EndTask(success)"]}


Wait by the red-framed pole near the gas station.

Instruction: Can you see the storefront marked by the red box? Please walk forward to the front of this shop.

{"steps": 11, "actions": ["Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Walk to the city lamp. You can turn and move in any direction.

{"steps": 4, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 12, "actions": ["Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [306.0, 122.2, 1.0], "threshold_label": "medium"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 12, "actions": ["Move(forward, 10.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [88.2, 186.9, 2.1], "threshold_label": "medium"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 19, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [11.6, 190.1, 1.0], "threshold_label": "loose"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 6, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [-24.8, 169.1, 1.0], "threshold_label": "loose"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 13, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [6.64, 93.6, 0.95], "threshold_label": "loose"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 9, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [-36.42, 68.74, 1.39], "threshold_label": "loose"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 8, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [151.65, -64.72, 0.99], "threshold_label": "loose"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 10, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [130.71, -142.66, 1.14], "threshold_label": "loose"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 13, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [26.33, -143.15, 0.95], "threshold_label": "loose"}


Instruction: Walk to the target point. You can turn and move in any direction.

{"steps": 15, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}

{"type": "distance_to_waypoint", "target_location": [-15.4, -184.84, 2.34], "threshold_label": "loose"}


Instruction: Walk to the house behind the car.You can turn and move in any direction.

{"steps": 13, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Walk to the street light near the tree. You can turn and move in any direction.

{"steps": 12, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Walk to the gas station. You can turn and move in any direction.

{"steps": 8, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Walk to the tree positioned in the middle section of the straight wire fence.You can turn and move in any direction.

{"steps": 7, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Walk to the stopsign. You can turn and move in any direction.

{"steps": 16, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Walk to the traffic light. You can turn and move in any direction.

{"steps": 6, "actions": ["Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: Walk to the area near the yellow-roofed bungalow. You can turn and move in any direction.

{"steps": 10, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Please walk to Walk toward the streetlight opposite the house with the yellow roof. You can turn and move in any direction.

{"steps": 13, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]}


Instruction: Walk to the speed limit station. You can turn and move in any direction.

{"steps": 6, "actions": ["Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]}


Instruction: I'm planning to eat a tomato in bed. Could you go get a tomato and wait by my bedside?

{"steps": 48, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Pick(Tomato)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Tomato", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I need to use the toilet. Please go to the bathroom, turn on the toilet, and then return to the bedroom.

{"steps": 25, "actions": ["Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Manipulate(Toilet, open)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Toilet", "state": "isOpen", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}]


Instruction: I'd like to take a nap on the sofa. Please bring a pillow and wait for me next to the sofa.

{"steps": 37, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Pick(Pillow)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pillow", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I'm using my phone on the sofa. Please take my phone and wait for me next to the sofa.

{"steps": 39, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(CellPhone)", "Rotate(left, 90)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I'll finish eating soon and I need tissues. Please go to the restroom, get some tissues, and wait for me near a dining table.

{"steps": 35, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(ToiletPaper)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "ToiletPaper", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}]


Instruction: I'm going to serve the rice. Please pick up your bowl and stand near the counter.

{"steps": 29, "actions": ["Rotate(right, 90)", "Tilt(down, 30)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(Bowl)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bowl", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "CounterTop", "distance": 1.5}]


Instruction: I need to prepare a meal. Please take the an egg out of the refrigerator and stand near it.

{"steps": 28, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Move(forward, 0.5)", "Pick(Egg)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Egg", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}]


Instruction: I'd like some water. Please go to the kitchen and get a cup, then wait for me near the sofa.

{"steps": 34, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(Cup)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Cup", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I need to use a spatula. Please pick up the spatula and stand near the refrigerator.

{"steps": 29, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Spatula)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Spatula", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}]


Instruction: I need a spoon. Please pick up the spoon and stand near the sofa.

{"steps": 41, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Ladle)", "Move(backward, 0.25)", "Move(backward, 0.25)", "Move(backward, 0.25)", "Move(backward, 0.25)", "Move(backward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Ladle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I need your help to pick up the basketball from the bedroom floor and wait for me by the TV cabinet.

{"steps": 17, "actions": ["Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(BasketBall)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "TVStand", "distance": 1.5}]


Instruction: I want to check the time. Please pick up a watch from the bedroom and wait for me by the refrigerator.

{"steps": 38, "actions": ["Tilt(down, 30)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Watch)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Watch", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}]


Instruction: I'd like to do some organization. Please pick up a book and stand next to the TV cabinet.

{"steps": 25, "actions": ["Tilt(down, 30)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Book)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Book", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "TVStand", "distance": 1.5}]


Instruction: I'd like to do some tidying up. Please pick up the pencil from the bedroom and stand near the TV cabinet.

{"steps": 21, "actions": ["Tilt(down, 30)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Pencil)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pencil", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "TVStand", "distance": 1.5}]


Instruction: I need you to get me a candle and wait for me next to the refrigerator.

{"steps": 40, "actions": ["Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)", "Pick(Candle)", "Rotate(left, 90)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Candle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}]


Instruction: I need you to bring me a candle and wait for me by the bed.

{"steps": 35, "actions": ["Tilt(down, 30)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Candle)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Candle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I want to wash the basketball. Please bring the basketball to the faucet and wait for me.

[{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Faucet", "distance": 1.5}]


Instruction: I'm getting ready for bed. Please bring the alarm clock over, and wait for me by my bed.

{"steps": 42, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(AlarmClock)", "Move(backward, 0.25)", "Move(backward, 0.25)", "Move(backward, 0.25)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "AlarmClock", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I'd like to do some cleaning. Please pick up the spray bottle and wait for me at the side table.

{"steps": 37, "actions": ["Tilt(down, 30)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Pick(SprayBottle)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "SprayBottle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "SideTable", "distance": 1.5}]


Instruction: I'd like to do some cleaning. Please pick up the plunger and wait for me by the sink.

{"steps": 17, "actions": ["Tilt(down, 30)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Plunger)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Plunger", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "SinkBasin", "distance": 1.5}]


Instruction: I'm a bit thirsty and want some water. Could you please bring a cup from the kitchen to the bedroom?

{"steps": 34, "actions": ["Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(Mug)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Mug", "room_type": "Bedroom"}]


Put book in living room, stand by dining table

Instruction: I left a book in my room. Please pick up a book, place it in the living room, and then stand next to the dining table.

{"steps": 50, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Book)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_in_room", "object_type": "Book", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.35}]


Turn on computer screen, wait by dining table

Instruction: Could you go and turn on the computer screen in the room? I want to check if it's damaged. Then please wait for me near any of the dining tables in the bedroom.

{"steps": 14, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Laptop, open)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.33}, {"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}]


Bring bread to living room, wait by sofa

Instruction: I'm a bit hungry. Please bring one loaf of bread from the kitchen to the living room for me, and wait beside the sofa.

{"steps": 25, "actions": ["Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Bread)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.42}, {"type": "object_state", "object_type": "Bread", "state": "isPickedUp", "value": true}]


Bring candle to kitchen, wait by counter

Instruction: I need a candle for cooking in the kitchen. Please bring one candle from the living room and wait by any counter.

{"steps": 52, "actions": ["Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Tilt(down, 30)", "Move(forward, 0.5)", "Pick(Candle)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "CounterTop", "distance": 1.37}, {"type": "object_state", "object_type": "Candle", "state": "isPickedUp", "value": true}]


Instruction: Can you bring the empty toilet paper holder from the bathroom to the bedroom? I'll refill it with paper.

{"steps": 30, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(ToiletPaper)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_in_room", "object_type": "ToiletPaper", "room_type": "Bedroom"}, {"type": "object_state", "object_type": "ToiletPaper", "state": "isPickedUp", "value": true}]


Instruction: I'm going back to my room to sleep. Please come out of the bathroom and then go back to the bedroom.

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

[{"type": "agent_in_room", "room_type": "Bedroom"}]


Put bowl in kitchen, bring pen to living room

Instruction: I'm done eating. Please put the bowl back in the kitchen and bring my pen from the kitchen to the living room.

{"steps": 44, "actions": ["Tilt(down, 30)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Bowl)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(CounterTop)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Pen)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Bowl", "room_type": "Kitchen"}, {"type": "object_in_room", "object_type": "Pen", "room_type": "LivingRoom"}]


Instruction: Please go to the bedroom.

{"steps": 31, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}]


Instruction: I want to read the newspaper when I use the bathroom. Please bring the newspaper to me in the bathroom

{"steps": 31, "actions": ["Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Newspaper)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "object_in_room", "object_type": "Newspaper", "room_type": "Bathroom"}, {"type": "object_state", "object_type": "Newspaper", "state": "isPickedUp", "value": true}]


Instruction: Can you locate my bedroom? If so, please go ahead and step inside.

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

[{"type": "agent_in_room", "room_type": "Bedroom"}]


Instruction: An apple a day keeps the doctor away. Please grab one apple from the kitchen, bring it to my bedroom, and put it on any dresser. I'll eat it later.

{"steps": 21, "actions": ["Tilt(down, 30)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Apple)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Place(Dresser)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Apple", "room_type": "Bedroom"}, {"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "Dresser", "value": "true"}]


Instruction: Can you turn on one phone and bring it to the bathroom? I want to use it while I'm in there.

{"steps": 46, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "ChangeState(CellPhone, on)", "Pick(CellPhone)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "CellPhone", "room_type": "Bathroom"}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}]


Instruction: Can you see any toilet paper? If so, please bring one roll to the kitchen; the kitchen is out of paper.

{"steps": 21, "actions": ["Pick(ToiletPaper)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "ToiletPaper", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "ToiletPaper", "state": "isPickedUp", "value": true}]


Instruction: I'll go eat soon. Please wait for me at any kitchen table first.

{"steps": 24, "actions": ["Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.44}]


Instruction: Please take one book from the bedroom to the kitchen. It might help me with cooking.

{"steps": 42, "actions": ["Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(Book)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "Book", "state": "isPickedUp", "value": true}]


Instruction: As my robot, please clean a bed before going to sleep, then leave my bedroom and go to the kitchen.

{"steps": 26, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Bed, clean)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "EndTask(success)"]}

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


Instruction: I'm just kidding. Please hide the watch on the kitchen counter and then quickly go to the bedroom.

{"steps": 44, "actions": ["Pick(Watch)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Place(CounterTop)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "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)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_in_room", "object_type": "Watch", "room_type": "Kitchen"}, {"type": "object_in_receptacle", "object_type": "Watch", "receptacle_type": "CounterTop", "value": "true"}]


Instruction: Please break the vase, then quickly go to the bathroom.

{"steps": 8, "actions": ["Manipulate(Vase, break)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "object_state", "object_type": "Vase", "state": "isBroken", "value": true}]


Instruction: My friend is coming over to hang out. Please grab a baseball bat for me and then wait for him in the living room.

{"steps": 52, "actions": ["Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(BaseballBat)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "BaseballBat", "state": "isPickedUp", "value": true}, {"type": "object_in_room", "object_type": "BaseballBat", "room_type": "LivingRoom"}]


Slice tomato, take piece to kitchen table

Instruction: I'd like to have some fresh snacks. Please go to the kitchen, open the refrigerator, cut the tomatoes into chunks, close the refrigerator, and then take one piece to a table in the kitchen.

{"steps": 12, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Manipulate(Tomato, slice)", "Pick(Tomato)", "Manipulate(Fridge, close)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Tomato", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}]


Turn off floor lamp, tidy bed, turn on TV

Instruction: I'm getting ready to sleep. I'd like to lie in bed and watch some TV before I go to sleep. Please go to the living room and turn off one floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.

{"steps": 33, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "ChangeState(FloorLamp, off)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Manipulate(Bed, clean)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "ChangeState(Television, on)", "EndTask(success)"]}

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


Turn off lamp, turn on phone, stand by bed

Instruction: I've finished my work and am going to rest in bed. Please turn off a bedside lamp, turn on a mobile phone, and stand by the bed.

{"steps": 39, "actions": ["Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "ChangeState(DeskLamp, off)", "ChangeState(CellPhone, on)", "Pick(CellPhone)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I'm getting ready for breakfast. Please go to the kitchen, turn on the toaster, and turn on the coffee machine for me.

{"steps": 24, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "ChangeState(CoffeeMachine, on)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "ChangeState(Toaster, on)", "EndTask(success)"]}

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


Instruction: I want to eat an egg. Please go to the kitchen, open the refrigerator, take out an egg, close the refrigerator, and then place it next to the pot.

{"steps": 26, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Manipulate(Fridge, open)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Egg)", "Manipulate(Fridge, close)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Egg", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "agent_near_object", "object_type": "Pan", "distance": 1.5}]


Instruction: I want to wash the pillow. Please pick up the pillow and bring it to the bathroom.

{"steps": 39, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(Pillow)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Pillow", "room_type": "Bathroom"}]


Instruction: I want to read before going to sleep. Please find one book and bring it to the bedroom.

{"steps": 35, "actions": ["Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Book)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Book", "room_type": "Bedroom"}]


Instruction: My basketball is dirty and I want to wash it. Please pick up one basketball and navigate to the bathroom.

{"steps": 40, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(BasketBall)", "Rotate(left, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "BasketBall", "room_type": "Bathroom"}]


Instruction: I am going out to play soon and need to clean my gear first. Please take the tennis racket and carry it to the bathroom for me.

{"steps": 46, "actions": ["Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(TennisRacket)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "TennisRacket", "room_type": "Bathroom"}]


Instruction: I am feeling a bit hungry. Please pick up one tomato and carry it to the bedroom.

{"steps": 22, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Pick(Tomato)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Tomato", "room_type": "Bedroom"}]


Instruction: I want to decorate my bedroom. Please pick up one vase and relocate it to the bedroom.

{"steps": 30, "actions": ["Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Vase)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Vase", "room_type": "Bedroom"}]


Instruction: I am hungry. Please find the bread and carry it into the bedroom for me.

{"steps": 22, "actions": ["Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Pick(Bread)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Bread", "room_type": "Bedroom"}]


Instruction: I am planning to organize some items in the kitchen. Please pick up the box and move it to the kitchen for me.

{"steps": 33, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Box)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Box", "room_type": "Kitchen"}]


Instruction: I just finished my snack and need to tidy up. Please pick up one bowl and carry it over to the kitchen.

{"steps": 67, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Bowl)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Bowl", "room_type": "Kitchen"}]


Instruction: I would like to have some fruit before I go to sleep. Please pick up the apple and carry it to the bedroom.

{"steps": 33, "actions": ["Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Apple)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Apple", "room_type": "Bedroom"}]


Instruction: I want to decorate the kitchen. Please pick up one statue and move it to the kitchen.

{"steps": 42, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(Statue)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Statue", "room_type": "Kitchen"}]


Instruction: I want to read the newspaper before going to sleep. Please pick up one newspaper and carry it to the bedroom.

{"steps": 42, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Newspaper)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Newspaper", "room_type": "Bedroom"}]


Instruction: I want to have a drink before going to sleep. Please pick up the wine bottle and move it to the bedroom for me.

{"steps": 35, "actions": ["Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(WineBottle)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "WineBottle", "room_type": "Bedroom"}]


Instruction: I think a teddy bear needs a wash. Please pick one up and carry it to the bathroom for me.

{"steps": 30, "actions": ["Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Pick(TeddyBear)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "TeddyBear", "room_type": "Bathroom"}]


Instruction: I am feeling thirsty and want some water before I go to sleep. Please fill the cup with water and then carry it to the bedroom for me.

{"steps": 25, "actions": ["Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Manipulate(Cup, water, fillwithliquid)", "Pick(Cup)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Cup", "room_type": "Bedroom"}, {"type": "object_state", "object_type": "Cup", "field": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: I'm thirsty. Please fill a bowl with water and wait beside the table.

{"steps": 37, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Manipulate(Bowl, water, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bowl", "state": "isFilledWithLiquid", "value": true}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}]


Instruction: I need to use the bathroom. Please open the toilet lid and wait beside it.

{"steps": 44, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Toilet, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Toilet", "state": "isOpen", "value": true}, {"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "agent_near_object", "object_type": "Toilet", "distance": 1.5}]


Instruction: The toilet is dirty. Please pick up the plunger and wait beside the toilet while I clean it.

{"steps": 50, "actions": ["Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(Plunger)", "Rotate(left, 90)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Plunger", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "agent_near_object", "object_type": "Toilet", "distance": 1.5}]


Instruction: A basketball on the floor is blocking the way. Please pick it up and stand by a bed.

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

[{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]

The basketball on the floor is blocking the way. Please pick it up and stand by the bed.


Instruction: I want to play the basketball. Please bring a basketball in the Bedroom.

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

[{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "BasketBall", "distance": 1.5}]


Instruction: I'm going to sleep, but a bed is messy. Please tidy a bed and wait beside it.

{"steps": 15, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Manipulate(Bed, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 2}]


Instruction: I'm ready to work. Please turn on a computer and wait beside it.

{"steps": 17, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.25)", "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}, {"type": "agent_near_object", "object_type": "Laptop", "distance": 1.5}]


Instruction: I plan to eat bread. Please slice a bread and wait beside a table.

{"steps": 23, "actions": ["Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Manipulate(Bread, slice)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": true}, {"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}]


Instruction: I'm ready to work. Please pick up the phone from the sofa and wait beside the sofa.

{"steps": 22, "actions": ["Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(CellPhone)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I want to read a book. Please pick up a book.

{"steps": 67, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Pick(Book)", "EndTask(success)"]}

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


Put RemoteControl on DiningTable, Wait by Table

Instruction: I'm going to have a meal. Please move the RemoteControl from the sofa to the dining table, then wait beside the table.

{"steps": 60, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(RemoteControl)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "RemoteControl", "receptacle_type": "DiningTable", "value": "true"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}]


Instruction: A BaseballBat fell on the floor. Please pick up the BaseballBat and wait beside the dresser.

{"steps": 74, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Pick(BaseballBat)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "BaseballBat", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Dresser", "distance": 1.5}]


Instruction: The bed is dirty. Please tidy the bed and wait beside it.

{"steps": 19, "actions": ["Move(right, 0.25)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(backward, 0.25)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 1.0)", "Manipulate(Bed, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Turn On CoffeeMachine, Wait by CoffeeMachine

Instruction: I want to make coffee. Please turn on a coffee machine and wait beside it.

{"steps": 13, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "ChangeState(CoffeeMachine, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CoffeeMachine", "state": "isToggled", "value": true}, {"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "CoffeeMachine", "distance": 1.5}]


Instruction: A dishsponge is broken. Please throw it into a trash can, then wait beside the trash can.

{"steps": 35, "actions": ["Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(DishSponge)", "Move(right, 0.25)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "DishSponge", "receptacle_type": "GarbageCan", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "GarbageCan", "distance": 1.5}]


Instruction: I will read the newspaper on the sofa later. Please pick up the newspaper on the sofa and wait beside the sofa.

{"steps": 28, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Pick(Newspaper)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Newspaper", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I want to watch TV. Please turn on a TV, then wait beside a sofa.

{"steps": 22, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "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, 0.5)", "ChangeState(Television, on)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Television", "state": "isToggled", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I want to work. Please turn on a desk lamp, then wait beside a dining table.

{"steps": 15, "actions": ["Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Rotate(right, 90)", "ChangeState(DeskLamp, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": true}, {"type": "agent_in_room", "room_type": "bedroom"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}]