Input: Grab a bowl, wash it, set it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.5, 0, 90, 0,  [SEP] 1, Potato, -1.103, 1.281, 2.153, 0, 90, 0, 62 [SEP] 2, DishSponge, -0.260, 1.046, -1.289, 0, 0, 0, 47 [SEP] 3, DishSponge, 1.882, 0.122, 2.414, 0, 270, 0, 63 [SEP] 4, ButterKnife, 1.072, 1.046, -1.397, 0, 0, 0, 47 [SEP] 5, Kettle, 1.512, 0.205, -1.553, 0, 0, 0, 57 [SEP] 6, Kettle, 1.036, 1.566, -1.764, 0, 0, 0, 51 [SEP] 7, Spoon, 0.351, 1.044, 0.738, 0, 0, 0, 49 [SEP] 8, Spoon, -0.346, 1.048, -1.828, 0, 0, 0, 47 [SEP] 9, Spatula, 0.740, 1.061, -1.181, 0, 180, 0, 47 [SEP] 10, Knife, 1.347, 1.069, 0.676, 0, 0, 0, 49 [SEP] 11, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 49 [SEP] 12, Tomato, -0.603, 1.097, -1.289, 0, 0, 0, 47 [SEP] 13, SoapBottle, -1.339, 0.203, -1.338, 0, 0, 0, 55 [SEP] 14, SoapBottle, -0.323, 1.565, -1.841, 0, 0, 0, 52 [SEP] 15, Bowl, 0.960, 1.563, -1.538, 0, 0, 0, 51 [SEP] 16, Bowl, -0.398, 1.563, -1.619, 0, 0, 0, 52 [SEP] 17, PepperShaker, 1.188, 1.560, -1.388, 0, 0, 0, 51 [SEP] 18, Lettuce, -1.103, 1.287, 1.885, 0, 90, 0, 62 [SEP] 19, Mug, 1.181, 1.038, 0.763, 0, 0, 0, 49 [SEP] 20, Mug, -0.670, 0.198, -1.625, 0, 0, 0, 56 [SEP] 21, SoapBottle, -1.184, 2.029, -1.264, 0, 0, 0, 54 [SEP] 22, Apple, -1.194, 1.759, -1.331, 0, 0, 0, 61 [SEP] 23, Potato, 0.065, 1.096, 0.522, 0, 0, 0, 49 [SEP] 24, Fork, 0.245, 1.034, 0.305, 355.763, 1.013, 0, 49 [SEP] 25, Kettle, 1.015, 1.044, 0.632, 0, 0, 0, 49 [SEP] 26, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 27, Tomato, -1.064, 1.014, 1.885, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.989, 1.041, -1.505, 0, 0, 0, 47 [SEP] 29, Egg, -1.011, 0.762, 2.153, 0, 90, 0, 62 [SEP] 30, Cup, -1.303, 1.489, 1.796, 0, 90, 0, 62 [SEP] 31, Spatula, 1.015, 1.058, 0.763, 0, 0, 0, 49 [SEP] 32, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.514, 1.038, 0.545, 0, 0, 0, 49 [SEP] 36, DishSponge, 1.068, 0.199, -1.412, 0, 0, 0, 58 [SEP] 37, Plate, 1.072, 1.059, -1.720, 0, 0, 0, 47 [SEP] 38, Bread, 0.418, 1.104, 0.353, 0, 337.641, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 50 [SEP] 41, Mug, -1.126, 0.959, 2.063, 0, 90, 0, 62 [SEP] 42, Bowl, -1.303, 1.488, 2.063, 0, 90, 0, 62 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the kitchen counter originally to your right | STEP 2: Open the kitchen cabinet and take out a bowl that was inside | STEP 3: Turn to your left and then face the kitchen sink | STEP 4: Place the bowl in the sink, rinse the bowl and then pick it back up | STEP 5: Turn to your left and head back to the kitchen cabinet | STEP 6: Place the clean bowl on the kitchen counter | END


Input: Put a heated glass in the cabinet above the bread on the counter.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 0, 0,  [SEP] 1, DishSponge, -2.019, 0.423, 1.375, 0, 270, 0, 98 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 3, ButterKnife, 0.193, 0.765, -0.707, 0, 180, 0, 102 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 5, Fork, 2.488, 0.912, 1.383, 0, 0, 0, 80 [SEP] 6, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 102 [SEP] 7, Spatula, 1.955, 0.926, 1.214, 0, 0, 0, 80 [SEP] 8, Cup, 1.395, 0.909, -0.345, 0, 0, 0, 45 [SEP] 9, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 102 [SEP] 10, Tomato, 1.688, 0.942, 1.044, 0, 0, 0, 80 [SEP] 11, Bowl, 2.900, 0.724, -0.504, 0, 0, 0, 100 [SEP] 12, Bowl, 1.955, 0.909, 1.468, 0, 0, 0, 80 [SEP] 13, PepperShaker, 2.754, 0.908, 1.553, 0, 0, 0, 80 [SEP] 14, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 80 [SEP] 15, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 80 [SEP] 16, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 56 [SEP] 17, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 80 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 104 [SEP] 19, Mug, -0.246, 0.906, 1.129, 0, 0, 0, 56 [SEP] 20, Apple, -0.939, 0.889, -1.328, 0, 0, 0, 104 [SEP] 21, Apple, 2.653, 1.357, -0.709, 0, 0, 0, 100 [SEP] 22, SoapBottle, 1.484, 1.661, -0.810, 0, 180, 0, 67 [SEP] 23, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 45 [SEP] 24, Fork, 2.743, 0.771, 1.198, 0, 270, 0, 89 [SEP] 25, Pot, 2.838, 1.567, -0.578, 0, 0, 0, 100 [SEP] 26, Bread, 1.030, 0.953, -0.518, 0, 0, 0, 45 [SEP] 27, Egg, 2.653, 1.326, -0.840, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 80 [SEP] 30, Cup, 1.917, 1.653, 1.429, 0, 0, 0, 57 [SEP] 31, Spatula, -0.983, 0.835, -1.411, 0, 180, 0, 104 [SEP] 32, Apple, -0.103, 0.980, 1.214, 0, 0, 0, 56 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 80 [SEP] 35, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 104 [SEP] 36, Knife, 2.221, 0.944, 1.468, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 0.761, -0.473, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.825, 1.651, -0.732, 0, 180, 0, 84 [SEP] 39, ButterKnife, 0.888, 0.901, -0.430, 0, 0, 0, 45 [SEP] 40, Bowl, 0.231, 2.154, 1.467, 0, 0, 0, 79 [SEP] 41, DishSponge, 2.205, 0.770, -0.460, 0, 180, 0, 58 [SEP] 42, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 56 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Move to the cabinet on the left, above the lettuce.  | STEP 2: Pick up the glass in the cabinet. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave. | STEP 5: Bring the glass to the counter left of the sink.  | STEP 6: Put the glass in the cabinet above the bread on the counter.  | END


Input: Get spray bottle from toilet tank, place spray bottle on vanity.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.0, 0, 180, 0,  [SEP] 1, TissueBox, -1.501, 0.069, 2.757, 0, 0, 0, 22 [SEP] 2, TissueBox, -1.441, 0.069, 3.743, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.481, 0.994, 3.873, 0, 0, 0, 29 [SEP] 4, Candle, 0.284, 0.892, 1.618, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.441, 0.069, 2.908, 0, 0, 0, 28 [SEP] 6, SprayBottle, 0.313, 0.048, 3.865, 0, 0, 0, 32 [SEP] 7, SprayBottle, -1.322, 0.069, 3.693, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.560, 0.067, 2.441, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, 0.374, 0.893, 1.618, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 24 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.284, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.481, 0.994, 2.239, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.560, 0.067, 3.327, 0, 0, 0, 28 [SEP] 17, ToiletPaper, -1.262, 0.065, 2.706, 0, 0, 0, 22 [SEP] 18, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 35 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn right, turn left, walk to the toilet, turn left. | STEP 2: Pick up the spray bottle on the toilet tank. | STEP 3: Turn around, walk to the vanity,  | STEP 4: Place the spray bottle on vanity in front of the tissues.  | END


Input: Examine a pillow by the light of the lamp on the desk.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.0, 0, 0, 0,  [SEP] 1, Mug, -3.466, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -1.474, 0.801, -3.920, 0, 0, 0, 41 [SEP] 3, CD, -1.874, 0.063, -3.897, 0, 279.990, 0, 30 [SEP] 4, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 5, CellPhone, -3.694, 0.419, -3.092, 0, 0, 0, 52 [SEP] 6, Pen, -3.834, 0.986, -3.673, 0, 0, 0, 44 [SEP] 7, Pencil, -3.908, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, CreditCard, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 9, KeyChain, -0.453, 0.804, -3.920, 0, 0, 0, 41 [SEP] 10, Book, -3.693, 0.810, -3.883, 0, 0, 0, 42 [SEP] 11, Pillow, -2.559, 0.722, -1.218, 0, 0, 0, 26 [SEP] 12, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 13, Book, -3.402, 0.620, -0.931, 0, 0, 0, 26 [SEP] 14, CellPhone, -3.582, 0.419, -3.370, 0, 0, 0, 52 [SEP] 15, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 26 [SEP] 16, CreditCard, -0.578, 0.030, -3.844, 0, 0, 0, 36 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -3.467, 0.810, -4.164, 0, 0, 0, 42 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.694, 0.230, -3.977, 0, 0, 0, 48 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -3.070, 0, 0, 0, 44 [SEP] 24, Pen, -3.751, 0.424, -3.185, 0, 0, 0, 52 [SEP] 25, Mug, -0.596, 0.541, -3.713, 0, 0, 0, 35 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Turn left, go to the bed. | STEP 2: Pick up the close pillow on the bed.  | STEP 3: Bring the pillow to the left, to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END


Input: Look at a patterned pillow under a lit lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.0, 0, 0, 0,  [SEP] 1, Mug, -3.466, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -1.474, 0.801, -3.920, 0, 0, 0, 41 [SEP] 3, CD, -1.874, 0.063, -3.897, 0, 279.990, 0, 30 [SEP] 4, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 5, CellPhone, -3.694, 0.419, -3.092, 0, 0, 0, 52 [SEP] 6, Pen, -3.834, 0.986, -3.673, 0, 0, 0, 44 [SEP] 7, Pencil, -3.908, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, CreditCard, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 9, KeyChain, -0.453, 0.804, -3.920, 0, 0, 0, 41 [SEP] 10, Book, -3.693, 0.810, -3.883, 0, 0, 0, 42 [SEP] 11, Pillow, -2.559, 0.722, -1.218, 0, 0, 0, 26 [SEP] 12, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 13, Book, -3.402, 0.620, -0.931, 0, 0, 0, 26 [SEP] 14, CellPhone, -3.582, 0.419, -3.370, 0, 0, 0, 52 [SEP] 15, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 26 [SEP] 16, CreditCard, -0.578, 0.030, -3.844, 0, 0, 0, 36 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -3.467, 0.810, -4.164, 0, 0, 0, 42 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.694, 0.230, -3.977, 0, 0, 0, 48 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -3.070, 0, 0, 0, 44 [SEP] 24, Pen, -3.751, 0.424, -3.185, 0, 0, 0, 52 [SEP] 25, Mug, -0.596, 0.541, -3.713, 0, 0, 0, 35 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Turn left to walk to the bed. | STEP 2: Pick up the patterned pillow closest to you. | STEP 3: Turn left to walk to the white desk. | STEP 4: Turn on the lamp on the desk. | END


Input: Move a pen to the dresser with keys. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -2.5, 0, 270, 0,  [SEP] 1, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 34 [SEP] 2, CD, -1.474, 0.799, -3.920, 0, 0, 0, 40 [SEP] 3, CellPhone, -0.578, 0.188, -3.844, 0, 0, 0, 32 [SEP] 4, Pencil, -1.869, 0.065, -3.873, 0, 9.990, 0, 29 [SEP] 5, KeyChain, -3.687, 0.980, -3.472, 0, 0, 0, 43 [SEP] 6, KeyChain, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 7, Book, -2.981, 0.620, -1.793, 0, 0, 0, 25 [SEP] 8, Pillow, -2.981, 0.722, -1.218, 0, 0, 0, 25 [SEP] 9, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 40 [SEP] 10, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 40 [SEP] 12, Book, -3.613, 0.980, -3.673, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.191, 0.620, -2.080, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -3.613, 0.981, -4.276, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.7, 0.973, -3.093, 0, 56.085, 0, 43 [SEP] 17, KeyChain, -3.466, 0.982, -3.874, 0, 0, 0, 43 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.638, 0.617, -4.348, 0, 0, 0, 49 [SEP] 21, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.507, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 40 [SEP] 24, Mug, -3.687, 0.979, -3.874, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the white table on the right. | STEP 2: Pick up the pen from behind the left computer. | STEP 3: Carry the pen and turn to the right and move to the large brown dresser. | STEP 4: Place the pen on top of the dresser, inside the the hoop for the keys. | END


Input: place a pencil on top of some keys on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -2.5, 0, 270, 0,  [SEP] 1, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 34 [SEP] 2, CD, -1.474, 0.799, -3.920, 0, 0, 0, 40 [SEP] 3, CellPhone, -0.578, 0.188, -3.844, 0, 0, 0, 32 [SEP] 4, Pencil, -1.869, 0.065, -3.873, 0, 9.990, 0, 29 [SEP] 5, KeyChain, -3.687, 0.980, -3.472, 0, 0, 0, 43 [SEP] 6, KeyChain, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 7, Book, -2.981, 0.620, -1.793, 0, 0, 0, 25 [SEP] 8, Pillow, -2.981, 0.722, -1.218, 0, 0, 0, 25 [SEP] 9, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 40 [SEP] 10, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 40 [SEP] 12, Book, -3.613, 0.980, -3.673, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.191, 0.620, -2.080, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -3.613, 0.981, -4.276, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.7, 0.973, -3.093, 0, 56.085, 0, 43 [SEP] 17, KeyChain, -3.466, 0.982, -3.874, 0, 0, 0, 43 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.638, 0.617, -4.348, 0, 0, 0, 49 [SEP] 21, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.507, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 40 [SEP] 24, Mug, -3.687, 0.979, -3.874, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: turn around and walk over to the desk on the right side of the room | STEP 2: grab a pencil off of the desk there | STEP 3:  turn right and walk over to the dresser at the far end of the room | STEP 4: place the pencil on top of the keys on top of the dresser | END


Input: Put the apple from the table into the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Potato, 1.422, 0.946, 1.553, 0, 0, 0, 74 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 3, Pot, 2.221, 0.915, 1.129, 0, 0, 0, 74 [SEP] 4, Spoon, -0.151, 0.912, 1.468, 0, 0, 0, 50 [SEP] 5, Fork, 2.754, 0.912, 1.468, 0, 0, 0, 74 [SEP] 6, Fork, -0.103, 0.912, 1.299, 0, 0, 0, 50 [SEP] 7, Cup, 1.155, 0.909, 1.129, 0, 0, 0, 74 [SEP] 8, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 39 [SEP] 9, SoapBottle, 1.422, 0.917, 1.383, 0, 0, 0, 74 [SEP] 10, Bowl, 1.216, 1.653, 1.507, 0, 0, 0, 66 [SEP] 11, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 98 [SEP] 12, PepperShaker, -0.621, 0.817, -1.411, 0, 90, 0, 98 [SEP] 13, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 39 [SEP] 14, Apple, 2.777, 1.632, -0.709, 0, 0, 0, 94 [SEP] 15, Apple, 2.777, 0.794, -0.535, 0, 0, 0, 94 [SEP] 16, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 98 [SEP] 17, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 61 [SEP] 18, Fork, 1.804, 0.772, -0.498, 0, 90, 0, 53 [SEP] 19, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 74 [SEP] 20, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 74 [SEP] 21, Egg, 2.591, 1.601, -0.709, 0, 0, 0, 94 [SEP] 22, Kettle, 2.838, 1.655, 1.470, 0, 0, 0, 40 [SEP] 23, Tomato, -0.198, 0.942, 1.383, 0, 0, 0, 50 [SEP] 24, Cup, -1.056, 0.818, -1.155, 0, 90, 0, 98 [SEP] 25, Spatula, -0.103, 0.926, 1.044, 0, 90, 0, 50 [SEP] 26, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 98 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 50 [SEP] 29, SaltShaker, -0.238, 1.650, 1.546, 0, 0, 0, 65 [SEP] 30, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 98 [SEP] 31, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 94 [SEP] 32, PepperShaker, 0.581, 1.650, -0.658, 0, 180, 0, 78 [SEP] 33, ButterKnife, -0.911, 0.820, -1.206, 0, 0, 0, 98 [SEP] 34, Bowl, 0.759, 2.151, 1.506, 0, 0, 0, 48 [SEP] 35, DishSponge, -0.785, 0.820, -1.110, 0, 0, 0, 98 [SEP] 36, Spoon, 2.488, 0.912, 1.214, 0, 0, 0, 74 [SEP] 37, Mug, 0.466, 1.779, 1.488, 0, 180, 0, 97 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn around and then go to the table on your right. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the apple in the sink. | END


Input: get the tissues from the sink and put them on the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 90, 0,  [SEP] 1, TissueBox, -1.547, 0.994, 3.873, 0, 0, 0, 27 [SEP] 2, Cloth, -1.547, 0.994, 3.100, 0, 180, 0, 27 [SEP] 3, Cloth, -1.441, 0.068, 3.743, 0, 0, 0, 28 [SEP] 4, SoapBar, 0.313, 0.047, 3.893, 0, 0, 0, 30 [SEP] 5, SoapBottle, -1.416, 0.993, 3.903, 0, 0, 0, 27 [SEP] 6, SoapBottle, -1.416, 0.993, 3.041, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.284, 0.994, 2.269, 0, 0, 0, 27 [SEP] 10, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 22 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.481, 0.994, 2.299, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.319, 0.068, 3.327, 0, 0, 0, 26 [SEP] 14, SoapBottle, 0.329, 0.892, 1.618, 0, 0, 0, 33 [SEP] 15, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 16, SprayBottle, -1.620, 0.068, 2.240, 0, 0, 0, 22 [SEP] 17, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: walk over to the sink on the right | STEP 2: pick up the box of tissues | STEP 3: walk the box of tissues over to the toilet | STEP 4: place the box of tissues on top of the toilet tank | END


Input: Move an apple from the round table to the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Potato, 2.777, 1.323, -0.447, 0, 0, 0, 102 [SEP] 2, Potato, -0.766, 0.855, -1.411, 0, 90, 0, 106 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 4, ButterKnife, 1.422, 0.911, 1.468, 0, 90, 0, 82 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 6, Spoon, -0.785, 0.822, -1.328, 0, 0, 0, 106 [SEP] 7, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 47 [SEP] 8, Fork, 2.173, 0.772, -0.422, 0, 270, 0, 60 [SEP] 9, Plate, 0.888, 0.914, -0.515, 0, 0, 0, 47 [SEP] 10, Cup, 1.448, 0.112, -0.538, 0, 180, 0, 64 [SEP] 11, Egg, -1.991, 0.461, 1.502, 0, 270, 0, 100 [SEP] 12, Knife, 2.754, 0.944, 1.044, 0, 0, 0, 82 [SEP] 13, SoapBottle, -0.103, 0.917, 1.044, 0, 0, 0, 58 [SEP] 14, Tomato, 2.838, 1.594, -0.512, 0, 0, 0, 102 [SEP] 15, Tomato, -0.990, 0.852, -1.110, 0, 0, 0, 106 [SEP] 16, SaltShaker, 1.409, 1.651, -0.693, 0, 180, 0, 69 [SEP] 17, PepperShaker, 0.634, 0.908, -0.6, 0, 0, 0, 47 [SEP] 18, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 82 [SEP] 19, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 82 [SEP] 20, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 82 [SEP] 21, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 105 [SEP] 22, Apple, 2.777, 1.632, -0.775, 0, 0, 0, 102 [SEP] 23, Apple, 2.156, 0.980, -0.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, 2.256, 1.660, 1.470, 0, 0, 0, 71 [SEP] 25, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 26, Fork, 2.899, 0.772, 1.122, 0, 90, 0, 91 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 82 [SEP] 29, Egg, 0.193, 0.803, -0.707, 0, 0, 0, 104 [SEP] 30, Kettle, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 31, Tomato, 2.591, 0.758, -0.473, 0, 0, 0, 102 [SEP] 32, Cup, 2.777, 0.724, -0.473, 0, 0, 0, 102 [SEP] 33, Spatula, -0.087, 0.780, -0.762, 0, 90, 0, 104 [SEP] 34, Apple, -0.939, 0.889, -1.328, 0, 0, 0, 106 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, -0.246, 0.992, 1.214, 0, 0, 0, 58 [SEP] 37, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 58 [SEP] 38, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 47 [SEP] 39, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 104 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 82 [SEP] 42, Bowl, 0.231, 2.154, 1.467, 0, 0, 0, 81 [SEP] 43, DishSponge, -0.785, 0.820, -1.255, 0, 0, 0, 106 [SEP] 44, Spoon, 1.688, 0.912, 1.299, 0, 0, 0, 82 [SEP] 45, Mug, 3.301, 0.835, -0.485, 0, 270, 0, 102 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the round table. | STEP 2: Pick up the apple on the round table.  | STEP 3: Turn around and go to the sink. | STEP 4: Put the apple in the sink. | END


Input: To move two statues to the living room table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Newspaper, 1.724, 0.869, 0.431, 0, 90, 0, 37 [SEP] 2, KeyChain, 1.601, 0.315, -0.512, 0, 0, 0, 39 [SEP] 3, KeyChain, -0.411, 0.553, -0.537, 0, 270, 0, 31 [SEP] 4, CreditCard, -0.077, 0.323, -1.990, 0, 0, 0, 33 [SEP] 5, CreditCard, 1.443, 0.277, -0.818, 0, 0, 0, 39 [SEP] 6, RemoteControl, 1.807, 0.871, 0.326, 0, 90, 0, 37 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.766, 0.871, 0.220, 0, 90, 0, 37 [SEP] 9, Watch, -0.712, 0.552, -0.451, 0, 270, 0, 31 [SEP] 10, Newspaper, -0.561, 0.550, -0.623, 0, 0, 0, 31 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.712, 0.551, -0.537, 0, 270, 0, 31 [SEP] 13, RemoteControl, 1.807, 0.871, 0.537, 0, 90, 0, 37 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 31 [SEP] 16, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 37 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table. | STEP 4: Place the statue on the right side of the living room table. | STEP 5: Turn right and walk across the room to face the table to the left of the chair. | STEP 6: Pick up the statue on the table. | STEP 7: Turn around and walk around to face the living room table. | STEP 8: Place the statue beside the first statue on the living room table. | END


Input: Put two laptops on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.5, 0, 180, 0,  [SEP] 1, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -0.657, 0.798, -3.703, 0, 0, 0, 41 [SEP] 3, CD, -3.469, 0.226, -3.791, 0, 0, 0, 48 [SEP] 4, CD, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 5, Pen, -3.751, 0.620, -3.091, 0, 0, 0, 45 [SEP] 6, Pen, -1.474, 0.805, -4.029, 0, 0, 0, 41 [SEP] 7, Pencil, -0.596, 0.546, -3.768, 0, 0, 0, 35 [SEP] 8, Pencil, -3.582, 0.422, -3.885, 0, 0, 0, 47 [SEP] 9, CreditCard, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 10, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 26 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 13, Book, -3.693, 0.046, -3.977, 0, 0, 0, 49 [SEP] 14, CellPhone, -3.613, 0.981, -3.271, 0, 0, 0, 44 [SEP] 15, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 41 [SEP] 16, CreditCard, -3.806, 0.808, -4.351, 0, 0, 0, 42 [SEP] 17, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -0.657, 0.803, -4.029, 0, 180, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -1.850, 0.062, -3.901, 0, 279.990, 0, 30 [SEP] 24, Pen, -0.418, 0.548, -3.676, 0, 0, 0, 35 [SEP] 25, Mug, -3.466, 0.977, -4.276, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around  to face the bed | STEP 4: Put the laptop on the bed | STEP 5: Go to the white table | STEP 6: Close the laptop on the table and pick it up | STEP 7: Go back to the bed  | STEP 8: Place the laptop next to the first laptop | END


Input: drop two laptops on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.5, 0, 180, 0,  [SEP] 1, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -0.657, 0.798, -3.703, 0, 0, 0, 41 [SEP] 3, CD, -3.469, 0.226, -3.791, 0, 0, 0, 48 [SEP] 4, CD, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 5, Pen, -3.751, 0.620, -3.091, 0, 0, 0, 45 [SEP] 6, Pen, -1.474, 0.805, -4.029, 0, 0, 0, 41 [SEP] 7, Pencil, -0.596, 0.546, -3.768, 0, 0, 0, 35 [SEP] 8, Pencil, -3.582, 0.422, -3.885, 0, 0, 0, 47 [SEP] 9, CreditCard, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 10, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 26 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 13, Book, -3.693, 0.046, -3.977, 0, 0, 0, 49 [SEP] 14, CellPhone, -3.613, 0.981, -3.271, 0, 0, 0, 44 [SEP] 15, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 41 [SEP] 16, CreditCard, -3.806, 0.808, -4.351, 0, 0, 0, 42 [SEP] 17, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -0.657, 0.803, -4.029, 0, 180, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -1.850, 0.062, -3.901, 0, 279.990, 0, 30 [SEP] 24, Pen, -0.418, 0.548, -3.676, 0, 0, 0, 35 [SEP] 25, Mug, -3.466, 0.977, -4.276, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed | STEP 4: drop the laptop on the bed | STEP 5: move right to the table | STEP 6: pick up the laptop on the table | STEP 7: move right to the bed | STEP 8: drop the laptop on the bed | END


Input: place a mug filled with water in the cupboard under the gas SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.25, 0, 0, 0,  [SEP] 1, Pan, 1.512, 1.019, -1.337, 0, 270, 0, 55 [SEP] 2, DishSponge, 0.065, 1.033, 0.199, 0, 0, 0, 51 [SEP] 3, ButterKnife, 1.612, 1.043, 0.307, 0, 0, 0, 51 [SEP] 4, Fork, 0.351, 1.043, 0.738, 0, 0, 0, 51 [SEP] 5, Fork, 1.181, 1.043, 0.720, 0, 0, 0, 51 [SEP] 6, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 51 [SEP] 7, Spatula, 0.100, 1.061, -1.118, 0, 180, 0, 49 [SEP] 8, Spatula, 1.155, 1.061, -1.289, 0, 0, 0, 49 [SEP] 9, Egg, -0.260, 1.101, -1.612, 0, 0, 0, 49 [SEP] 10, Egg, -1.225, 1.543, 2.063, 0, 90, 0, 64 [SEP] 11, Cup, 1.238, 1.047, -1.181, 0, 0, 0, 49 [SEP] 12, Plate, 1.036, 1.577, -1.689, 0, 0, 0, 53 [SEP] 13, Tomato, 1.347, 1.094, 0.589, 0, 0, 0, 51 [SEP] 14, Tomato, -1.064, 1.014, 1.885, 0, 90, 0, 64 [SEP] 15, SoapBottle, -0.346, 1.047, -1.505, 0, 0, 0, 49 [SEP] 16, SoapBottle, -0.580, 0.204, -1.481, 0, 0, 0, 58 [SEP] 17, PepperShaker, 0.848, 1.038, 0.632, 0, 0, 0, 51 [SEP] 18, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 49 [SEP] 19, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 20, Mug, -1.235, 1.223, 1.885, 0, 90, 0, 64 [SEP] 21, Apple, 1.826, 0.166, 2.414, 0, 270, 0, 65 [SEP] 22, Apple, -1.194, 1.759, -1.331, 0, 0, 0, 63 [SEP] 23, SoapBottle, -0.775, 1.047, -1.720, 0, 0, 0, 49 [SEP] 24, Apple, 0.255, 1.086, 0.307, 0, 0, 0, 51 [SEP] 25, Potato, -1.064, 1.017, 2.063, 0, 90, 0, 64 [SEP] 26, Fork, 0.030, 1.033, 0.114, 354.495, 0, 0, 51 [SEP] 27, Kettle, 0.979, 0.200, -1.412, 0, 0, 0, 60 [SEP] 28, Pan, -1.027, 0.202, -1.482, 0, 90, 0, 57 [SEP] 29, Tomato, -1.051, 0.758, 2.242, 0, 90, 0, 64 [SEP] 30, SaltShaker, 0.823, 1.041, -1.720, 0, 0, 0, 49 [SEP] 31, Egg, 1.523, 1.097, 0.522, 0, 0, 0, 51 [SEP] 32, Cup, -1.381, 1.489, 2.153, 0, 90, 0, 64 [SEP] 33, Spatula, 0.682, 1.058, 0.632, 0, 0, 0, 51 [SEP] 34, Knife, 0.379, 1.072, -1.107, 0, 0, 0, 49 [SEP] 35, Lettuce, -1.300, 1.287, 2.153, 0, 90, 0, 64 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.015, 1.038, 0.632, 0, 0, 0, 51 [SEP] 38, DishSponge, -0.260, 1.046, -1.289, 0, 0, 0, 49 [SEP] 39, Plate, 1.588, 0.217, -1.262, 0, 0, 0, 59 [SEP] 40, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 0.516, 1.044, 0.807, 0, 0, 0, 51 [SEP] 42, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 43, Mug, -1.038, 1.223, 1.796, 0, 0, 0, 64 [SEP] 44, Bowl, -1.312, 1.712, 1.974, 0, 90, 0, 64 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas | STEP 3: turn around and head for the sink | STEP 4: fill the mug with water | STEP 5: turn around and head for the cupboard under the gas | STEP 6: place the buy in the cupboard | END


Input: Examine a laptop by the light of a lit lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 5.5, 0, 0, 0,  [SEP] 1, Watch, -2.352, 0.533, 4.480, 0, 270, 0, 57 [SEP] 2, Watch, -5.917, 0.880, 3.757, 0, 0, 0, 50 [SEP] 3, KeyChain, -0.631, 0.367, 3.002, 0, 0, 0, 40 [SEP] 4, RemoteControl, -0.789, 0.369, 3.306, 0, 0, 0, 40 [SEP] 5, RemoteControl, -5.631, 0.536, 6.683, 0, 135, 0, 58 [SEP] 6, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.640, 1.280, 7.298, 0, 90, 0, 56 [SEP] 10, Vase, -2.811, 0.542, 4.106, 0, 0, 0, 57 [SEP] 11, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.366, 0.534, 6.873, 0, 135, 0, 58 [SEP] 15, CreditCard, -0.484, 0.793, 2.377, 0, 270, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.586, 0.794, 5.726, 0, 270, 0, 41 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.636, 0.795, 1.626, 0, 270, 0, 42 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 40 [SEP] 24, Watch, -0.845, 0.793, 1.849, 0, 0, 0, 42 [SEP] 25, Statue, -5.998, 0.460, 4.547, 0, 0, 0, 52 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.703, 0.821, 2.255, 72.753, 254.896, 348.592, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Walk around the coffee table to reach the long brown couch. | STEP 2: Pick up the laptop from the long brown couch. | STEP 3: Turn right to reach the table by the couch. | STEP 4: Turn on the lamp on the table. | END


Input: Place the two candles inside the cabinet below the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.75, 0, 270, 0,  [SEP] 1, TissueBox, -1.500, 0.068, 2.391, 0, 0, 0, 22 [SEP] 2, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 20 [SEP] 3, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 27 [SEP] 4, Candle, -1.416, 0.994, 3.903, 0, 0, 0, 27 [SEP] 5, SprayBottle, -1.547, 0.995, 3.782, 0, 0, 0, 27 [SEP] 6, SoapBottle, -1.219, 0.993, 2.178, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, 0.286, 0.047, 3.782, 0, 0, 0, 30 [SEP] 10, ToiletPaper, -1.379, 0.064, 3.276, 0, 0, 0, 26 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, 0.351, 0.893, 1.618, 0, 0, 0, 33 [SEP] 13, TissueBox, -1.481, 0.994, 3.100, 0, 0, 0, 27 [SEP] 14, SoapBottle, -1.441, 0.068, 2.857, 0, 0, 0, 26 [SEP] 15, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 16, SprayBottle, -1.560, 0.068, 3.327, 0, 0, 0, 26 [SEP] 17, Cloth, -1.382, 0.068, 3.793, 0, 0, 0, 28 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. | STEP 3: Open the right cabinet door and place the candle in it. | STEP 4: Turn around to face the toilet. | STEP 5: Pick up the candle on the toilet basin. | STEP 6: Turn around and face the cabinet beneath the sink. | STEP 7: Open the right cabinet door, place the candle in it, and close the door. | END


Input: Place two candles into the cabinet below the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.25, 0, 90, 0,  [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink. | STEP 4: Place the candle into the cabinet below the sink. | STEP 5: Move to the counter between the shower and sink. | STEP 6: Pick up the candle from the counter. | STEP 7: Move to the left most bathroom sink. | STEP 8: Place the candle into the cabinet below the sink. | END


Input: Put the two candles near the sink in the cabinet under it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.25, 0, 90, 0,  [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of. | STEP 4: Open the cabinet and place the candle inside before closing the door. | STEP 5: Move to the left side of the sink across from the toilet. | STEP 6: Pick up candle from the counter near the sink. | STEP 7: Move to the front cabinet of the sink you're standing in front of. | STEP 8: Open the cabinet and place the candle inside before closing the door. | END


Input: Put away candles in the bathroom cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.25, 0, 90, 0,  [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter  | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door | STEP 5: Turn to the left then go straight to the left side of the counter again | STEP 6: Pick up the candle from the counter  | STEP 7: Turn around walk straight then turn back around and face the front of the counter | STEP 8: Open the bottom right door and place the candle inside, then close the door | END


Input: Place two candles into the cabinet below the left hand sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.25, 0, 90, 0,  [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink. | STEP 4: Open the right hand cabinet door, place the candle inside. | STEP 5: Turn left, move to the end of the counter. | STEP 6: Pick up the candle from the counter top. | STEP 7: Turn right, move to the left hand sink. | STEP 8: Open the right hand cabinet door, place the candle inside. | END


Input: Examine a blue bottle by the light of a small lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 3.75, 0, 0, 0,  [SEP] 1, Bowl, -0.484, 0.795, 1.626, 0, 270, 0, 44 [SEP] 2, Bowl, -5.950, 0.148, 4.942, 0, 0, 0, 49 [SEP] 3, Newspaper, -5.972, 0.532, 6.569, 0, 135, 0, 60 [SEP] 4, KeyChain, -5.252, 0.534, 7.213, 0, 135, 0, 60 [SEP] 5, KeyChain, -0.413, 0.794, 5.826, 0, 0, 0, 43 [SEP] 6, CreditCard, -0.710, 0.367, 3.002, 0, 0, 0, 42 [SEP] 7, RemoteControl, -5.517, 0.536, 6.572, 0, 45, 0, 60 [SEP] 8, RemoteControl, -0.868, 0.369, 4.524, 0, 0, 0, 42 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.585, 0.794, 2.377, 0, 270, 0, 44 [SEP] 12, Vase, -3.328, 1.289, 7.298, 0, 90, 0, 58 [SEP] 13, Newspaper, -0.687, 0.792, 5.726, 0, 270, 0, 43 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -6.002, 0.147, 4.152, 0, 0, 0, 49 [SEP] 17, CreditCard, -0.868, 0.432, 3.611, 0, 0, 0, 42 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -2.870, 1.280, 7.235, 0, 90, 0, 58 [SEP] 20, Vase, -5.253, 0.542, 6.986, 0, 135, 0, 60 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.811, 0.535, 4.044, 0, 0, 0, 59 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.947, 0.444, 3.306, 0, 0, 0, 42 [SEP] 26, Watch, -0.326, 0.793, 2.052, 0, 0, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -3.557, 1.289, 7.171, 0, 180, 0, 58 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left. | STEP 2: Pick up the blue bottle from the left side of the table. | STEP 3: Turn right and walk to the round table on the left. | STEP 4: Turn on the small lamp on the table. | END


Input: Cool the cup down, place the cup back on table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, 1.25, 0, 270, 0,  [SEP] 1, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 55 [SEP] 2, Pan, -1.169, 1.227, 1.974, 0, 90, 0, 61 [SEP] 3, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 60 [SEP] 4, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 5, Spoon, 0.989, 1.048, -1.397, 0, 180, 0, 46 [SEP] 6, Spoon, 0.936, 1.054, 0.131, 0, 90, 0, 44 [SEP] 7, Spatula, -0.517, 1.061, -1.289, 0, 0, 0, 46 [SEP] 8, Cup, -1.029, 2.028, -1.627, 0, 0, 0, 53 [SEP] 9, Cup, 0.542, 1.043, 0.630, 0, 0, 0, 48 [SEP] 10, Cup, -1.416, 0.202, -1.338, 0, 0, 0, 54 [SEP] 11, Plate, -0.699, 1.577, -1.619, 0, 0, 0, 51 [SEP] 12, Plate, 1.665, 0.217, -1.408, 0, 0, 0, 56 [SEP] 13, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 46 [SEP] 14, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 48 [SEP] 15, Tomato, 1.790, 1.094, 0.091, 0, 0, 0, 48 [SEP] 16, Tomato, 0.892, 1.105, 0.281, 0, 90, 0, 44 [SEP] 17, SaltShaker, -0.774, 1.560, -1.396, 0, 0, 0, 51 [SEP] 18, Mug, -1.276, 1.708, 2.063, 0, 90, 0, 61 [SEP] 19, Apple, -1.386, 1.756, 2.063, 0, 90, 0, 61 [SEP] 20, SoapBottle, 0.160, 1.044, 0.522, 0, 0, 0, 48 [SEP] 21, Apple, 0.823, 1.090, -1.289, 0, 0, 0, 46 [SEP] 22, Potato, 1.612, 1.096, 0.522, 0, 0, 0, 48 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 1.347, 1.044, 0.676, 0, 0, 0, 48 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.126, 1.014, 2.063, 0, 90, 0, 61 [SEP] 27, SaltShaker, 0.160, 1.038, 0.415, 0, 0, 0, 48 [SEP] 28, Egg, -1.250, 2.002, 1.885, 0, 90, 0, 61 [SEP] 29, Cup, -0.775, 1.047, -1.181, 0, 0, 0, 46 [SEP] 30, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 46 [SEP] 31, Knife, 0.877, 1.042, -1.363, 90, 315, 0, 46 [SEP] 32, Lettuce, 1.155, 1.106, -1.289, 0, 0, 0, 46 [SEP] 33, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 48 [SEP] 34, PepperShaker, 0.890, 0.194, -1.339, 0, 0, 0, 57 [SEP] 35, DishSponge, -0.517, 1.046, -1.397, 0, 0, 0, 46 [SEP] 36, Plate, -0.398, 1.577, -1.767, 0, 0, 0, 51 [SEP] 37, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.805, 1.054, 0.131, 0, 90, 0, 44 [SEP] 39, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 40, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 61 [SEP] 41, Bowl, -1.184, 2.027, -1.409, 0, 0, 0, 53 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Turn left to the table | STEP 2: Grab the green cup off of the table | STEP 3: Turn right towards the fridge | STEP 4: Open the fridge door, place cup inside of fridge next to apple | STEP 5: Open fridge door, grab cup from fridge | STEP 6: Turn left to the table, place cup on table | END


Input: Put a chilled glass on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, 1.25, 0, 270, 0,  [SEP] 1, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 55 [SEP] 2, Pan, -1.169, 1.227, 1.974, 0, 90, 0, 61 [SEP] 3, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 60 [SEP] 4, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 5, Spoon, 0.989, 1.048, -1.397, 0, 180, 0, 46 [SEP] 6, Spoon, 0.936, 1.054, 0.131, 0, 90, 0, 44 [SEP] 7, Spatula, -0.517, 1.061, -1.289, 0, 0, 0, 46 [SEP] 8, Cup, -1.029, 2.028, -1.627, 0, 0, 0, 53 [SEP] 9, Cup, 0.542, 1.043, 0.630, 0, 0, 0, 48 [SEP] 10, Cup, -1.416, 0.202, -1.338, 0, 0, 0, 54 [SEP] 11, Plate, -0.699, 1.577, -1.619, 0, 0, 0, 51 [SEP] 12, Plate, 1.665, 0.217, -1.408, 0, 0, 0, 56 [SEP] 13, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 46 [SEP] 14, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 48 [SEP] 15, Tomato, 1.790, 1.094, 0.091, 0, 0, 0, 48 [SEP] 16, Tomato, 0.892, 1.105, 0.281, 0, 90, 0, 44 [SEP] 17, SaltShaker, -0.774, 1.560, -1.396, 0, 0, 0, 51 [SEP] 18, Mug, -1.276, 1.708, 2.063, 0, 90, 0, 61 [SEP] 19, Apple, -1.386, 1.756, 2.063, 0, 90, 0, 61 [SEP] 20, SoapBottle, 0.160, 1.044, 0.522, 0, 0, 0, 48 [SEP] 21, Apple, 0.823, 1.090, -1.289, 0, 0, 0, 46 [SEP] 22, Potato, 1.612, 1.096, 0.522, 0, 0, 0, 48 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 1.347, 1.044, 0.676, 0, 0, 0, 48 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.126, 1.014, 2.063, 0, 90, 0, 61 [SEP] 27, SaltShaker, 0.160, 1.038, 0.415, 0, 0, 0, 48 [SEP] 28, Egg, -1.250, 2.002, 1.885, 0, 90, 0, 61 [SEP] 29, Cup, -0.775, 1.047, -1.181, 0, 0, 0, 46 [SEP] 30, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 46 [SEP] 31, Knife, 0.877, 1.042, -1.363, 90, 315, 0, 46 [SEP] 32, Lettuce, 1.155, 1.106, -1.289, 0, 0, 0, 46 [SEP] 33, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 48 [SEP] 34, PepperShaker, 0.890, 0.194, -1.339, 0, 0, 0, 57 [SEP] 35, DishSponge, -0.517, 1.046, -1.397, 0, 0, 0, 46 [SEP] 36, Plate, -0.398, 1.577, -1.767, 0, 0, 0, 51 [SEP] 37, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.805, 1.054, 0.131, 0, 90, 0, 44 [SEP] 39, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 40, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 61 [SEP] 41, Bowl, -1.184, 2.027, -1.409, 0, 0, 0, 53 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Turn left to face the table. | STEP 2: Pick up the glass on the table, in front of the bread. | STEP 3: Turn around, go forward, then turn left to go to the fridge. | STEP 4: Chill the glass in the fridge. | STEP 5: Turn left, then go forward to the table. | STEP 6: Place the glass on the rightmost corner of the table. | END


Input: To rinse off a coffee mug and place in the coffee maker.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.0, 0, 90, 0,  [SEP] 1, Pan, 2.715, 1.018, -0.644, 0, 0, 0, 96 [SEP] 2, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 94 [SEP] 3, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 96 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 76 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 6, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 98 [SEP] 7, Spatula, -0.911, 0.835, -1.257, 0, 180, 0, 100 [SEP] 8, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 52 [SEP] 9, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 50 [SEP] 10, Cup, 2.653, 1.286, -0.709, 0, 0, 0, 96 [SEP] 11, Egg, 0.518, 1.822, 1.488, 0, 180, 0, 99 [SEP] 12, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 100 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 98 [SEP] 14, Tomato, 2.838, 1.320, -0.578, 0, 0, 0, 96 [SEP] 15, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 49 [SEP] 16, SaltShaker, -0.294, 0.908, 1.044, 0, 0, 0, 52 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 76 [SEP] 18, SoapBottle, 1.171, 1.660, -0.696, 0, 180, 0, 43 [SEP] 19, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 76 [SEP] 20, Fork, 2.303, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 76 [SEP] 23, Egg, 3.260, 0.878, -0.485, 0, 0, 0, 96 [SEP] 24, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 25, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 76 [SEP] 26, Cup, -1.056, 0.818, -1.257, 0, 90, 0, 100 [SEP] 27, Spatula, 1.141, 0.926, -0.684, 0, 180, 0, 41 [SEP] 28, Apple, 2.488, 0.980, 1.214, 0, 0, 0, 76 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.246, 0.992, 1.299, 0, 0, 0, 52 [SEP] 31, SaltShaker, 1.287, 0.111, 1.196, 0, 0, 0, 48 [SEP] 32, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 76 [SEP] 33, Potato, -0.621, 0.855, -1.308, 0, 90, 0, 100 [SEP] 34, PepperShaker, 1.872, 1.650, -0.658, 0, 180, 0, 78 [SEP] 35, ButterKnife, -0.151, 0.911, 1.299, 0, 0, 0, 52 [SEP] 36, Bowl, 0.140, 1.653, -0.810, 0, 180, 0, 81 [SEP] 37, DishSponge, -0.682, 0.820, -1.183, 0, 0, 0, 100 [SEP] 38, Spoon, -0.911, 0.822, -1.308, 0, 90, 0, 100 [SEP] 39, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Walk to the coffee maker on the counter on the right.  | STEP 2: Pick up the dirty white mug from the coffee maker.  | STEP 3: Turn and walk to the sink on the left.  | STEP 4: Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink.  | STEP 5: Turn left and walk back to the coffee maker.  | STEP 6: Place the clean white mug in the coffee maker.  | END