Input: Pick up a pencil and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.909, -4.25, 0, 270, 0,  [SEP] 1, Mug, -0.657, 0.801, -4.246, 0, 0, 0, 40 [SEP] 2, CD, -0.274, 0.347, -3.747, 0, 0, 0, 33 [SEP] 3, CD, -0.249, 0.799, -4.137, 0, 0, 0, 40 [SEP] 4, CellPhone, -3.760, 0.981, -4.276, 0, 0, 0, 43 [SEP] 5, CellPhone, -3.637, 0.044, -3.977, 0, 0, 0, 48 [SEP] 6, Pencil, -3.760, 0.983, -4.075, 0, 0, 0, 43 [SEP] 7, Pencil, -0.453, 0.803, -3.811, 0, 0, 0, 40 [SEP] 8, CreditCard, -0.329, 0.542, -3.676, 0, 0, 0, 34 [SEP] 9, KeyChain, -1.270, 0.804, -4.029, 0, 0, 0, 40 [SEP] 10, Book, -2.770, 0.620, -2.080, 0, 0, 0, 25 [SEP] 11, AlarmClock, -3.613, 0.981, -3.673, 0, 0, 0, 43 [SEP] 12, Book, -2.981, 0.620, -0.356, 0, 0, 0, 25 [SEP] 13, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 25 [SEP] 14, Laptop, -3.191, 0.618, -2.080, 0, 0, 0, 25 [SEP] 15, CreditCard, -0.453, 0.803, -4.137, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 40 [SEP] 17, KeyChain, -0.249, 0.804, -3.703, 0, 0, 0, 40 [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, 0.422, -3.793, 0, 0, 0, 46 [SEP] 21, Pillow, -3.191, 0.722, -1.218, 0, 0, 0, 25 [SEP] 22, CD, -3.687, 0.979, -3.472, 0, 0, 0, 43 [SEP] 23, Pen, -3.526, 0.424, -3.978, 0, 0, 0, 46 [SEP] 24, Mug, -3.539, 0.977, -3.271, 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: Move to the right and face the brown dresser. | STEP 2: Pick up the pencil from the dresser. | STEP 3: Turn around and stand in front of the white table with the lamp. | STEP 4: Turn the lamp on. | END


Input: rinse off a tomato slice and cook it in the microwave 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, -0.75, 0, 180, 0,  [SEP] 1, DishSponge, -1.339, 0.202, -1.482, 0, 0, 0, 56 [SEP] 2, DishSponge, -0.222, 0.203, -1.553, 0, 0, 0, 57 [SEP] 3, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 60 [SEP] 4, Kettle, 1.666, 1.020, -1.411, 0, 0, 0, 54 [SEP] 5, Fork, 1.015, 1.043, 0.676, 0, 0, 0, 50 [SEP] 6, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 48 [SEP] 7, Spoon, 1.181, 1.044, 0.589, 0, 0, 0, 50 [SEP] 8, Spoon, 0.989, 1.048, -1.397, 0, 0, 0, 48 [SEP] 9, Spatula, 0.160, 1.058, 0.415, 0, 90, 0, 50 [SEP] 10, Egg, -1.303, 1.543, 2.063, 0, 90, 0, 63 [SEP] 11, Egg, -1.090, 0.762, 2.063, 0, 90, 0, 63 [SEP] 12, Plate, -1.027, 0.215, -1.555, 0, 0, 0, 56 [SEP] 13, Plate, 0.885, 1.577, -1.764, 0, 0, 0, 52 [SEP] 14, Knife, -0.517, 1.072, -1.397, 0, 0, 0, 48 [SEP] 15, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 46 [SEP] 16, Bowl, -1.303, 1.488, 1.885, 0, 90, 0, 63 [SEP] 17, PepperShaker, -0.491, 0.198, -1.553, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.809, 1.560, -1.538, 0, 0, 0, 52 [SEP] 19, Lettuce, -1.095, 1.023, 2.242, 0, 90, 0, 63 [SEP] 20, Apple, 1.798, 0.166, 2.358, 0, 270, 0, 64 [SEP] 21, Apple, -1.423, 1.756, 2.331, 0, 90, 0, 63 [SEP] 22, SoapBottle, 0.065, 1.044, 0.199, 0, 0, 0, 50 [SEP] 23, Apple, 1.612, 1.086, 0.199, 0, 0, 0, 50 [SEP] 24, Potato, 1.238, 1.100, -1.181, 0, 0, 0, 48 [SEP] 25, Fork, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 26, Kettle, -1.261, 2.029, -1.555, 0, 0, 0, 55 [SEP] 27, Pan, 0.801, 0.199, -1.484, 0, 270, 0, 59 [SEP] 28, Tomato, 1.612, 1.094, 0.091, 0, 0, 0, 50 [SEP] 29, SaltShaker, 1.512, 1.014, -1.411, 0, 0, 0, 54 [SEP] 30, Egg, -1.064, 1.018, 1.974, 0, 90, 0, 63 [SEP] 31, Cup, 0.892, 1.055, 0.331, 0, 90, 0, 46 [SEP] 32, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 48 [SEP] 33, Knife, 1.790, 1.069, 0.738, 0, 0, 0, 50 [SEP] 34, Lettuce, 0.065, 1.103, 0.630, 0, 0, 0, 50 [SEP] 35, ButterKnife, -0.432, 1.046, -1.289, 0, 0, 0, 48 [SEP] 36, PepperShaker, 1.247, 0.194, -1.339, 0, 0, 0, 59 [SEP] 37, DishSponge, -1.339, 0.202, -1.627, 0, 0, 0, 56 [SEP] 38, Plate, -1.339, 0.215, -1.265, 0, 0, 0, 56 [SEP] 39, Bread, 0.823, 1.120, -1.289, 0, 0, 0, 48 [SEP] 40, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 46 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -1.029, 2.027, -1.482, 0, 0, 0, 55 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink | STEP 6: pick up a tomato slice off of the counter | STEP 7: put the tomato slice into the sink and fill the sink with water then drain the water and pick up the tomato slice | STEP 8: turn left and walk straight towards the wall and turn left and walk straight towards the oven and look up | STEP 9: open the microwave and put the tomato slice inside and close the door | END


Input: Put a bowl with water in 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, -1.0, 0.931, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 0.989, 1.046, -1.289, 0, 0, 0, 48 [SEP] 2, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.906, 1.046, -1.181, 0, 0, 0, 48 [SEP] 4, Kettle, -0.670, 0.204, -1.337, 0, 0, 0, 57 [SEP] 5, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 6, Pot, 0.960, 1.566, -1.463, 0, 270, 0, 52 [SEP] 7, Spatula, 1.347, 1.058, 0.589, 0, 90, 0, 50 [SEP] 8, Egg, 1.514, 1.097, 0.763, 0, 0, 0, 50 [SEP] 9, Egg, -1.064, 1.018, 2.063, 0, 90, 0, 63 [SEP] 10, Cup, -1.276, 1.713, 2.331, 0, 90, 0, 63 [SEP] 11, Cup, 0.906, 1.047, -1.397, 0, 0, 0, 48 [SEP] 12, Knife, 0.657, 1.072, -1.086, 0, 0, 0, 48 [SEP] 13, SoapBottle, -0.260, 1.047, -1.828, 0, 0, 0, 48 [SEP] 14, SoapBottle, 1.181, 1.044, 0.589, 0, 0, 0, 50 [SEP] 15, Bowl, -1.027, 0.201, -1.555, 0, 0, 0, 56 [SEP] 16, SaltShaker, 0.740, 1.041, -1.720, 0, 0, 0, 48 [SEP] 17, PepperShaker, 1.068, 0.194, -1.195, 0, 0, 0, 59 [SEP] 18, PepperShaker, 1.238, 1.041, -1.612, 0, 0, 0, 48 [SEP] 19, Lettuce, -1.169, 1.287, 1.885, 0, 90, 0, 63 [SEP] 20, Mug, -0.689, 1.041, -1.181, 0, 0, 0, 48 [SEP] 21, Mug, -1.339, 2.023, -1.555, 0, 0, 0, 55 [SEP] 22, SoapBottle, -0.432, 1.047, -1.505, 0, 0, 0, 48 [SEP] 23, Apple, -1.312, 1.756, 1.974, 0, 90, 0, 63 [SEP] 24, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 50 [SEP] 25, Fork, 1.015, 1.043, 0.676, 0, 0, 0, 50 [SEP] 26, Kettle, -0.312, 0.204, -1.553, 0, 0, 0, 57 [SEP] 27, Pan, 1.589, 1.019, -1.337, 0, 0, 0, 54 [SEP] 28, Tomato, 1.238, 1.097, -1.828, 0, 0, 0, 48 [SEP] 29, SaltShaker, 0.239, 1.041, -1.118, 0, 0, 0, 48 [SEP] 30, Egg, -1.031, 0.762, 1.974, 0, 90, 0, 63 [SEP] 31, Cup, 0.979, 0.200, -1.484, 0, 0, 0, 59 [SEP] 32, Spatula, -0.775, 1.061, -1.505, 0, 90, 0, 48 [SEP] 33, Knife, 0.160, 1.069, 0.199, 0, 180, 0, 50 [SEP] 34, Lettuce, 1.155, 1.106, -1.397, 0, 0, 0, 48 [SEP] 35, ButterKnife, -0.603, 1.046, -1.181, 0, 0, 0, 48 [SEP] 36, PepperShaker, 0.960, 1.560, -1.689, 0, 0, 0, 52 [SEP] 37, DishSponge, 0.160, 1.042, 0.522, 0, 0, 0, 50 [SEP] 38, Plate, -1.339, 0.215, -1.410, 0, 0, 0, 56 [SEP] 39, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 50 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.624, 1.563, -1.693, 0, 0, 0, 53 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Turn around, go straight, then turn right to face the counter with the toaster. | STEP 2: Remove the bowl from the cabinet above the counter with the toaster. | STEP 3: Turn left, move forward, then turn left again to face the sink. | STEP 4: Fill the bowl with water in the sink. | STEP 5: Turn left, move forward, then turn left again to face the counter with the toaster. | STEP 6: Place the bowl on the counter, to the right of the stove. | END


Input: Put two eggs in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.931, -0.25, 0, 270, 0,  [SEP] 1, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 47 [SEP] 2, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 57 [SEP] 3, Pot, -1.349, 1.714, 2.242, 0, 0, 0, 60 [SEP] 4, Fork, 0.255, 1.043, 0.522, 0, 180, 0, 47 [SEP] 5, Spoon, 0.848, 1.044, 0.720, 0, 0, 0, 47 [SEP] 6, Spoon, -0.517, 1.048, -1.181, 0, 0, 0, 45 [SEP] 7, Spatula, 1.701, 1.058, 0.630, 0, 0, 0, 47 [SEP] 8, Egg, -0.775, 1.101, -1.397, 0, 0, 0, 45 [SEP] 9, Egg, 0.989, 1.101, -1.181, 0, 0, 0, 45 [SEP] 10, Cup, -1.349, 1.713, 1.796, 0, 90, 0, 60 [SEP] 11, Cup, 0.446, 1.043, 0.415, 0, 0, 0, 47 [SEP] 12, Plate, 1.741, 0.217, -1.480, 0, 0, 0, 55 [SEP] 13, Knife, 1.181, 1.069, 0.632, 0, 90, 0, 47 [SEP] 14, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 43 [SEP] 15, Bowl, -1.303, 1.488, 1.885, 0, 90, 0, 60 [SEP] 16, PepperShaker, 1.155, 1.041, -1.828, 0, 0, 0, 45 [SEP] 17, PepperShaker, -0.260, 1.041, -1.828, 0, 0, 0, 45 [SEP] 18, Bread, 0.160, 1.117, 0.522, 0, 0, 0, 47 [SEP] 19, SoapBottle, 0.979, 0.200, -1.556, 0, 0, 0, 56 [SEP] 20, Apple, 0.761, 1.097, 0.131, 0, 90, 0, 43 [SEP] 21, Potato, 1.211, 0.953, 0.231, 0, 90, 0, 42 [SEP] 22, Fork, 0.906, 1.047, -1.289, 0, 0, 0, 45 [SEP] 23, Kettle, -0.624, 1.566, -1.619, 0, 0, 0, 50 [SEP] 24, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 54 [SEP] 25, Tomato, -1.268, 1.999, 1.885, 0, 90, 0, 60 [SEP] 26, SaltShaker, 0.255, 1.038, 0.199, 0, 0, 0, 47 [SEP] 27, Egg, 0.848, 1.108, 0.181, 0, 90, 0, 43 [SEP] 28, Cup, -1.169, 1.228, 2.153, 0, 90, 0, 60 [SEP] 29, Spatula, 1.238, 1.061, -1.612, 0, 90, 0, 45 [SEP] 30, Knife, -0.038, 1.072, -1.086, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.603, 1.106, -1.397, 0, 0, 0, 45 [SEP] 32, ButterKnife, 1.347, 1.043, 0.589, 0, 0, 0, 47 [SEP] 33, PepperShaker, -0.775, 1.041, -1.181, 0, 0, 0, 45 [SEP] 34, DishSponge, 0.065, 1.042, 0.199, 0, 0, 0, 47 [SEP] 35, Plate, 1.589, 1.032, -1.411, 0, 0, 0, 51 [SEP] 36, Bread, -1.235, 1.302, 1.974, 0, 90, 0, 60 [SEP] 37, Spoon, -0.346, 1.048, -1.612, 0, 0, 0, 45 [SEP] 38, Pot, -1.261, 2.029, -1.409, 0, 270, 0, 52 [SEP] 39, Mug, -1.047, 1.711, -1.331, 0, 0, 0, 59 [SEP] 40, Bowl, 1.701, 1.042, 0.091, 0, 0, 0, 47 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven. | STEP 4: Place the egg inside the microwave on the right side of the mug. | STEP 5: Move over left to the counter next to the oven.  | STEP 6: Pick up the egg behind the pepper shaker on the counter.  | STEP 7: Move over right to the microwave above the oven.  | STEP 8: Place the egg on the left of the first egg in the microwave.  | END


Input: Place a clean kettle in a cabinet. 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, -0.25, 0, 180, 0,  [SEP] 1, Pan, -0.580, 0.203, -1.337, 0, 0, 0, 52 [SEP] 2, Kettle, 1.112, 1.566, -1.764, 0, 0, 0, 47 [SEP] 3, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 4, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 44 [SEP] 5, Spoon, -0.689, 1.048, -1.397, 0, 0, 0, 43 [SEP] 6, Spatula, 1.514, 1.058, 0.807, 0, 0, 0, 45 [SEP] 7, Spatula, 1.514, 1.058, 0.632, 0, 0, 0, 45 [SEP] 8, Cup, -1.194, 1.716, -1.269, 0, 0, 0, 57 [SEP] 9, Tomato, -1.264, 1.540, 1.796, 0, 90, 0, 58 [SEP] 10, SoapBottle, 1.612, 1.044, 0.522, 0, 90, 0, 45 [SEP] 11, SoapBottle, -0.699, 1.565, -1.841, 0, 0, 0, 48 [SEP] 12, SaltShaker, 0.740, 1.041, -1.289, 0, 0, 0, 43 [SEP] 13, PepperShaker, 1.112, 1.560, -1.538, 0, 0, 0, 47 [SEP] 14, PepperShaker, 1.894, 0.199, -1.625, 0, 0, 0, 53 [SEP] 15, Bread, 0.065, 1.117, 0.630, 0, 0, 0, 45 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 17, SoapBottle, -0.517, 1.047, -1.181, 0, 0, 0, 43 [SEP] 18, Apple, -1.090, 0.750, 2.331, 0, 90, 0, 58 [SEP] 19, Potato, -1.064, 1.017, 1.974, 0, 90, 0, 58 [SEP] 20, Fork, -0.260, 1.047, -1.828, 0, 90, 0, 43 [SEP] 21, Kettle, 1.512, 0.205, -1.262, 0, 0, 0, 53 [SEP] 22, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 43 [SEP] 23, Tomato, -1.235, 1.279, 2.063, 0, 90, 0, 58 [SEP] 24, SaltShaker, 1.436, 0.199, -1.553, 0, 0, 0, 71 [SEP] 25, Egg, -1.366, 1.282, 1.885, 0, 90, 0, 58 [SEP] 26, Cup, -1.303, 1.489, 2.063, 0, 90, 0, 58 [SEP] 27, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 43 [SEP] 28, Knife, 0.257, 1.038, 0.343, 90, 3.660, 0, 45 [SEP] 29, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 58 [SEP] 30, ButterKnife, 1.155, 1.046, -1.181, 0, 0, 0, 43 [SEP] 31, PepperShaker, 1.512, 1.014, -1.191, 0, 0, 0, 49 [SEP] 32, DishSponge, 1.741, 0.204, -1.480, 0, 0, 0, 53 [SEP] 33, Plate, -1.339, 0.215, -1.482, 0, 0, 0, 51 [SEP] 34, Bread, 0.455, 1.108, 0.338, 0, 337.205, 356.791, 45 [SEP] 35, Spoon, 1.155, 1.048, -1.397, 0, 0, 0, 43 [SEP] 36, Pot, -1.184, 2.029, -1.555, 0, 180, 0, 50 [SEP] 37, Mug, -1.103, 1.223, 1.974, 0, 90, 0, 58 [SEP] 38, Bowl, -1.386, 1.712, 1.885, 0, 90, 0, 58 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 71, , , , , , , ,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the cabinets on the far right. | STEP 2: Open the bottom cabinet next to the wall and take out the kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the kettle in the sink. | STEP 5: Turn around. | STEP 6: Open the cabinet under and to the left of the stove and place the kettle in it. | END


Input: Move two soap dispensers from the trash can to the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.25, 0, 0, 0,  [SEP] 1, Cloth, 0.124, 0.048, 1.295, 0, 0, 0, 30 [SEP] 2, Cloth, 0.289, 0.048, 1.067, 0, 0, 0, 30 [SEP] 3, Candle, 0.017, 0.650, 1.762, 0, 0, 0, 23 [SEP] 4, SprayBottle, -1.308, 1.774, 2.187, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.471, 1.774, 2.067, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 34 [SEP] 7, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 34 [SEP] 8, SoapBottle, -2.277, 1.049, -0.674, 0, 0, 0, 36 [SEP] 9, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 10, Candle, -2.146, 1.088, -0.827, 0, 0, 0, 36 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -0.334, 0.609, -0.259, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.144, 1.773, 2.157, 0, 0, 0, 29 [SEP] 17, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -0.653, 1.774, 2.127, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the trash can by the toilet.  | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf. | STEP 5: Turn and go to the trash can by the toilet.  | STEP 6: Take a soap dispenser out of the trash can. | STEP 7: Turn and go to the shelf by the bathtub. | STEP 8: Put the soap dispenser on the shelf. | END


Input: Move two pump dispensers from garbage can to shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.25, 0, 0, 0,  [SEP] 1, Cloth, 0.124, 0.048, 1.295, 0, 0, 0, 30 [SEP] 2, Cloth, 0.289, 0.048, 1.067, 0, 0, 0, 30 [SEP] 3, Candle, 0.017, 0.650, 1.762, 0, 0, 0, 23 [SEP] 4, SprayBottle, -1.308, 1.774, 2.187, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.471, 1.774, 2.067, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 34 [SEP] 7, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 34 [SEP] 8, SoapBottle, -2.277, 1.049, -0.674, 0, 0, 0, 36 [SEP] 9, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 10, Candle, -2.146, 1.088, -0.827, 0, 0, 0, 36 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -0.334, 0.609, -0.259, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.144, 1.773, 2.157, 0, 0, 0, 29 [SEP] 17, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -0.653, 1.774, 2.127, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room. | STEP 4: Place pump dispenser on shelf close to floor. | STEP 5: Turn around, go to garbage can between sink and toilet. | STEP 6: Pick up pump dispenser from garbage can. | STEP 7: Turn around, go across room. | STEP 8: Place pump dispenser on shelf close to floor, to the left of the other pump dispenser. | END


Input: Move a box to the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.25, 0, 90, 0,  [SEP] 1, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 2, Newspaper, 1.849, 0.868, 0.220, 0, 90, 0, 36 [SEP] 3, KeyChain, 0.133, 0.295, -2.063, 0, 90, 0, 32 [SEP] 4, KeyChain, -0.841, 0.359, -0.480, 0, 270, 0, 39 [SEP] 5, CreditCard, -0.323, 0.357, -0.544, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -1.133, 0.328, -1.624, 0, 180, 0, 32 [SEP] 8, Watch, -0.711, 0.199, -0.249, 0, 270, 0, 28 [SEP] 9, Newspaper, 1.601, 0.276, -0.742, 0, 180, 0, 38 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.891, 0.870, 0.643, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, -0.561, 0.562, -0.192, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, , , , , , , ,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Move to the brown side table to the left of the brown sofa | STEP 2: Pick up the empty box on the floor under the side table | STEP 3: Carry the box to the far right side of the sofa | STEP 4: Place on box on top of the sofa behind the keys | END


Input: Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a 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, 0.931, -0.25, 0, 270, 0,  [SEP] 1, Potato, 0.065, 1.096, 0.522, 0, 0, 0, 43 [SEP] 2, Potato, -1.423, 1.766, 2.331, 0, 90, 0, 56 [SEP] 3, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 44 [SEP] 4, Spoon, -0.517, 1.048, -1.289, 0, 0, 0, 41 [SEP] 5, Egg, -1.047, 1.770, -1.300, 0, 0, 0, 55 [SEP] 6, Egg, 1.271, 0.947, 0.158, 0, 90, 0, 38 [SEP] 7, Knife, 1.181, 1.069, 0.763, 0, 0, 0, 43 [SEP] 8, Tomato, -1.064, 1.014, 2.153, 0, 90, 0, 56 [SEP] 9, Tomato, 1.347, 1.094, 0.632, 0, 0, 0, 43 [SEP] 10, Tomato, -1.264, 1.540, 2.063, 0, 90, 0, 56 [SEP] 11, SoapBottle, -0.222, 0.204, -1.553, 0, 0, 0, 50 [SEP] 12, Bowl, -1.261, 2.027, -1.482, 0, 0, 0, 48 [SEP] 13, SaltShaker, 1.072, 1.041, -1.181, 0, 0, 0, 41 [SEP] 14, SaltShaker, 0.885, 1.560, -1.839, 0, 0, 0, 45 [SEP] 15, SoapBottle, 1.436, 0.205, -1.553, 0, 0, 0, 51 [SEP] 16, Apple, -1.031, 0.750, 2.331, 0, 90, 0, 56 [SEP] 17, Potato, -1.276, 1.766, 2.063, 0, 90, 0, 56 [SEP] 18, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 43 [SEP] 19, Kettle, -1.261, 0.203, -1.265, 0, 0, 0, 49 [SEP] 20, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 41 [SEP] 21, Tomato, 0.936, 1.105, 0.281, 0, 90, 0, 39 [SEP] 22, SaltShaker, -0.624, 1.560, -1.619, 0, 0, 0, 46 [SEP] 23, Egg, 0.446, 1.097, 0.630, 0, 0, 0, 43 [SEP] 24, Cup, -1.243, 1.716, -1.300, 0, 0, 0, 55 [SEP] 25, Spatula, 1.612, 1.058, 0.522, 0, 270, 0, 43 [SEP] 26, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 41 [SEP] 27, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 39 [SEP] 28, ButterKnife, 1.701, 1.043, 0.630, 0, 0, 0, 43 [SEP] 29, PepperShaker, 1.741, 0.199, -1.335, 0, 0, 0, 51 [SEP] 30, DishSponge, -1.416, 0.202, -1.555, 0, 0, 0, 49 [SEP] 31, Plate, 1.666, 1.032, -1.557, 0, 0, 0, 47 [SEP] 32, Bread, -0.346, 1.120, -1.397, 0, 0, 0, 41 [SEP] 33, Spoon, 0.848, 1.044, 0.807, 0, 0, 0, 43 [SEP] 34, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 37 [SEP] 35, Mug, 1.512, 0.199, -1.262, 0, 0, 0, 51 [SEP] 36, Bowl, 1.741, 0.203, -1.553, 0, 0, 0, 51 [SEP] 37, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 38, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 39, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 40, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 41, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 42, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 44, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 45, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 46, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 47, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 48, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 53, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 54, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 55, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 56, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 57, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 58, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 59, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 60, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 61, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 65, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 66, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 67, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 68, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 69, NorthWall, , , , , , ,  [SEP] 70, EastWall, , , , , , ,  [SEP] 71, SouthWall, , , , , , ,  [SEP] 72, WestWall, , , , , , ,

Output: STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce. | STEP 9: Turn left, go to wall.  Turn left to face stove and microwave. | STEP 10: Open microwave door, place tomato in front of mug, close microwave door.  Wait four seconds, open microwave door, remove tomato slice, close microwave door. | STEP 11: Turn left, proceed to counter on right side with toaster and bread on it. | STEP 12: Put tomato on counter directly in front of spoon. | END


Input: Place a clean cup on 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, 3.0, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, 0.193, 0.800, -0.651, 0, 0, 0, 98 [SEP] 2, DishSponge, -0.055, 0.911, 1.299, 0, 0, 0, 52 [SEP] 3, DishSponge, 2.205, 0.771, -0.383, 0, 180, 0, 54 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 5, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 41 [SEP] 6, Spoon, -0.103, 0.912, 1.214, 0, 0, 0, 52 [SEP] 7, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 41 [SEP] 8, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 94 [SEP] 9, Egg, -0.983, 0.858, -1.103, 0, 90, 0, 100 [SEP] 10, SoapBottle, 2.488, 0.917, 1.129, 0, 0, 0, 76 [SEP] 11, SoapBottle, 1.487, 1.660, 1.546, 0, 0, 0, 64 [SEP] 12, Tomato, -0.198, 0.942, 1.468, 0, 0, 0, 52 [SEP] 13, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 76 [SEP] 14, PepperShaker, -0.621, 0.817, -1.257, 0, 90, 0, 100 [SEP] 15, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 76 [SEP] 16, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, -0.198, 0.980, 1.214, 0, 0, 0, 52 [SEP] 18, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 100 [SEP] 19, Plate, 2.715, 1.021, -0.709, 0, 0, 0, 96 [SEP] 20, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 100 [SEP] 21, Pot, 2.838, 1.292, -0.644, 0, 0, 0, 96 [SEP] 22, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 76 [SEP] 23, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 99 [SEP] 24, Kettle, 1.484, 1.656, -0.810, 0, 180, 0, 63 [SEP] 25, Tomato, 2.715, 0.758, -0.504, 0, 0, 0, 96 [SEP] 26, Cup, 0.759, 2.151, 1.390, 0, 0, 0, 50 [SEP] 27, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 41 [SEP] 28, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 99 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 76 [SEP] 31, SaltShaker, 0.888, 0.908, -0.515, 0, 0, 0, 41 [SEP] 32, Knife, 0.634, 0.944, -0.430, 0, 0, 0, 41 [SEP] 33, Potato, -0.087, 0.800, -0.596, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.007, 0.908, 1.129, 0, 0, 0, 52 [SEP] 35, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 76 [SEP] 36, Bowl, 1.179, 1.653, 1.507, 0, 0, 0, 68 [SEP] 37, DishSponge, -0.151, 0.911, 1.044, 0, 0, 0, 52 [SEP] 38, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 41 [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 to your left. | STEP 2: Grab the cup on the coffee maker. | STEP 3: Carrying the cup, walk to the sink to your left. | STEP 4: Place the cup in the sink, wash the cup and remove it from the sink. | STEP 5: Carrying the clean cup, turn around walk to coffee maker to your right. | STEP 6: Place the clean cup on the coffee maker. | END


Input: Pick up a vase and turn the lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, 2.0, 0, 0, 0,  [SEP] 1, Bowl, -0.585, 0.795, 2.252, 0, 270, 0, 42 [SEP] 2, Newspaper, -0.789, 0.365, 4.524, 0, 0, 0, 40 [SEP] 3, KeyChain, -3.462, 0.147, 7.173, 0, 90, 0, 51 [SEP] 4, KeyChain, -5.998, 0.453, 3.757, 0, 0, 0, 47 [SEP] 5, CreditCard, -5.848, 0.146, 4.942, 0, 0, 0, 47 [SEP] 6, CreditCard, -5.885, 0.452, 4.152, 0, 0, 0, 47 [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, -3.067, 0.453, 7.183, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.950, 0.145, 4.745, 0, 0, 0, 47 [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, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -2.704, 0.533, 3.919, 0, 0, 0, 57 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -6.075, 1.280, 3.891, 0, 0, 0, 54 [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, -0.326, 0.795, 2.002, 0, 0, 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, -5.998, 0.455, 4.547, 0, 0, 0, 52 [SEP] 24, Watch, -3.557, 1.280, 6.981, 0, 90, 0, 56 [SEP] 25, Statue, -5.480, 0.540, 6.759, 0, 135, 0, 58 [SEP] 26, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 56 [SEP] 27, Statue, -5.293, 0.543, 6.796, 0, 45, 0, 58 [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: Go forward and then turn left to face the dark colored shelves. | STEP 2: Pick up the white vase that is on a shelf with nothing else. | STEP 3: Turn around and go forward and then left to face the small table with the lamp next to the couch. | STEP 4: Turn the lamp on. | END


Input: Put remote control in box and place on couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 0.5, 0, 180, 0,  [SEP] 1, Bowl, -3.462, 0.148, 7.276, 0, 90, 0, 51 [SEP] 2, CreditCard, -0.758, 0.793, 2.154, 0, 0, 0, 42 [SEP] 3, CreditCard, -0.484, 0.793, 1.626, 0, 270, 0, 42 [SEP] 4, RemoteControl, -3.557, 1.282, 7.108, 0, 90, 0, 56 [SEP] 5, RemoteControl, -2.474, 0.149, 7.173, 0, 90, 0, 51 [SEP] 6, RemoteControl, -2.672, 0.149, 7.327, 0, 90, 0, 51 [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, -5.536, 0.534, 6.703, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.433, 0.792, 5.726, 0, 270, 0, 41 [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, -5.923, 0.453, 4.152, 0, 0, 0, 52 [SEP] 15, CreditCard, -2.182, 1.279, 7.361, 0, 90, 0, 56 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.491, 0.534, 4.480, 0, 270, 0, 57 [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, -5.253, 0.535, 6.986, 0, 135, 0, 58 [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, -2.492, 0.536, 3.752, 0, 270, 0, 57 [SEP] 24, Watch, -2.811, 0.533, 3.856, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -3.265, 0.156, 7.173, 0, 90, 0, 51 [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: Turn to your right move to the the mirror move right and  walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch.  | STEP 4: Place the box on the couch. | STEP 5: Move across the room back to the shelf. | STEP 6: Pick up the remote control in between the other object's on the bottom shelf. | STEP 7: Turn around and move to the center of the couch. | STEP 8: Place the remote control in the box and close the top of it. | END


Input: Move the candle from the tub to the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.903, 1.0, 0, 90, 0,  [SEP] 1, TissueBox, -1.144, 0.289, 2.157, 0, 0, 0, 22 [SEP] 2, SprayBottle, -2.212, 1.048, -0.766, 0, 0, 0, 31 [SEP] 3, SprayBottle, -1.635, 1.774, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.471, 1.066, 2.217, 0, 0, 0, 26 [SEP] 5, Candle, -0.334, 0.650, 0.338, 0, 0, 0, 18 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, 0.041, 0.043, 0.384, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -1.144, 1.066, 2.217, 0, 0, 0, 26 [SEP] 10, SoapBottle, -0.319, 0.611, 1.533, 0, 0, 0, 18 [SEP] 11, TissueBox, -2.015, 1.047, -0.674, 0, 0, 0, 31 [SEP] 12, Cloth, 0.453, 0.048, 1.295, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.687, 0.078, -0.690, 0, 270, 0, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.146, 1.048, -0.644, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Walk to the edge of the tub in front of the candle. | STEP 2: Grab the candle off the tub. | STEP 3: Walk to the right edge of the toilet. | STEP 4: Place the candle on the right edge of the toilet. | END


Input: Move the tablet on the dresser to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.949, 1.5, 0, 180, 0,  [SEP] 1, CD, -0.776, 0.173, -0.246, 0, 0, 0, 45 [SEP] 2, CellPhone, -0.077, 0.155, 3.253, 0, 0, 0, 41 [SEP] 3, CreditCard, 3.455, 0.723, 1.352, 0, 180, 0, 59 [SEP] 4, KeyChain, 2.519, 0.989, -2.037, 0, 270, 0, 34 [SEP] 5, KeyChain, -0.812, 0.175, -0.430, 0, 90, 0, 45 [SEP] 6, Book, -0.772, 0.785, 0.081, 0, 0, 0, 55 [SEP] 7, KeyChain, 0.024, 0.785, 3.170, 0, 180, 0, 41 [SEP] 8, CreditCard, 3.300, 0.723, 1.352, 0, 180, 0, 59 [SEP] 9, Pen, 2.234, 0.993, -1.687, 0, 0, 0, 34 [SEP] 10, Pencil, -0.904, 0.788, -0.548, 0, 0, 0, 55 [SEP] 11, Laptop, 2.235, 0.983, -1.95, 0, 270, 0, 34 [SEP] 12, Vase, 1.515, 0.185, -1.786, 0, 270, 0, 31 [SEP] 13, AlarmClock, 2.519, 0.986, -1.862, 0, 90, 0, 34 [SEP] 14, Pillow, 2.052, 0.674, -0.172, 0, 0, 0, 19 [SEP] 15, Pillow, 2.052, 0.674, 0.308, 0, 0, 0, 19 [SEP] 16, CellPhone, 2.381, 0.610, 0.790, 0, 0, 0, 19 [SEP] 17, CD, -1.103, 0.784, -0.548, 0, 0, 0, 55 [SEP] 18, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 41 [SEP] 19, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 20, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 21, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 22, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 23, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 24, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 25, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 26, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 27, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 28, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 29, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 30, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 31, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 32, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 35, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 38, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 39, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 40, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 41, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 42, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 43, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 44, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 45, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 55, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 58, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 59, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 60, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, EastWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, WestWall, , , , , , ,

Output: STEP 1: Walk around the bed to the front of the dresser. | STEP 2: Grab the tablet above the pencil. | STEP 3: Walk around the bed to the left side of the bed. | STEP 4: Place the tablet on the bed. | END


Input: Move the pencils from the trash bin and the brown dresser to put them on the white table. 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, -3.0, 0, 90, 0,  [SEP] 1, CD, -3.613, 0.979, -3.070, 0, 0, 0, 37 [SEP] 2, CellPhone, -3.760, 0.981, -3.070, 0, 0, 0, 37 [SEP] 3, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 19 [SEP] 4, Pencil, -1.882, 0.065, -3.944, 0, 9.990, 0, 23 [SEP] 5, AlarmClock, -3.687, 0.981, -3.673, 0, 0, 0, 37 [SEP] 6, Book, -1.066, 0.800, -4.137, 0, 0, 0, 34 [SEP] 7, CellPhone, -3.693, 0.808, -2.997, 0, 0, 0, 44 [SEP] 8, Laptop, -2.770, 0.618, -1.506, 0, 0, 0, 19 [SEP] 9, CreditCard, -0.274, 0.188, -3.779, 0, 0, 0, 29 [SEP] 10, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 34 [SEP] 11, KeyChain, -0.655, 0.030, -3.811, 0, 0, 0, 29 [SEP] 12, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 19 [SEP] 13, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 14, Pencil, -3.687, 0.983, -3.874, 0, 0, 0, 37 [SEP] 15, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 19 [SEP] 16, CD, -3.908, 0.979, -3.271, 0, 0, 0, 37 [SEP] 17, Pen, -1.270, 0.805, -4.354, 0, 0, 0, 34 [SEP] 18, Mug, -3.687, 0.979, -3.271, 0, 0, 0, 37 [SEP] 19, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 20, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 21, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 22, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 23, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 24, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 25, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 26, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 27, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 28, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 30, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 31, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 32, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 34, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 35, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 36, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 37, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 38, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table. | STEP 5: Turn around and go to the brown dresser in the corner of the room. | STEP 6: Pick up the pencil on top of the brown dresser. | STEP 7: Turn around and go back to face the white table. | STEP 8: Place the pencil on the white table. | END


Input: Move a set of keys to the seat of a chair. 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, -1.25, 0, 90, 0,  [SEP] 1, KeyChain, -0.260, 0.553, -0.451, 0, 270, 0, 29 [SEP] 2, KeyChain, -0.712, 0.041, -0.480, 0, 270, 0, 24 [SEP] 3, KeyChain, -0.561, 0.553, -0.278, 0, 90, 0, 29 [SEP] 4, RemoteControl, 1.206, 0.322, -0.435, 0, 0, 0, 37 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 31 [SEP] 6, KeyChain, 1.724, 0.872, 0.008, 0, 90, 0, 35 [SEP] 7, Watch, 1.807, 0.871, 0.431, 0, 90, 0, 35 [SEP] 8, Newspaper, 1.807, 0.869, 0.537, 0, 90, 0, 35 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -1.163, 0.551, -0.537, 0, 270, 0, 29 [SEP] 11, RemoteControl, 1.849, 0.871, 0.326, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, -0.561, 0.562, -0.537, 0, 270, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk up to the coffee table. | STEP 2: Pick up the set of keys off of the coffee table. | STEP 3: Walk over to the chair that is against the wall on your right. | STEP 4: Put the keys on the front edge of the seat of the chair. | END


Input: Put a chilled egg in the trash can.  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, 1.25, 0, 90, 0,  [SEP] 1, Pan, 1.072, 1.046, -1.289, 0, 90, 0, 46 [SEP] 2, Potato, 0.351, 1.096, 0.630, 0, 0, 0, 48 [SEP] 3, DishSponge, 1.894, 0.204, -1.408, 0, 0, 0, 56 [SEP] 4, Kettle, -1.183, 0.203, -1.555, 0, 0, 0, 54 [SEP] 5, Kettle, -0.312, 0.204, -1.337, 0, 0, 0, 55 [SEP] 6, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 7, Pot, 1.665, 0.206, -1.262, 0, 0, 0, 56 [SEP] 8, Spoon, 0.255, 1.031, 0.307, 0, 0, 0, 48 [SEP] 9, Spoon, 0.516, 1.044, 0.763, 0, 0, 0, 48 [SEP] 10, Egg, 0.542, 1.097, 0.522, 0, 0, 0, 48 [SEP] 11, Plate, 1.820, 1.032, -1.557, 0, 0, 0, 52 [SEP] 12, Plate, 0.065, 1.056, 0.522, 0, 0, 0, 48 [SEP] 13, Knife, 0.379, 1.072, -1.107, 0, 0, 0, 46 [SEP] 14, Bowl, 1.879, 1.042, 0.091, 0, 0, 0, 48 [SEP] 15, SaltShaker, 1.347, 1.038, 0.720, 0, 0, 0, 48 [SEP] 16, SaltShaker, -0.432, 1.041, -1.397, 0, 0, 0, 46 [SEP] 17, Mug, 1.612, 1.038, 0.199, 0, 0, 0, 48 [SEP] 18, Mug, -1.034, 0.959, 2.153, 0, 0, 0, 61 [SEP] 19, Apple, 0.936, 1.098, 0.281, 0, 90, 0, 44 [SEP] 20, SoapBottle, -1.416, 0.203, -1.265, 0, 0, 0, 54 [SEP] 21, Apple, -1.034, 1.007, 1.885, 0, 90, 0, 61 [SEP] 22, Potato, -1.034, 1.017, 2.331, 0, 180, 0, 61 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, -0.473, 1.566, -1.470, 0, 0, 0, 51 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, 0.255, 1.094, 0.091, 0, 0, 0, 48 [SEP] 27, SaltShaker, -0.222, 0.198, -1.481, 0, 90, 0, 55 [SEP] 28, Egg, -1.243, 1.770, -1.362, 0, 0, 0, 60 [SEP] 29, Cup, -1.342, 1.489, 1.974, 0, 90, 0, 61 [SEP] 30, Spatula, 0.717, 1.068, 0.181, 0, 90, 0, 44 [SEP] 31, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 44 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 1.612, 1.043, 0.522, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.760, 0.198, -1.625, 0, 0, 0, 55 [SEP] 35, DishSponge, -1.029, 2.027, -1.337, 0, 0, 0, 53 [SEP] 36, Plate, -1.261, 2.041, -1.409, 0, 0, 0, 53 [SEP] 37, Bread, 0.410, 1.104, 0.351, 0, 337.332, 358.798, 48 [SEP] 38, Spoon, 1.015, 1.044, 0.720, 0, 0, 0, 48 [SEP] 39, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 40, Mug, -1.300, 1.223, 1.885, 0, 90, 0, 61 [SEP] 41, Bowl, -0.398, 1.563, -1.693, 0, 0, 0, 51 [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: Move to the center island on the right. | STEP 2: Pick up the egg from the island.  | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the egg to the trash can. | STEP 6: Put the egg in the trash can.  | END


Input: Put a chilled cup 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, 1.25, 0, 180, 0,  [SEP] 1, Pan, 1.817, 0.204, -1.480, 0, 90, 0, 55 [SEP] 2, Potato, 1.854, 0.175, 2.358, 0, 270, 0, 61 [SEP] 3, Potato, -1.095, 1.017, 2.242, 0, 90, 0, 60 [SEP] 4, ButterKnife, 0.980, 1.053, 0.181, 0, 90, 0, 43 [SEP] 5, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 45 [SEP] 6, Kettle, -1.183, 0.203, -1.265, 0, 0, 0, 53 [SEP] 7, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 8, Spoon, 1.155, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 45 [SEP] 10, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 45 [SEP] 11, Egg, -1.419, 1.543, 2.063, 0, 90, 0, 60 [SEP] 12, Egg, -1.145, 1.770, -1.300, 0, 0, 0, 59 [SEP] 13, Tomato, 0.805, 1.104, 0.131, 0, 90, 0, 43 [SEP] 14, SoapBottle, 0.960, 1.565, -1.614, 0, 0, 0, 49 [SEP] 15, Bowl, 0.160, 1.042, 0.630, 0, 0, 0, 47 [SEP] 16, Bowl, 1.155, 1.045, -1.397, 0, 0, 0, 45 [SEP] 17, PepperShaker, 1.523, 1.038, 0.307, 0, 0, 0, 47 [SEP] 18, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 19, SoapBottle, -1.261, 0.203, -1.627, 0, 0, 0, 53 [SEP] 20, Apple, -1.303, 1.532, 2.331, 0, 90, 0, 60 [SEP] 21, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 47 [SEP] 22, Fork, 0.989, 1.047, -1.289, 0, 180, 0, 45 [SEP] 23, Kettle, -0.548, 1.566, -1.619, 0, 0, 0, 50 [SEP] 24, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 54 [SEP] 25, Tomato, 0.740, 1.097, -1.181, 0, 0, 0, 45 [SEP] 26, SaltShaker, 1.523, 1.038, 0.199, 0, 0, 0, 47 [SEP] 27, Egg, -0.346, 1.101, -1.612, 0, 0, 0, 45 [SEP] 28, Cup, 1.790, 1.043, 0.738, 0, 0, 0, 47 [SEP] 29, Spatula, 0.848, 1.058, 0.763, 0, 180, 0, 47 [SEP] 30, Knife, 1.514, 1.069, 0.676, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.349, 1.773, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.603, 1.046, -1.289, 0, 90, 0, 45 [SEP] 33, PepperShaker, -0.624, 1.560, -1.767, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.260, 1.046, -1.397, 0, 0, 0, 45 [SEP] 35, Plate, 1.589, 1.032, -1.484, 0, 0, 0, 51 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, -0.346, 1.048, -1.828, 0, 0, 0, 45 [SEP] 38, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 39, Mug, -1.038, 1.223, 1.885, 0, 0, 0, 60 [SEP] 40, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 60 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter. | STEP 2: Pick up the green cup from the counter.  | STEP 3: Turn right and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge.  | STEP 5: Take the chilled cup from the fridge, turn left near the center counter.  | STEP 6: Put the chilled cup on the counter to the left.  | END


Input: Put a chilled cup 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, 1.25, 0, 180, 0,  [SEP] 1, Pan, 1.817, 0.204, -1.480, 0, 90, 0, 55 [SEP] 2, Potato, 1.854, 0.175, 2.358, 0, 270, 0, 61 [SEP] 3, Potato, -1.095, 1.017, 2.242, 0, 90, 0, 60 [SEP] 4, ButterKnife, 0.980, 1.053, 0.181, 0, 90, 0, 43 [SEP] 5, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 45 [SEP] 6, Kettle, -1.183, 0.203, -1.265, 0, 0, 0, 53 [SEP] 7, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 8, Spoon, 1.155, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 45 [SEP] 10, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 45 [SEP] 11, Egg, -1.419, 1.543, 2.063, 0, 90, 0, 60 [SEP] 12, Egg, -1.145, 1.770, -1.300, 0, 0, 0, 59 [SEP] 13, Tomato, 0.805, 1.104, 0.131, 0, 90, 0, 43 [SEP] 14, SoapBottle, 0.960, 1.565, -1.614, 0, 0, 0, 49 [SEP] 15, Bowl, 0.160, 1.042, 0.630, 0, 0, 0, 47 [SEP] 16, Bowl, 1.155, 1.045, -1.397, 0, 0, 0, 45 [SEP] 17, PepperShaker, 1.523, 1.038, 0.307, 0, 0, 0, 47 [SEP] 18, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 19, SoapBottle, -1.261, 0.203, -1.627, 0, 0, 0, 53 [SEP] 20, Apple, -1.303, 1.532, 2.331, 0, 90, 0, 60 [SEP] 21, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 47 [SEP] 22, Fork, 0.989, 1.047, -1.289, 0, 180, 0, 45 [SEP] 23, Kettle, -0.548, 1.566, -1.619, 0, 0, 0, 50 [SEP] 24, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 54 [SEP] 25, Tomato, 0.740, 1.097, -1.181, 0, 0, 0, 45 [SEP] 26, SaltShaker, 1.523, 1.038, 0.199, 0, 0, 0, 47 [SEP] 27, Egg, -0.346, 1.101, -1.612, 0, 0, 0, 45 [SEP] 28, Cup, 1.790, 1.043, 0.738, 0, 0, 0, 47 [SEP] 29, Spatula, 0.848, 1.058, 0.763, 0, 180, 0, 47 [SEP] 30, Knife, 1.514, 1.069, 0.676, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.349, 1.773, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.603, 1.046, -1.289, 0, 90, 0, 45 [SEP] 33, PepperShaker, -0.624, 1.560, -1.767, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.260, 1.046, -1.397, 0, 0, 0, 45 [SEP] 35, Plate, 1.589, 1.032, -1.484, 0, 0, 0, 51 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, -0.346, 1.048, -1.828, 0, 0, 0, 45 [SEP] 38, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 39, Mug, -1.038, 1.223, 1.885, 0, 0, 0, 60 [SEP] 40, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 60 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn left and stand behind the chairs. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and go to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn to the left. | STEP 6: Put the cup on the counter. | END


Input: To heat a potato and put it down 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, -1.0, 0.931, -0.5, 0, 0, 0,  [SEP] 1, Pan, 1.743, 1.019, -1.337, 0, 90, 0, 60 [SEP] 2, Potato, -1.349, 1.766, 1.974, 0, 90, 0, 69 [SEP] 3, Potato, -1.103, 1.281, 2.331, 0, 90, 0, 69 [SEP] 4, Potato, -1.169, 1.281, 2.063, 0, 90, 0, 69 [SEP] 5, DishSponge, 1.820, 1.019, -1.630, 0, 0, 0, 60 [SEP] 6, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 57 [SEP] 7, Fork, 0.682, 1.043, 0.632, 0, 0, 0, 56 [SEP] 8, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 54 [SEP] 9, Spatula, 1.155, 1.061, -1.289, 0, 0, 0, 54 [SEP] 10, Egg, -1.250, 2.002, 2.242, 0, 90, 0, 69 [SEP] 11, Egg, -0.260, 1.101, -1.612, 0, 0, 0, 54 [SEP] 12, Plate, -0.398, 1.577, -1.767, 0, 0, 0, 59 [SEP] 13, Plate, 0.890, 0.212, -1.267, 0, 0, 0, 65 [SEP] 14, Knife, 0.657, 1.072, -1.086, 0, 0, 0, 54 [SEP] 15, Tomato, -1.431, 1.279, 2.063, 0, 90, 0, 69 [SEP] 16, Tomato, 1.211, 0.951, 0.231, 0, 90, 0, 51 [SEP] 17, SoapBottle, -1.261, 0.203, -1.265, 0, 0, 0, 62 [SEP] 18, SoapBottle, -1.416, 0.203, -1.410, 0, 0, 0, 62 [SEP] 19, Bowl, 1.512, 0.203, -1.553, 0, 0, 0, 64 [SEP] 20, SaltShaker, -0.775, 1.041, -1.505, 0, 0, 0, 54 [SEP] 21, SaltShaker, -0.952, 2.023, -1.409, 0, 0, 0, 61 [SEP] 22, PepperShaker, 1.188, 1.560, -1.614, 0, 0, 0, 58 [SEP] 23, PepperShaker, 1.181, 1.038, 0.720, 0, 0, 0, 56 [SEP] 24, Lettuce, 0.065, 1.103, 0.630, 0, 0, 0, 56 [SEP] 25, Mug, 0.351, 1.038, 0.738, 0, 0, 0, 56 [SEP] 26, Apple, 0.980, 1.097, 0.331, 0, 90, 0, 52 [SEP] 27, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 54 [SEP] 28, SoapBottle, 1.158, 0.200, -1.339, 0, 0, 0, 65 [SEP] 29, Apple, 0.892, 1.098, 0.331, 0, 90, 0, 52 [SEP] 30, Potato, 0.761, 1.108, 0.281, 0, 90, 0, 52 [SEP] 31, Fork, 1.155, 1.047, -1.505, 0, 180, 0, 54 [SEP] 32, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 55 [SEP] 33, Pan, -1.339, 2.027, -1.409, 0, 270, 0, 61 [SEP] 34, Tomato, 0.936, 1.104, 0.231, 0, 90, 0, 52 [SEP] 35, SaltShaker, 1.588, 0.199, -1.408, 0, 0, 0, 64 [SEP] 36, Egg, 0.542, 1.097, 0.091, 0, 0, 0, 56 [SEP] 37, Cup, -0.398, 1.565, -1.470, 0, 0, 0, 59 [SEP] 38, Spatula, 0.906, 1.061, -1.181, 0, 0, 0, 54 [SEP] 39, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 54 [SEP] 40, Lettuce, -1.095, 1.023, 1.885, 0, 90, 0, 69 [SEP] 41, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 56 [SEP] 42, PepperShaker, -0.346, 1.041, -1.505, 0, 0, 0, 54 [SEP] 43, DishSponge, 0.805, 1.053, 0.131, 0, 90, 0, 52 [SEP] 44, Plate, 1.817, 0.217, -1.335, 0, 0, 0, 64 [SEP] 45, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 56 [SEP] 46, Spoon, 0.717, 1.054, 0.231, 0, 270, 0, 52 [SEP] 47, Pot, -0.377, 0.191, -1.313, 0, 90, 0, 63 [SEP] 48, Mug, -0.603, 1.041, -1.289, 0, 0, 0, 54 [SEP] 49, Bowl, -0.670, 0.202, -1.481, 0, 0, 0, 63 [SEP] 50, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 51, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 52, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 53, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 54, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 55, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 56, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 57, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 58, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 59, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 60, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 63, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 64, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 65, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 66, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 67, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 68, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 69, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 70, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 71, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 72, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 73, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 74, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 75, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 76, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 77, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 78, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 79, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 80, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 81, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the left side of the sink.  | STEP 2: Pick up the potato from behind the sponge.  | STEP 3: Walk to the microwave above the oven.  | STEP 4: Put the potato in the microwave, heat up the potato, take the potato out of the microwave.  | STEP 5: Walk to the counter to the left of the oven with the toaster on it.  | STEP 6: Put the potato down on the counter to the left of the white mug.  | END


Input: put 2 spray bottles on top of the water tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 180, 0,  [SEP] 1, TissueBox, -1.560, 0.068, 2.341, 0, 0, 0, 22 [SEP] 2, Cloth, -1.500, 0.067, 3.276, 0, 0, 0, 26 [SEP] 3, SoapBar, 0.258, 0.047, 3.782, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.561, 0.068, 3.693, 0, 0, 0, 28 [SEP] 5, Candle, 0.374, 0.892, 1.566, 0, 0, 0, 33 [SEP] 6, SprayBottle, -1.284, 0.995, 2.982, 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, -1.416, 0.994, 3.933, 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, 0.284, 0.893, 1.671, 0, 0, 0, 33 [SEP] 13, TissueBox, -1.441, 0.069, 3.693, 0, 0, 0, 28 [SEP] 14, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 27 [SEP] 15, ToiletPaper, 0.351, 0.889, 1.828, 0, 0, 0, 33 [SEP] 16, SprayBottle, -1.416, 0.995, 2.923, 0, 0, 0, 27 [SEP] 17, Cloth, -1.382, 0.068, 2.807, 0, 0, 0, 20 [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: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left  go right and go forward towards the toilet | STEP 4: put the spray bottle on top of the water tank | STEP 5: turn around to the right go left towards the sink  | STEP 6: pick up the spray bottle from the sink | STEP 7: turn around to the left go right and forward towards the toilet | STEP 8: put the spray bottle on top of the water tank | END


Input: Examine a yellow pencil in 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, -2.25, 0.909, -3.25, 0, 90, 0,  [SEP] 1, Mug, -0.685, 0.541, -3.713, 0, 0, 0, 31 [SEP] 2, CD, -0.862, 0.799, -4.029, 0, 0, 0, 37 [SEP] 3, CreditCard, -0.655, 0.189, -3.811, 0, 0, 0, 32 [SEP] 4, CreditCard, -3.908, 0.979, -3.472, 0, 0, 0, 40 [SEP] 5, Book, -3.582, 0.226, -4.349, 0, 90, 0, 44 [SEP] 6, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 22 [SEP] 7, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 37 [SEP] 8, AlarmClock, -0.657, 0.800, -3.811, 0, 0, 0, 37 [SEP] 9, Book, -3.637, 0.046, -3.790, 0, 270, 0, 45 [SEP] 10, CellPhone, -3.834, 0.979, -3.874, 0, 0, 0, 40 [SEP] 11, Laptop, -3.191, 0.618, -0.356, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.502, 0.348, -3.747, 0, 0, 0, 31 [SEP] 13, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.453, 0.800, -4.137, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.453, 0.807, -4.029, 0, 0, 0, 37 [SEP] 18, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 22 [SEP] 19, CD, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -0.657, 0.809, -4.137, 0, 90, 0, 37 [SEP] 21, Mug, -3.539, 0.977, -3.874, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Walk over to the wall, then turn right to face the white table. | STEP 2: Pick up the yellow pencil off of the white table. | STEP 3: Turn right and walk towards the dresser, then hang a left and walk up to the wall, turn left to face the small lamp on the white table. | STEP 4: Turn on the light of the small lamp. | END


Input: Carry a pencil while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -2.0, 0, 270, 0,  [SEP] 1, Mug, -1.474, 0.801, -4.029, 0, 0, 0, 36 [SEP] 2, CD, -3.466, 0.980, -3.673, 0, 0, 0, 39 [SEP] 3, CellPhone, -3.751, 0.419, -3.185, 0, 0, 0, 47 [SEP] 4, Pencil, -0.774, 0.546, -3.676, 0, 0, 0, 30 [SEP] 5, Pencil, -3.687, 0.984, -3.271, 0, 0, 0, 39 [SEP] 6, CreditCard, -1.066, 0.803, -4.137, 0, 0, 0, 36 [SEP] 7, Laptop, -2.770, 0.618, -0.931, 0, 0, 0, 21 [SEP] 8, Book, -1.474, 0.800, -3.811, 0, 0, 0, 36 [SEP] 9, CellPhone, -0.426, 0.189, -3.811, 0, 0, 0, 28 [SEP] 10, Laptop, -2.981, 0.618, -2.080, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.657, 0.800, -3.703, 0, 0, 0, 36 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.249, 0.800, -4.137, 0, 0, 0, 36 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.637, 0.048, -4.164, 0, 0, 0, 44 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -0.418, 0.542, -3.713, 0, 0, 0, 30 [SEP] 19, Pen, -0.596, 0.548, -3.713, 0, 0, 0, 30 [SEP] 20, Mug, -3.539, 0.977, -4.276, 0, 0, 0, 39 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Move to the right side of the wooden dresser where the pencil is | STEP 2: Pick up the pencil on top of the dresser | STEP 3: Carry the pencil over to the right side of the white desk where the lamp is | STEP 4: Turn on the lamp | END


Input: Place two dog statues onto the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Newspaper, 1.724, 0.868, 0.431, 0, 90, 0, 36 [SEP] 2, Newspaper, -0.453, 0.036, -0.185, 0, 270, 0, 39 [SEP] 3, KeyChain, -0.561, 0.553, -0.192, 0, 270, 0, 30 [SEP] 4, CreditCard, -0.712, 0.551, -0.537, 0, 270, 0, 30 [SEP] 5, RemoteControl, -0.582, 0.360, -0.544, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.288, 0.334, -1.697, 0, 0, 0, 32 [SEP] 8, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.451, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.682, 0.869, 0.325, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.561, 0.553, -0.106, 0, 270, 0, 30 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, , , , , , , ,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch. | STEP 4: Put the dog statue on the coffee table. | STEP 5: Turn right, move to the end of the couch, near the door. | STEP 6: Pick up the dog from the shelf. | STEP 7: Turn right, move to the coffee table, between the table and couch. | STEP 8: Put the dog statue on the coffee table. | END


Input: Move two statues to the center table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Newspaper, 1.724, 0.868, 0.431, 0, 90, 0, 36 [SEP] 2, Newspaper, -0.453, 0.036, -0.185, 0, 270, 0, 39 [SEP] 3, KeyChain, -0.561, 0.553, -0.192, 0, 270, 0, 30 [SEP] 4, CreditCard, -0.712, 0.551, -0.537, 0, 270, 0, 30 [SEP] 5, RemoteControl, -0.582, 0.360, -0.544, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.288, 0.334, -1.697, 0, 0, 0, 32 [SEP] 8, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.451, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.682, 0.869, 0.325, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.561, 0.553, -0.106, 0, 270, 0, 30 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, , , , , , , ,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table | STEP 4: Put the statue down on the center table | STEP 5: Go to the shelf above the sofa | STEP 6: Pick up the statue from the shelf | STEP 7: Go to the center table | STEP 8: Put the statue down on the center table | END


Input: Place a pencil on top of the wood drawer unit SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.909, -1.0, 0, 90, 0,  [SEP] 1, CellPhone, -0.453, 0.803, -3.811, 0, 0, 0, 37 [SEP] 2, CellPhone, -3.750, 0.226, -4.163, 0, 0, 0, 44 [SEP] 3, Pen, -3.524, 0.051, -4.257, 0, 0, 0, 45 [SEP] 4, Pen, -3.694, 0.231, -3.185, 0, 0, 0, 42 [SEP] 5, KeyChain, -3.467, 0.810, -3.790, 0, 0, 0, 38 [SEP] 6, KeyChain, -1.270, 0.800, -3.920, 0, 0, 0, 37 [SEP] 7, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 8, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 37 [SEP] 9, Book, -2.559, 0.620, -2.080, 0, 0, 0, 22 [SEP] 10, CellPhone, -1.066, 0.803, -3.703, 0, 0, 0, 37 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -0.655, 0.349, -3.747, 0, 0, 0, 31 [SEP] 13, AlarmClock, -0.657, 0.800, -3.920, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.886, 0.066, -3.968, 0, 9.990, 0, 26 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -3.638, 0.614, -3.369, 0, 0, 0, 41 [SEP] 20, Pen, -3.694, 0.424, -3.092, 0, 0, 0, 48 [SEP] 21, Mug, -3.466, 0.977, -3.472, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Move to the rectangular white table in the corner of the room | STEP 2: Pick up the pencil on the table top | STEP 3: Carry the pencil over to the wood drawers under the white table on the left side | STEP 4: Place the pencil on top of the wood drawer unit | END