Input: Place clean kettle behind large pot on stove SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 2, DishSponge, 1.558, 0.114, -0.379, 0, 180, 0, 63 [SEP] 3, DishSponge, 2.205, 0.770, -0.460, 0, 180, 0, 59 [SEP] 4, Kettle, 0.634, 0.912, -0.430, 0, 0, 0, 46 [SEP] 5, Pot, 2.838, 1.292, -0.709, 0, 0, 0, 101 [SEP] 6, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 46 [SEP] 7, Spoon, -0.694, 0.822, -1.360, 0, 90, 0, 105 [SEP] 8, Fork, -0.227, 0.771, 1.198, 0, 270, 0, 51 [SEP] 9, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 57 [SEP] 11, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 81 [SEP] 13, Egg, -0.887, 0.858, -1.400, 0, 0, 0, 105 [SEP] 14, Egg, 2.900, 1.601, -0.512, 0, 0, 0, 101 [SEP] 15, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 81 [SEP] 16, SoapBottle, -0.983, 0.826, -1.360, 0, 90, 0, 105 [SEP] 17, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 101 [SEP] 18, SaltShaker, 1.213, 0.111, 1.117, 0, 0, 0, 53 [SEP] 19, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 105 [SEP] 20, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 105 [SEP] 21, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 81 [SEP] 22, Apple, 1.688, 0.980, 1.383, 0, 0, 0, 81 [SEP] 23, SoapBottle, -0.766, 0.826, -1.257, 0, 90, 0, 105 [SEP] 24, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 25, Fork, 1.208, 0.772, -0.498, 0, 90, 0, 65 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 81 [SEP] 28, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 104 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, 2.962, 0.758, -0.504, 0, 0, 0, 101 [SEP] 31, Cup, 1.451, 0.112, 1.193, 0, 0, 0, 75 [SEP] 32, Spatula, -0.055, 0.926, 1.214, 0, 90, 0, 57 [SEP] 33, Apple, 2.777, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 57 [SEP] 36, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 105 [SEP] 37, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 105 [SEP] 38, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 99 [SEP] 39, PepperShaker, 1.896, 0.111, 1.276, 0, 0, 0, 66 [SEP] 40, ButterKnife, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 41, Bowl, 0.654, 2.151, 1.506, 0, 0, 0, 55 [SEP] 42, DishSponge, -0.151, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.103, 0.912, 1.299, 0, 0, 0, 57 [SEP] 44, Mug, 2.653, 1.558, -0.775, 0, 0, 0, 101 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: turn around, go to stove on the right | STEP 2: pick up kettle from behind large round pot on stove | STEP 3: turn around, face sink | STEP 4: place kettle in sink, turn on water, pick up kettle from sink | STEP 5: turn around, face stove | STEP 6: place kettle behind large round pot on stove | END


Input: Place the two watches in the drawer of the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 0.25, 0, 0, 0,  [SEP] 1, Statue, -0.260, 0.562, -0.451, 0, 270, 0, 29 [SEP] 2, Watch, -0.411, 0.552, -0.623, 0, 270, 0, 29 [SEP] 3, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 29 [SEP] 4, CreditCard, 1.933, 0.869, 0.643, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.411, 0.553, -0.365, 0, 270, 0, 29 [SEP] 7, Watch, -0.260, 0.552, -0.278, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.970, 0.036, -0.185, 0, 270, 0, 25 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.712, 0.200, -0.544, 0, 90, 0, 30 [SEP] 11, RemoteControl, 1.808, 0.872, 0.008, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.682, 0.880, 0.325, 0, 90, 0, 35 [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 right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Turn around and walk forward and turn left to face the living room table. | STEP 6: Pick up the watch on the living room table. | STEP 7: Turn left and walk forward to face the desk. | STEP 8: Place the watch in the drawer with the first watch. | END


Input: Put a cleaned rag on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0,  [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: move to the tub to the left of you | STEP 2: pick up a rag from the tub | STEP 3: move to the sink to the right | STEP 4: clean the rag in the sink | STEP 5: move to the shelf behind you | STEP 6: put the rag on the shelf | END


Input: Put a wet wash cloth on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0,  [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn around and take a step to your left. | STEP 2: Pick up the wash cloth that's to the right of the other one. | STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet. | STEP 4: Get the cloth wet in the sink. | STEP 5: Turn around and walk to the shelves. | STEP 6: Put the wet cloth to the left of the tissues on the bottom shelf. | END


Input: Place a wet wash cloth on a shelf in the bathroom. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0,  [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the center of the tub. | STEP 2: Pick up the yellow wash cloth to the right of another. | STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn around and make your way to the shelf running along the wall on the floor. | STEP 6: Place the wash cloth to the left of the box of tissues. | END


Input: Place a clean rag on the bathroom shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0,  [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub. | STEP 3: Turn around, then walk across the room and turn left towards the sink. | STEP 4: Rinse the dirty rag in the sink. | STEP 5: Pick up the rag, then turn around and walk towards the shelves. | STEP 6: Place the rag on the bottom shelf. | END


Input: Put a washed rag on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0,  [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the yellow rag on the right. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Turn around and walk to the wall with the two shelves. | STEP 6: Place the yellow rag to the left of the tissue box on the bottom shelf. | END


Input: Put two spray bottles on a toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 1.5, 0, 0, 0,  [SEP] 1, TissueBox, -1.322, 0.069, 3.693, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.416, 0.994, 2.209, 0, 0, 0, 30 [SEP] 3, Cloth, -1.441, 0.068, 2.857, 0, 0, 0, 23 [SEP] 4, SoapBar, -1.317, 1.007, 2.563, 0, 90, 0, 37 [SEP] 5, SoapBar, -1.350, 0.994, 3.903, 0, 0, 0, 30 [SEP] 6, Candle, -1.613, 0.994, 2.982, 0, 0, 0, 30 [SEP] 7, SprayBottle, -1.441, 0.069, 3.844, 0, 0, 0, 31 [SEP] 8, SoapBottle, -1.560, 0.067, 3.226, 0, 0, 0, 29 [SEP] 9, SoapBottle, -1.481, 0.993, 3.041, 0, 0, 0, 30 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.613, 0.994, 3.903, 0, 0, 0, 30 [SEP] 13, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 25 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, 0.284, 0.892, 1.566, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.379, 0.068, 3.276, 0, 0, 0, 29 [SEP] 17, SoapBottle, -1.620, 0.068, 2.908, 0, 0, 0, 29 [SEP] 18, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 38 [SEP] 19, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 33 [SEP] 20, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 25 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet. | STEP 4: Put the spray bottle on the toilet tank. | STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink. | STEP 6: Take the spray bottle from the bottom right cabinet below the sink. | STEP 7: Turn around, go forward, turn right, go forward to the toilet. | STEP 8: Put the spray bottle on the toilet tank. | END


Input: Move two books from 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, -0.75, 0.909, -3.25, 0, 180, 0,  [SEP] 1, CellPhone, -3.637, 0.045, -3.278, 0, 0, 0, 44 [SEP] 2, CellPhone, -3.539, 0.981, -4.075, 0, 0, 0, 45 [SEP] 3, Pen, -3.751, 0.424, -4.070, 0, 0, 0, 48 [SEP] 4, Pencil, -1.886, 0.066, -3.968, 0, 9.990, 0, 31 [SEP] 5, Pencil, -1.878, 0.066, -3.920, 0, 9.990, 0, 31 [SEP] 6, CreditCard, -0.350, 0.029, -3.747, 0, 0, 0, 37 [SEP] 7, CreditCard, -0.657, 0.800, -3.703, 0, 0, 0, 42 [SEP] 8, Book, -3.834, 0.981, -3.472, 0, 0, 0, 45 [SEP] 9, Book, -3.539, 0.981, -3.673, 0, 0, 0, 45 [SEP] 10, Book, -0.655, 0.349, -3.811, 0, 0, 0, 34 [SEP] 11, Pillow, -2.559, 0.722, -2.080, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 42 [SEP] 13, AlarmClock, -3.613, 0.981, -4.276, 0, 0, 0, 45 [SEP] 14, Book, -3.834, 0.981, -3.070, 0, 0, 0, 45 [SEP] 15, CellPhone, -3.638, 0.419, -3.185, 0, 0, 0, 53 [SEP] 16, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 27 [SEP] 17, CreditCard, -0.418, 0.542, -3.749, 0, 0, 0, 36 [SEP] 18, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 42 [SEP] 19, KeyChain, -3.613, 0.980, -4.276, 0, 90, 0, 45 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -0.249, 0.803, -3.703, 0, 0, 0, 42 [SEP] 23, Pillow, -2.981, 0.722, -1.506, 0, 0, 0, 27 [SEP] 24, CD, -0.657, 0.799, -3.811, 0, 0, 0, 42 [SEP] 25, Pen, -3.582, 0.620, -3.461, 0, 0, 0, 46 [SEP] 26, Mug, -3.834, 0.977, -4.276, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 54, NorthWall, , , , , , ,  [SEP] 55, EastWall, , , , , , ,  [SEP] 56, SouthWall, , , , , , ,  [SEP] 57, WestWall, , , , , , ,

Output: STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you | STEP 4: Place the book on the bed | STEP 5: Move to dresser to the left of the bed | STEP 6: Pick up a book from the dresser | STEP 7: Move to the bed to the right of you | STEP 8: Place the book on the bed | END


Input: rinse off a potato to store it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.25, 0, 270, 0,  [SEP] 1, Potato, -0.911, 0.855, -1.308, 0, 90, 0, 106 [SEP] 2, Potato, 0.634, 0.946, -0.854, 0, 0, 0, 47 [SEP] 3, Potato, 1.155, 0.946, 1.553, 0, 0, 0, 82 [SEP] 4, DishSponge, -0.983, 0.820, -1.411, 0, 90, 0, 106 [SEP] 5, DishSponge, 0.123, 0.765, -0.596, 0, 0, 0, 104 [SEP] 6, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 7, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 92 [SEP] 8, Fork, -0.103, 0.912, 1.468, 0, 90, 0, 58 [SEP] 9, Fork, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 10, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 82 [SEP] 11, Cup, 1.896, 0.112, 1.196, 0, 0, 0, 83 [SEP] 12, Knife, 0.634, 0.944, -0.430, 0, 0, 0, 47 [SEP] 13, SoapBottle, -0.246, 0.917, 1.129, 0, 0, 0, 58 [SEP] 14, SoapBottle, 2.272, 0.120, -0.379, 0, 180, 0, 88 [SEP] 15, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 104 [SEP] 16, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 100 [SEP] 17, PepperShaker, -0.049, 0.111, 1.156, 0, 0, 0, 75 [SEP] 18, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 47 [SEP] 19, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 82 [SEP] 20, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 82 [SEP] 21, Mug, 2.591, 1.558, -0.578, 0, 90, 0, 102 [SEP] 22, Mug, 2.777, 1.558, -0.709, 0, 0, 0, 102 [SEP] 23, Apple, 2.754, 0.980, 1.468, 0, 0, 0, 82 [SEP] 24, SoapBottle, -0.734, 0.826, -1.400, 0, 0, 0, 106 [SEP] 25, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 81 [SEP] 26, Fork, 1.967, 0.771, -0.422, 0, 270, 0, 61 [SEP] 27, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 82 [SEP] 29, Egg, -0.990, 0.858, -1.110, 0, 0, 0, 106 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, 1.902, 0.942, -0.430, 0, 0, 0, 47 [SEP] 32, Cup, -0.694, 0.818, -1.206, 0, 90, 0, 106 [SEP] 33, Spatula, 1.955, 0.926, 1.299, 0, 0, 0, 82 [SEP] 34, Apple, -0.151, 0.980, 1.299, 0, 0, 0, 58 [SEP] 35, Pan, 0.888, 0.911, -0.769, 0, 0, 0, 47 [SEP] 36, Lettuce, 2.919, 1.345, -0.612, 15.998, 3.555, 14.421, 102 [SEP] 37, SaltShaker, -0.240, 0.908, -0.330, 0, 0, 0, 47 [SEP] 38, Knife, -0.839, 0.853, -1.257, 0, 90, 0, 106 [SEP] 39, Potato, 2.156, 0.946, -0.515, 0, 0, 0, 47 [SEP] 40, PepperShaker, 2.188, 1.650, 1.508, 0, 0, 0, 71 [SEP] 41, ButterKnife, -0.983, 0.820, -1.206, 0, 90, 0, 106 [SEP] 42, Bowl, 1.141, 0.909, -0.6, 0, 0, 0, 47 [SEP] 43, DishSponge, 1.155, 0.911, 1.383, 0, 0, 0, 82 [SEP] 44, Spoon, 1.422, 0.773, 1.160, 0, 90, 0, 65 [SEP] 45, Mug, -0.621, 0.815, -1.360, 0, 90, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: walk over to the kitchen counter next to the fridge  | STEP 2: grab the potato off of the counter | STEP 3: turn and walk over to the kitchen sink | STEP 4: place the potato inside the sink and wash it off, then pick it back up | STEP 5: turn and walk over to the fridge again | STEP 6: place the potato inside the fridge and close the door | END


Input: Pick up the golden vase and put it on the black bookcase. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.949, 3.25, 0, 90, 0,  [SEP] 1, CD, 1.454, 0.179, -1.896, 0, 270, 0, 32 [SEP] 2, Pencil, 3.300, 0.727, 1.533, 0, 180, 0, 60 [SEP] 3, KeyChain, 3.377, 0.725, 1.307, 0, 180, 0, 60 [SEP] 4, Laptop, 2.545, 0.607, 1.271, 0, 0, 0, 20 [SEP] 5, Pillow, 2.052, 0.674, 1.271, 0, 0, 0, 20 [SEP] 6, AlarmClock, 2.519, 0.986, -2.125, 0, 270, 0, 35 [SEP] 7, Book, 2.431, 0.180, -1.841, 0, 270, 0, 37 [SEP] 8, KeyChain, -0.444, 1.109, 3.198, 0, 270, 0, 43 [SEP] 9, CreditCard, 3.300, 0.723, 1.307, 0, 180, 0, 60 [SEP] 10, Pen, 3.455, 0.729, 1.443, 0, 270, 0, 60 [SEP] 11, Pencil, -0.848, 0.384, 0.028, 0, 0, 0, 53 [SEP] 12, Laptop, -0.904, 0.781, -0.128, 0, 0, 0, 56 [SEP] 13, Vase, 2.035, 0.189, -1.948, 0, 270, 0, 30 [SEP] 14, AlarmClock, 2.235, 0.989, -1.95, 0, 270, 0, 35 [SEP] 15, Pillow, 2.381, 0.674, 0.308, 0, 0, 0, 20 [SEP] 16, Pillow, 1.888, 0.674, 0.790, 0, 0, 0, 20 [SEP] 17, CellPhone, 2.052, 0.610, 0.308, 0, 0, 0, 20 [SEP] 18, CD, 2.075, 0.886, -1.705, 0, 270, 0, 31 [SEP] 19, Vase, -0.904, 0.789, -0.548, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right. | STEP 2: Pick up the golden vase from the black drawers.  | STEP 3: Turn left and walk to the black bookcase. | STEP 4: Put the golden vase on the black bookcase. | END


Input: Put the washed pink soap on the toilet.  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, 2.5, 0, 270, 0,  [SEP] 1, TissueBox, -1.547, 0.994, 3.041, 0, 0, 0, 30 [SEP] 2, Cloth, -1.382, 0.068, 3.743, 0, 0, 0, 31 [SEP] 3, SoapBar, -1.416, 0.994, 3.041, 0, 0, 0, 30 [SEP] 4, Candle, 0.329, 0.893, 1.618, 0, 0, 0, 36 [SEP] 5, Candle, -1.284, 0.994, 2.148, 0, 0, 0, 30 [SEP] 6, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 29 [SEP] 7, SprayBottle, -1.284, 0.995, 3.812, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.284, 0.993, 2.982, 0, 0, 0, 30 [SEP] 9, SoapBottle, -1.560, 0.067, 3.276, 0, 0, 0, 29 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, 0.231, 0.047, 3.865, 0, 0, 0, 33 [SEP] 13, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 25 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, -1.620, 0.067, 2.240, 0, 0, 0, 25 [SEP] 16, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 30 [SEP] 17, SoapBottle, -1.416, 0.993, 2.178, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.560, 0.064, 2.391, 0, 0, 0, 25 [SEP] 19, SprayBottle, -1.439, 0.068, 2.240, 0, 0, 0, 25 [SEP] 20, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 29 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to counter by the sink. | STEP 2: Pick up the soap on the counter.  | STEP 3: Turn and go to the sink on the right. | STEP 4: Put the soap in the sink and turn on the water.  | STEP 5: Turn around and go to the toilet.  | STEP 6: Turn around and put the pink soap on the toilet.  | END


Input: Microwave a mug from the cupboard and put it next to the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.25, 0, 270, 0,  [SEP] 1, Pan, -0.312, 0.203, -1.337, 0, 90, 0, 55 [SEP] 2, Potato, 0.065, 1.096, 0.091, 0, 0, 0, 48 [SEP] 3, Potato, -1.381, 1.542, 2.331, 0, 90, 0, 61 [SEP] 4, DishSponge, -1.183, 0.202, -1.193, 0, 0, 0, 54 [SEP] 5, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 48 [SEP] 6, Pot, -1.105, 0.204, -1.555, 0, 90, 0, 54 [SEP] 7, Fork, 1.347, 1.043, 0.676, 0, 270, 0, 48 [SEP] 8, Spoon, 1.181, 1.044, 0.676, 0, 0, 0, 48 [SEP] 9, Plate, 0.960, 1.577, -1.764, 0, 0, 0, 50 [SEP] 10, Plate, 0.979, 0.212, -1.267, 0, 0, 0, 57 [SEP] 11, Knife, 0.446, 1.069, 0.630, 0, 90, 0, 48 [SEP] 12, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 48 [SEP] 13, Tomato, 1.523, 1.094, 0.307, 0, 0, 0, 48 [SEP] 14, Tomato, 1.523, 1.094, 0.522, 0, 0, 0, 48 [SEP] 15, Bowl, 0.446, 1.042, 0.415, 0, 0, 0, 48 [SEP] 16, SaltShaker, -0.222, 0.198, -1.625, 0, 180, 0, 55 [SEP] 17, PepperShaker, 1.897, 1.014, -1.411, 0, 0, 0, 52 [SEP] 18, Mug, -0.398, 1.560, -1.396, 0, 0, 0, 51 [SEP] 19, Apple, 0.848, 1.086, 0.763, 0, 0, 0, 48 [SEP] 20, SoapBottle, -1.184, 2.029, -1.627, 0, 0, 0, 53 [SEP] 21, Apple, -1.423, 1.756, 1.974, 0, 90, 0, 61 [SEP] 22, Potato, 0.446, 1.096, 0.199, 0, 0, 0, 48 [SEP] 23, Fork, 0.516, 1.043, 0.720, 0, 0, 0, 48 [SEP] 24, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 45 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.303, 1.540, 1.885, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.222, 0.198, -1.553, 0, 0, 0, 55 [SEP] 28, Egg, 1.072, 1.101, -1.397, 0, 0, 0, 46 [SEP] 29, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 43 [SEP] 30, Spatula, 0.255, 1.058, 0.091, 0, 0, 0, 48 [SEP] 31, Knife, 0.892, 1.079, 0.181, 0, 90, 0, 44 [SEP] 32, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 61 [SEP] 33, ButterKnife, -0.689, 1.046, -1.181, 0, 0, 0, 46 [SEP] 34, PepperShaker, 1.435, 1.014, -1.557, 0, 0, 0, 52 [SEP] 35, DishSponge, 1.155, 1.046, -1.181, 0, 0, 0, 46 [SEP] 36, Plate, 1.665, 0.217, -1.553, 0, 0, 0, 56 [SEP] 37, Bread, 0.065, 1.117, 0.630, 0, 0, 0, 48 [SEP] 38, Spoon, 0.682, 1.044, 0.545, 0, 0, 0, 48 [SEP] 39, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 40, Mug, -1.184, 2.023, -1.409, 0, 0, 0, 53 [SEP] 41, Bowl, -1.095, 0.962, 2.063, 0, 90, 0, 61 [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: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. | STEP 3: Turn right and face the microwave above the oven. | STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave. | STEP 5: Turn left and go back to the counter area with the toaster on it. | STEP 6: Place the mug on the counter to the left of the butterknife. | END


Input: Put a heated tomato in a fridge 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, -0.5, 0, 90, 0,  [SEP] 1, Pan, 2.715, 1.288, -0.578, 0, 0, 0, 102 [SEP] 2, DishSponge, 2.868, 0.771, 1.236, 0, 0, 0, 91 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 4, Kettle, 0.634, 0.912, -0.515, 0, 0, 0, 47 [SEP] 5, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 104 [SEP] 6, ButterKnife, 1.106, 0.772, -0.460, 0, 270, 0, 66 [SEP] 7, Spoon, -0.198, 0.912, 1.299, 0, 0, 0, 58 [SEP] 8, Fork, 1.072, 0.771, -0.422, 0, 270, 0, 66 [SEP] 9, Fork, -0.766, 0.821, -1.206, 0, 270, 0, 106 [SEP] 10, Spatula, 0.193, 0.780, -0.762, 0, 90, 0, 104 [SEP] 11, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 82 [SEP] 12, Cup, -0.939, 0.818, -1.328, 0, 0, 0, 106 [SEP] 13, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 106 [SEP] 14, SoapBottle, -0.103, 0.917, 1.044, 0, 0, 0, 58 [SEP] 15, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 82 [SEP] 16, Tomato, -2.048, 0.455, 1.417, 0, 270, 0, 100 [SEP] 17, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 82 [SEP] 18, SaltShaker, 1.060, 1.650, -0.658, 0, 180, 0, 57 [SEP] 19, PepperShaker, 1.141, 0.908, -0.345, 0, 0, 0, 47 [SEP] 20, Lettuce, 2.715, 1.099, -0.709, 0, 0, 0, 102 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 102 [SEP] 22, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 105 [SEP] 23, Apple, 1.688, 0.980, 1.129, 0, 0, 0, 82 [SEP] 24, SoapBottle, 0.888, 0.917, -0.345, 0, 0, 0, 47 [SEP] 25, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 47 [SEP] 26, Fork, 1.208, 0.771, -0.498, 0, 90, 0, 66 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 0.251, 0.949, -0.330, 0, 0, 0, 47 [SEP] 30, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 82 [SEP] 31, Tomato, -0.785, 0.852, -1.400, 0, 0, 0, 106 [SEP] 32, Cup, 3.381, 0.838, -0.485, 0, 0, 0, 102 [SEP] 33, Spatula, -0.055, 0.926, 1.214, 0, 90, 0, 58 [SEP] 34, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 104 [SEP] 35, Pan, 2.488, 0.911, 1.383, 0, 0, 0, 82 [SEP] 36, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 106 [SEP] 38, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 82 [SEP] 39, Potato, 2.715, 0.761, -0.473, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.682, 0.817, -1.328, 0, 0, 0, 106 [SEP] 41, ButterKnife, -0.939, 0.820, -1.110, 0, 90, 0, 106 [SEP] 42, Bowl, 0.231, 2.154, 1.428, 0, 0, 0, 81 [SEP] 43, DishSponge, 0.918, 2.153, 1.429, 0, 0, 0, 56 [SEP] 44, Spoon, 2.488, 0.912, 1.129, 0, 0, 0, 82 [SEP] 45, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 47 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Go to the counter across the fridge | STEP 2: Pick up the tomato from the counter | STEP 3: Go to the microwave | STEP 4: Microwave the tomato | STEP 5: Go to the fridge | STEP 6: Place the tomato inside the fridge | END


Input: Put a roll of toilet paper on the holder.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 270, 0,  [SEP] 1, TissueBox, -1.319, 0.068, 2.391, 0, 0, 0, 24 [SEP] 2, TissueBox, -1.547, 0.994, 2.923, 0, 0, 0, 29 [SEP] 3, Cloth, -1.441, 0.068, 3.793, 0, 0, 0, 30 [SEP] 4, SoapBar, 0.313, 0.047, 3.838, 0, 0, 0, 32 [SEP] 5, SoapBar, -1.340, 1.018, 3.535, 0, 90, 0, 42 [SEP] 6, Candle, -1.439, 0.067, 2.240, 0, 0, 0, 24 [SEP] 7, Candle, -1.500, 0.067, 3.276, 0, 0, 0, 28 [SEP] 8, ToiletPaper, -1.284, 0.991, 3.933, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.416, 0.994, 3.041, 0, 0, 0, 29 [SEP] 12, ToiletPaper, -1.500, 0.064, 3.377, 0, 0, 0, 28 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.350, 0.994, 3.842, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.560, 0.068, 2.341, 0, 0, 0, 24 [SEP] 16, SoapBottle, 0.306, 0.892, 1.618, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -1.547, 0.991, 3.933, 0, 0, 0, 29 [SEP] 18, SprayBottle, -1.620, 0.068, 3.276, 0, 0, 0, 28 [SEP] 19, Cloth, -1.350, 0.994, 2.209, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Go to the sink in front of you.  | STEP 2: Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper.  | STEP 3: Turn to your left and go to the toilet.  | STEP 4: Place the toilet paper roll on the toilet paper holder, on the back wall, between the toilet and the shower. | END


Input: retrieve the tissue from the cabinet and place it on the roll SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 270, 0,  [SEP] 1, TissueBox, -1.319, 0.068, 2.391, 0, 0, 0, 24 [SEP] 2, TissueBox, -1.547, 0.994, 2.923, 0, 0, 0, 29 [SEP] 3, Cloth, -1.441, 0.068, 3.793, 0, 0, 0, 30 [SEP] 4, SoapBar, 0.313, 0.047, 3.838, 0, 0, 0, 32 [SEP] 5, SoapBar, -1.340, 1.018, 3.535, 0, 90, 0, 42 [SEP] 6, Candle, -1.439, 0.067, 2.240, 0, 0, 0, 24 [SEP] 7, Candle, -1.500, 0.067, 3.276, 0, 0, 0, 28 [SEP] 8, ToiletPaper, -1.284, 0.991, 3.933, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.416, 0.994, 3.041, 0, 0, 0, 29 [SEP] 12, ToiletPaper, -1.500, 0.064, 3.377, 0, 0, 0, 28 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.350, 0.994, 3.842, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.560, 0.068, 2.341, 0, 0, 0, 24 [SEP] 16, SoapBottle, 0.306, 0.892, 1.618, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -1.547, 0.991, 3.933, 0, 0, 0, 29 [SEP] 18, SprayBottle, -1.620, 0.068, 3.276, 0, 0, 0, 28 [SEP] 19, Cloth, -1.350, 0.994, 2.209, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: walk towards the sink | STEP 2: open the cabinet and get the tissue from the shelf | STEP 3: turn left and walk to the shower. turn left  | STEP 4: place the tissue on the roll | END


Input: Examine a watering can by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 4.0, 0, 180, 0,  [SEP] 1, Newspaper, -0.868, 0.365, 4.524, 0, 0, 0, 38 [SEP] 2, KeyChain, -0.552, 0.367, 3.002, 0, 0, 0, 38 [SEP] 3, RemoteControl, -3.462, 0.882, 7.173, 0, 90, 0, 54 [SEP] 4, RemoteControl, -0.947, 0.369, 4.828, 0, 0, 0, 38 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -6.075, 1.280, 3.662, 0, 0, 0, 52 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -5.424, 0.532, 6.815, 0, 45, 0, 56 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -2.422, 0.533, 4.480, 0, 270, 0, 55 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -0.947, 0.442, 4.524, 0, 0, 0, 38 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -6.002, 0.148, 4.152, 0, 0, 0, 45 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 38 [SEP] 22, Watch, -2.474, 0.146, 7.225, 0, 90, 0, 49 [SEP] 23, Statue, -2.561, 0.540, 4.335, 0, 270, 0, 55 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -2.172, 0.543, 3.981, 0, 90, 0, 55 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the black shelves by the wall. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn right and walk in front of the lamp on the end table. | STEP 4: Turn on the lamp. | END


Input: Slice bread, grab a slice, cook it in the microwave, put it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, -0.25, 0, 0, 0,  [SEP] 1, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 57 [SEP] 2, Potato, -1.419, 1.542, 1.796, 0, 90, 0, 63 [SEP] 3, Potato, -1.303, 1.542, 2.331, 0, 90, 0, 63 [SEP] 4, DishSponge, -0.760, 0.203, -1.481, 0, 0, 0, 57 [SEP] 5, DishSponge, -0.603, 1.046, -1.181, 0, 0, 0, 48 [SEP] 6, ButterKnife, 1.347, 1.043, 0.763, 0, 0, 0, 50 [SEP] 7, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 44 [SEP] 8, Spoon, 0.065, 1.044, 0.630, 0, 180, 0, 50 [SEP] 9, Spatula, 1.612, 1.058, 0.199, 0, 90, 0, 50 [SEP] 10, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 48 [SEP] 11, Egg, -0.260, 1.101, -1.720, 0, 0, 0, 48 [SEP] 12, Cup, 1.741, 0.205, -1.480, 0, 0, 0, 58 [SEP] 13, Knife, -0.038, 1.072, -1.086, 0, 0, 0, 48 [SEP] 14, Tomato, -1.051, 0.758, 2.063, 0, 90, 0, 63 [SEP] 15, SaltShaker, 1.514, 1.038, 0.545, 0, 0, 0, 50 [SEP] 16, PepperShaker, 0.885, 1.560, -1.614, 0, 0, 0, 52 [SEP] 17, PepperShaker, 1.894, 0.199, -1.190, 0, 0, 0, 58 [SEP] 18, Bread, -0.030, 1.117, 0.415, 0, 0, 0, 50 [SEP] 19, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 62 [SEP] 20, Mug, 1.523, 1.038, 0.307, 0, 0, 0, 50 [SEP] 21, Apple, 0.848, 1.097, 0.381, 0, 90, 0, 46 [SEP] 22, SoapBottle, 1.436, 0.205, -1.625, 0, 0, 0, 58 [SEP] 23, Apple, -1.431, 1.271, 1.974, 0, 90, 0, 63 [SEP] 24, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 50 [SEP] 25, Fork, 1.612, 1.043, 0.738, 0, 0, 0, 50 [SEP] 26, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 47 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, 0.936, 1.105, 0.281, 0, 90, 0, 46 [SEP] 29, SaltShaker, 1.897, 1.014, -1.337, 0, 0, 0, 54 [SEP] 30, Egg, -0.603, 1.101, -1.505, 0, 0, 0, 48 [SEP] 31, Cup, -1.423, 1.713, 1.885, 0, 90, 0, 63 [SEP] 32, Spatula, 1.523, 1.058, 0.522, 0, 180, 0, 50 [SEP] 33, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 48 [SEP] 34, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 63 [SEP] 35, ButterKnife, -0.346, 1.046, -1.181, 0, 0, 0, 48 [SEP] 36, PepperShaker, -0.775, 1.041, -1.397, 0, 0, 0, 48 [SEP] 37, DishSponge, -0.949, 0.202, -1.193, 0, 0, 0, 56 [SEP] 38, Plate, 1.512, 0.217, -1.262, 0, 0, 0, 58 [SEP] 39, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.848, 1.044, 0.763, 0, 0, 0, 50 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, -1.103, 1.223, 1.974, 0, 90, 0, 63 [SEP] 43, Bowl, -1.303, 1.488, 2.153, 0, 90, 0, 63 [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: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table | STEP 9: Walk with the bread slice towards the microwave | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the counter | STEP 12: Put the bread slice on the counter | END


Input: Move a golden vase to a wooden shelving unit. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.5, 0.949, -0.5, 0, 270, 0,  [SEP] 1, Vase, -0.904, 0.790, -0.548, 0, 0, 0, 63 [SEP] 2, CD, 3.087, 0.984, -1.862, 0, 270, 0, 42 [SEP] 3, CellPhone, 2.444, 0.886, -1.705, 0, 270, 0, 36 [SEP] 4, CellPhone, -0.706, 0.784, -0.548, 0, 0, 0, 63 [SEP] 5, Pen, -0.970, 0.790, 0.501, 0, 0, 0, 63 [SEP] 6, Pen, 2.803, 0.993, -1.862, 0, 270, 0, 42 [SEP] 7, Pencil, 2.803, 0.989, -2.037, 0, 270, 0, 42 [SEP] 8, CreditCard, -0.812, 0.379, -0.246, 0, 0, 0, 59 [SEP] 9, CreditCard, 3.455, 0.723, 1.488, 0, 180, 0, 67 [SEP] 10, Book, 3.087, 0.988, -2.125, 0, 270, 0, 42 [SEP] 11, Book, 1.454, 0.180, -1.786, 0, 270, 0, 39 [SEP] 12, Laptop, 1.950, 0.986, -1.862, 0, 270, 0, 42 [SEP] 13, Laptop, 2.519, 0.986, -1.862, 0, 270, 0, 42 [SEP] 14, Book, 1.975, 0.184, -1.835, 0, 270, 0, 37 [SEP] 15, KeyChain, -0.812, 0.175, -0.656, 0, 0, 0, 58 [SEP] 16, CreditCard, -0.706, 0.783, -0.338, 0, 0, 0, 63 [SEP] 17, Pen, -0.848, 0.385, -0.794, 0, 0, 0, 62 [SEP] 18, Pencil, 2.519, 0.992, -2.125, 0, 270, 0, 42 [SEP] 19, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 42 [SEP] 20, Vase, 2.370, 0.185, -1.950, 0, 270, 0, 44 [SEP] 21, AlarmClock, 2.234, 0.989, -1.862, 0, 90, 0, 42 [SEP] 22, Pillow, 2.545, 0.674, 0.068, 0, 0, 0, 27 [SEP] 23, Pillow, 2.545, 0.674, 0.790, 0, 0, 0, 27 [SEP] 24, CellPhone, -0.838, 0.785, 0.081, 0, 0, 0, 63 [SEP] 25, CD, 2.892, 0.183, -1.721, 0, 270, 0, 41 [SEP] 26, Vase, -0.772, 0.788, 0.291, 0, 0, 0, 63 [SEP] 27, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 28, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 29, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 30, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 31, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 32, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 33, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 34, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 35, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 36, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 39, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 40, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 43, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 44, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 45, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 46, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 47, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 48, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 49, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 50, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 51, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 52, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 63, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 64, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 65, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 66, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 67, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 68, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 69, NorthWall, , , , , , ,  [SEP] 70, EastWall, , , , , , ,  [SEP] 71, SouthWall, , , , , , ,  [SEP] 72, WestWall, , , , , , ,

Output: STEP 1: Walk over to the dresser across the room that is below a mirror on the wall. | STEP 2: Pick up the golden vase off of the dresser. | STEP 3: Turn right and walk over to the wooden shelving unit. | STEP 4: Put the golden vase on the bottom shelf of the wooden shelving unit. | END


Input: Put a cooled slice of potato 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, -1.5, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Pan, 1.688, 0.911, 1.214, 0, 0, 0, 82 [SEP] 2, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 3, Potato, -0.017, 0.800, -0.762, 0, 0, 0, 104 [SEP] 4, Potato, -0.246, 0.946, 1.299, 0, 0, 0, 58 [SEP] 5, Potato, 0.634, 0.946, -0.345, 0, 0, 0, 47 [SEP] 6, DishSponge, -0.159, 0.771, 1.083, 0, 0, 0, 52 [SEP] 7, DishSponge, 1.869, 0.770, -0.460, 0, 180, 0, 61 [SEP] 8, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 9, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 104 [SEP] 10, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 104 [SEP] 11, Cup, 2.583, 0.112, 1.236, 0, 0, 0, 51 [SEP] 12, Egg, 2.715, 1.601, -0.512, 0, 0, 0, 102 [SEP] 13, Egg, 2.838, 1.326, -0.775, 0, 0, 0, 102 [SEP] 14, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 82 [SEP] 15, SoapBottle, 2.444, 0.120, 1.156, 0, 0, 0, 51 [SEP] 16, Bowl, 0.178, 1.653, -0.732, 0, 180, 0, 87 [SEP] 17, PepperShaker, 2.124, 0.111, -0.458, 0, 180, 0, 88 [SEP] 18, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 102 [SEP] 19, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 106 [SEP] 20, Mug, -0.621, 0.815, -1.155, 0, 90, 0, 106 [SEP] 21, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 47 [SEP] 22, Apple, 0.415, 1.853, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, 3.381, 0.909, -0.514, 0, 0, 0, 102 [SEP] 24, SoapBottle, 0.825, 1.661, -0.771, 0, 180, 0, 57 [SEP] 25, Plate, 1.141, 0.914, -0.769, 0, 0, 0, 47 [SEP] 26, Fork, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 58 [SEP] 29, Egg, 2.777, 1.326, -0.709, 0, 0, 0, 102 [SEP] 30, Kettle, 2.754, 0.912, 1.468, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 32, Cup, 1.872, 1.652, -0.734, 0, 180, 0, 84 [SEP] 33, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 47 [SEP] 34, Apple, 2.754, 0.980, 1.299, 0, 0, 0, 82 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 58 [SEP] 38, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.221, 0.946, 1.383, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.712, 1.651, -0.849, 0, 180, 0, 86 [SEP] 41, ButterKnife, -0.294, 0.911, 1.468, 0, 90, 0, 58 [SEP] 42, Bowl, 0.634, 0.909, -0.515, 0, 0, 0, 47 [SEP] 43, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 100 [SEP] 44, Spoon, 2.186, 0.773, 1.160, 0, 0, 0, 78 [SEP] 45, Mug, 0.518, 1.779, 1.488, 0, 180, 0, 105 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter. | STEP 7: Pick up a slice of potato. | STEP 8: Turn around and face the fridge. | STEP 9: Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out. | STEP 10: Turn right and face the microwave over the stove on your right. | STEP 11: Put the potato in the microwave on the right of the mug. | END


Input: Place a chilled piece of potato into the microwave above the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Pan, 1.688, 0.911, 1.214, 0, 0, 0, 82 [SEP] 2, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 3, Potato, -0.017, 0.800, -0.762, 0, 0, 0, 104 [SEP] 4, Potato, -0.246, 0.946, 1.299, 0, 0, 0, 58 [SEP] 5, Potato, 0.634, 0.946, -0.345, 0, 0, 0, 47 [SEP] 6, DishSponge, -0.159, 0.771, 1.083, 0, 0, 0, 52 [SEP] 7, DishSponge, 1.869, 0.770, -0.460, 0, 180, 0, 61 [SEP] 8, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 9, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 104 [SEP] 10, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 104 [SEP] 11, Cup, 2.583, 0.112, 1.236, 0, 0, 0, 51 [SEP] 12, Egg, 2.715, 1.601, -0.512, 0, 0, 0, 102 [SEP] 13, Egg, 2.838, 1.326, -0.775, 0, 0, 0, 102 [SEP] 14, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 82 [SEP] 15, SoapBottle, 2.444, 0.120, 1.156, 0, 0, 0, 51 [SEP] 16, Bowl, 0.178, 1.653, -0.732, 0, 180, 0, 87 [SEP] 17, PepperShaker, 2.124, 0.111, -0.458, 0, 180, 0, 88 [SEP] 18, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 102 [SEP] 19, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 106 [SEP] 20, Mug, -0.621, 0.815, -1.155, 0, 90, 0, 106 [SEP] 21, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 47 [SEP] 22, Apple, 0.415, 1.853, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, 3.381, 0.909, -0.514, 0, 0, 0, 102 [SEP] 24, SoapBottle, 0.825, 1.661, -0.771, 0, 180, 0, 57 [SEP] 25, Plate, 1.141, 0.914, -0.769, 0, 0, 0, 47 [SEP] 26, Fork, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 58 [SEP] 29, Egg, 2.777, 1.326, -0.709, 0, 0, 0, 102 [SEP] 30, Kettle, 2.754, 0.912, 1.468, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 32, Cup, 1.872, 1.652, -0.734, 0, 180, 0, 84 [SEP] 33, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 47 [SEP] 34, Apple, 2.754, 0.980, 1.299, 0, 0, 0, 82 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 58 [SEP] 38, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.221, 0.946, 1.383, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.712, 1.651, -0.849, 0, 180, 0, 86 [SEP] 41, ButterKnife, -0.294, 0.911, 1.468, 0, 90, 0, 58 [SEP] 42, Bowl, 0.634, 0.909, -0.515, 0, 0, 0, 47 [SEP] 43, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 100 [SEP] 44, Spoon, 2.186, 0.773, 1.160, 0, 0, 0, 78 [SEP] 45, Mug, 0.518, 1.779, 1.488, 0, 180, 0, 105 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter. | STEP 7: Pick up a piece of the potato on the counter. | STEP 8: Turn around and walk to the fridge. | STEP 9: Chill the potato in the fridge and then pick the potato up from the fridge. | STEP 10: Turn right and walk to the microwave above the stove. | STEP 11: Place the piece of potato into the microwave and then close the microwave. | END


Input: Grab the statue on the coffee table, turn on the lamp on the side table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 3.0, 0, 0, 0,  [SEP] 1, Bowl, -0.636, 0.795, 1.626, 0, 270, 0, 42 [SEP] 2, Newspaper, -2.492, 0.532, 3.607, 0, 270, 0, 57 [SEP] 3, Watch, -2.811, 0.533, 3.981, 0, 0, 0, 57 [SEP] 4, Watch, -5.313, 0.533, 6.927, 0, 45, 0, 58 [SEP] 5, CreditCard, -2.704, 0.533, 3.919, 0, 0, 0, 57 [SEP] 6, RemoteControl, -0.947, 0.369, 3.002, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.411, 1.280, 7.298, 0, 90, 0, 56 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.640, 1.278, 7.235, 0, 180, 0, 56 [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, -0.484, 0.793, 6.357, 0, 270, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.415, 3.611, 0, 180, 0, 40 [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, -3.462, 0.148, 7.070, 0, 90, 0, 51 [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, -5.847, 0.455, 4.152, 0, 0, 0, 47 [SEP] 24, Watch, -2.672, 0.880, 7.139, 0, 90, 0, 48 [SEP] 25, Statue, -2.352, 0.540, 4.335, 0, 270, 0, 57 [SEP] 26, Statue, -2.640, 1.281, 7.108, 0, 180, 0, 56 [SEP] 27, Statue, -0.636, 0.803, 5.726, 0, 270, 0, 41 [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 right, walk across the room to the sofa, turn left, and turn left, facing the coffee table | STEP 2:  Grab the statue on the table | STEP 3: Turn right, walk to the side table on the right | STEP 4: Turn on the lamp on the side table | END


Input: Put the keys in with the box on the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Watch, 1.849, 0.870, 0.114, 0, 90, 0, 36 [SEP] 2, Newspaper, 1.849, 0.869, 0.431, 0, 90, 0, 36 [SEP] 3, KeyChain, -0.5, 0.321, -1.990, 0, 90, 0, 32 [SEP] 4, KeyChain, -1.163, 0.553, -0.106, 0, 0, 0, 30 [SEP] 5, CreditCard, -0.841, 0.357, -0.609, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.601, 0.279, -0.435, 0, 0, 0, 38 [SEP] 8, Watch, -0.561, 0.552, -0.106, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.711, 0.292, -1.917, 0, 0, 0, 32 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.411, 0.551, -0.451, 0, 270, 0, 30 [SEP] 12, RemoteControl, -0.453, 0.358, -0.544, 0, 90, 0, 29 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.682, 0.880, 0.220, 0, 90, 0, 36 [SEP] 15, Statue, -0.260, 0.562, -0.451, 0, 90, 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, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat. | STEP 5: Move over left and face the sofa. | STEP 6: Pick up the keys on the sofa seat next to the box. | STEP 7: Move over right to the front of the box. | STEP 8: Place the keys in the box and close the box. | END


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

Output: STEP 1: turn right to the cabinet above the toaster | STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet | STEP 3: turn left, walk to the sink on the left | STEP 4: put the bowl in the sink, fill the bowl with water from the faucet, take the bowl | STEP 5: turn left, walk to the counter with a toast on it | STEP 6: put the bowl with water on the counter | END