Input: Cook a cut potato in the microwave, put the potato 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, 2.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.332, 0, 270, 0, 97 [SEP] 2, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 99 [SEP] 3, DishSponge, 2.242, 1.655, -0.688, 0, 180, 0, 65 [SEP] 4, ButterKnife, -0.836, 0.820, -1.400, 0, 0, 0, 103 [SEP] 5, Fork, 1.558, 0.772, 1.122, 0, 90, 0, 62 [SEP] 6, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 101 [SEP] 7, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 44 [SEP] 8, Plate, 2.715, 1.021, -0.644, 0, 0, 0, 99 [SEP] 9, Cup, -0.151, 0.909, 1.129, 0, 0, 0, 55 [SEP] 10, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 99 [SEP] 11, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 44 [SEP] 12, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 44 [SEP] 13, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 79 [SEP] 14, Tomato, 2.962, 1.050, -0.578, 0, 0, 0, 99 [SEP] 15, Bowl, 1.561, 1.652, 1.432, 0, 0, 0, 67 [SEP] 16, SaltShaker, -0.103, 0.908, 1.299, 0, 0, 0, 55 [SEP] 17, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 101 [SEP] 18, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 103 [SEP] 19, Apple, 3.260, 0.909, -0.514, 0, 0, 0, 99 [SEP] 20, Apple, -0.734, 0.889, -1.400, 0, 0, 0, 103 [SEP] 21, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 103 [SEP] 22, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, 1.967, 0.772, -0.460, 0, 270, 0, 58 [SEP] 24, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 79 [SEP] 25, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 79 [SEP] 26, Egg, 2.221, 0.949, 1.299, 0, 0, 0, 79 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 29, Cup, 1.139, 0.112, 1.117, 0, 0, 0, 51 [SEP] 30, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, 2.900, 0.795, -0.504, 0, 0, 0, 99 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 55 [SEP] 35, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 55 [SEP] 36, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 99 [SEP] 37, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 103 [SEP] 38, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 44 [SEP] 39, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 40, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 83 [SEP] 41, Spoon, -0.887, 0.822, -1.110, 0, 0, 0, 103 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can. | STEP 8: Take a potato slice from the trash can. | STEP 9: Turn around and walk to the stove on your left. | STEP 10: Cook the potato in the microwave above the stove then remove the potato from the microwave. | STEP 11: Turn right and walk to the the counter to the right of the stove. | STEP 12: Place the potato slice on the counter near the lettuce. | END


Input: Place a slice of cooked potato near the lettuce 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, 2.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.332, 0, 270, 0, 97 [SEP] 2, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 99 [SEP] 3, DishSponge, 2.242, 1.655, -0.688, 0, 180, 0, 65 [SEP] 4, ButterKnife, -0.836, 0.820, -1.400, 0, 0, 0, 103 [SEP] 5, Fork, 1.558, 0.772, 1.122, 0, 90, 0, 62 [SEP] 6, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 101 [SEP] 7, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 44 [SEP] 8, Plate, 2.715, 1.021, -0.644, 0, 0, 0, 99 [SEP] 9, Cup, -0.151, 0.909, 1.129, 0, 0, 0, 55 [SEP] 10, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 99 [SEP] 11, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 44 [SEP] 12, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 44 [SEP] 13, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 79 [SEP] 14, Tomato, 2.962, 1.050, -0.578, 0, 0, 0, 99 [SEP] 15, Bowl, 1.561, 1.652, 1.432, 0, 0, 0, 67 [SEP] 16, SaltShaker, -0.103, 0.908, 1.299, 0, 0, 0, 55 [SEP] 17, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 101 [SEP] 18, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 103 [SEP] 19, Apple, 3.260, 0.909, -0.514, 0, 0, 0, 99 [SEP] 20, Apple, -0.734, 0.889, -1.400, 0, 0, 0, 103 [SEP] 21, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 103 [SEP] 22, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, 1.967, 0.772, -0.460, 0, 270, 0, 58 [SEP] 24, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 79 [SEP] 25, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 79 [SEP] 26, Egg, 2.221, 0.949, 1.299, 0, 0, 0, 79 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 29, Cup, 1.139, 0.112, 1.117, 0, 0, 0, 51 [SEP] 30, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, 2.900, 0.795, -0.504, 0, 0, 0, 99 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 55 [SEP] 35, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 55 [SEP] 36, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 99 [SEP] 37, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 103 [SEP] 38, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 44 [SEP] 39, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 40, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 83 [SEP] 41, Spoon, -0.887, 0.822, -1.110, 0, 0, 0, 103 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. | STEP 8: Take a slice of potato from the recycling bin. | STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left. | STEP 10: Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave. | STEP 11: Turn right, go to the lettuce on the counter, and turn left. | STEP 12: Put the potato on the counter near the lettuce. | END


Input: Retrieve lotion from trash can and put on ledge with two tissue boxes SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 0, 0,  [SEP] 1, TissueBox, -1.308, 0.289, 2.157, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.471, 1.070, 2.127, 0, 0, 0, 32 [SEP] 3, Cloth, 0.371, 0.048, -0.071, 0, 0, 0, 31 [SEP] 4, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 31 [SEP] 5, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 37 [SEP] 6, SoapBar, 0.041, 0.043, 0.839, 0, 0, 0, 31 [SEP] 7, SprayBottle, -2.277, 1.048, -0.705, 0, 0, 0, 37 [SEP] 8, SprayBottle, -0.980, 1.071, 2.127, 0, 0, 0, 32 [SEP] 9, SoapBottle, -2.015, 1.049, -0.705, 0, 0, 0, 37 [SEP] 10, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 35 [SEP] 11, Candle, 0.117, 0.650, 1.775, 0, 0, 0, 24 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, 0.124, 0.043, 0.156, 0, 0, 0, 31 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 27 [SEP] 16, SoapBottle, -2.146, 1.049, -0.674, 0, 0, 0, 37 [SEP] 17, TissueBox, -0.817, 0.289, 2.097, 0, 0, 0, 28 [SEP] 18, Cloth, -1.144, 1.777, 2.127, 0, 0, 0, 30 [SEP] 19, ToiletPaper, -0.169, 0.606, -0.408, 0, 315, 0, 24 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -2.212, 1.048, -0.766, 0, 90, 0, 37 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to the sink | STEP 2: Pick up the lotion from the trash can | STEP 3: Turn around, walk to the shelf | STEP 4: Put the lotion on the ledge between the tissue boxes | END


Input: Place clean lettuce on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn right and face the counter with the knife to your left.  | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right. | STEP 8: Pick up a lettuce slice from the counter. | STEP 9: Turn right and face the sink on your left. | STEP 10: Wash the lettuce in the sink and take it out. | STEP 11: Turn right, then left and head towards the round grey table in front of you. | STEP 12: Put the lettuce slice on the table. | END


Input: Place a slice of washed lettuce on the round, kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. | STEP 8: Grab a slice of lettuce. | STEP 9: Walk back to the kitchen sink on your right. | STEP 10: Wash the lettuce in the sink. | STEP 11: Turn right, walk to the window, turn left, and walk to the round table. | STEP 12: Place the slice of lettuce on the round table. | END


Input: Move a slice of washed lettuce to the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce. | STEP 8: Pick up a slice of lettuce. | STEP 9: Carry the slice of lettuce to the kitchen sink. | STEP 10: Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed. | STEP 11: Carry the lettuce to the small kitchen table in the corner. | STEP 12: Place the slice of lettuce on the table. | END


Input: Place a rinsed piece of lettuce on the table with a gray tablecloth. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter. | STEP 9: Turn around and walk to the sink. | STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink. | STEP 11: Walk to the table with the gray tablecloth. | STEP 12: Place the piece of lettuce on the table. | END


Input: turn on a lamp while holding the disk 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, -0.25, 0, 0, 0,  [SEP] 1, Mug, -3.613, 0.979, -3.472, 0, 0, 0, 44 [SEP] 2, Mug, -0.596, 0.541, -3.731, 0, 0, 0, 35 [SEP] 3, CD, -3.760, 0.979, -3.271, 0, 0, 0, 44 [SEP] 4, CD, -1.066, 0.799, -4.137, 0, 0, 0, 41 [SEP] 5, CellPhone, -1.474, 0.803, -4.029, 0, 0, 0, 41 [SEP] 6, Pen, -0.453, 0.805, -4.246, 0, 0, 0, 41 [SEP] 7, Pen, -0.350, 0.036, -3.811, 0, 0, 0, 33 [SEP] 8, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 41 [SEP] 9, Pencil, -3.526, 0.229, -3.371, 0, 0, 0, 46 [SEP] 10, CreditCard, -0.862, 0.800, -4.354, 0, 0, 0, 41 [SEP] 11, Book, -3.402, 0.620, -2.080, 0, 0, 0, 26 [SEP] 12, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 26 [SEP] 13, Book, -3.613, 0.980, -3.673, 0, 0, 0, 44 [SEP] 14, CellPhone, -3.402, 0.620, -1.506, 0, 0, 0, 26 [SEP] 15, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.526, 0.419, -3.092, 0, 0, 0, 52 [SEP] 17, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 18, KeyChain, -3.834, 0.982, -3.271, 0, 0, 0, 44 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.526, 0.618, -3.091, 0, 0, 0, 45 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.526, 0.418, -3.793, 0, 0, 0, 47 [SEP] 24, Pen, -0.655, 0.036, -3.811, 0, 0, 0, 33 [SEP] 25, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 41 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: move around to the cupboard | STEP 2: pick up the disk on the cupboard | STEP 3: turn around and head to the table | STEP 4: turn on the lamp on the table | END


Input: look at a disk under the lamp light 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, -0.25, 0, 0, 0,  [SEP] 1, Mug, -3.613, 0.979, -3.472, 0, 0, 0, 44 [SEP] 2, Mug, -0.596, 0.541, -3.731, 0, 0, 0, 35 [SEP] 3, CD, -3.760, 0.979, -3.271, 0, 0, 0, 44 [SEP] 4, CD, -1.066, 0.799, -4.137, 0, 0, 0, 41 [SEP] 5, CellPhone, -1.474, 0.803, -4.029, 0, 0, 0, 41 [SEP] 6, Pen, -0.453, 0.805, -4.246, 0, 0, 0, 41 [SEP] 7, Pen, -0.350, 0.036, -3.811, 0, 0, 0, 33 [SEP] 8, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 41 [SEP] 9, Pencil, -3.526, 0.229, -3.371, 0, 0, 0, 46 [SEP] 10, CreditCard, -0.862, 0.800, -4.354, 0, 0, 0, 41 [SEP] 11, Book, -3.402, 0.620, -2.080, 0, 0, 0, 26 [SEP] 12, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 26 [SEP] 13, Book, -3.613, 0.980, -3.673, 0, 0, 0, 44 [SEP] 14, CellPhone, -3.402, 0.620, -1.506, 0, 0, 0, 26 [SEP] 15, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.526, 0.419, -3.092, 0, 0, 0, 52 [SEP] 17, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 18, KeyChain, -3.834, 0.982, -3.271, 0, 0, 0, 44 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.526, 0.618, -3.091, 0, 0, 0, 45 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.526, 0.418, -3.793, 0, 0, 0, 47 [SEP] 24, Pen, -0.655, 0.036, -3.811, 0, 0, 0, 33 [SEP] 25, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 41 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: go to the dresser | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the lamp | STEP 4: turn on the lamp | END


Input: Grab the plate on the end table, turn on the 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, 1.5, 0, 180, 0,  [SEP] 1, Bowl, -0.687, 0.795, 6.357, 0, 270, 0, 43 [SEP] 2, Bowl, -2.811, 0.535, 3.981, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 42 [SEP] 4, Newspaper, -6.010, 0.532, 6.607, 0, 135, 0, 60 [SEP] 5, Watch, -5.960, 0.453, 4.547, 0, 0, 0, 54 [SEP] 6, Watch, -2.352, 0.533, 4.335, 0, 270, 0, 59 [SEP] 7, CreditCard, -0.947, 0.435, 3.611, 0, 0, 0, 42 [SEP] 8, RemoteControl, -5.950, 0.149, 4.745, 0, 0, 0, 49 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -3.462, 0.453, 7.145, 0, 90, 0, 51 [SEP] 12, Vase, -2.422, 0.542, 3.607, 0, 270, 0, 59 [SEP] 13, Newspaper, -5.670, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -3.462, 0.880, 7.139, 0, 90, 0, 50 [SEP] 17, CreditCard, -0.636, 0.793, 1.626, 0, 270, 0, 44 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -3.067, 0.453, 7.221, 0, 90, 0, 51 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.474, 0.454, 7.221, 0, 90, 0, 51 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.274, 0.536, 6.665, 0, 45, 0, 60 [SEP] 26, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 59 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table | STEP 2: Grab the grey plate on the end table | STEP 3: Turn right and turn left, facing the lamp on the end table | STEP 4: Turn on the lamp | END


Input: Examine the bowl under the light of the 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, 1.5, 0, 180, 0,  [SEP] 1, Bowl, -0.687, 0.795, 6.357, 0, 270, 0, 43 [SEP] 2, Bowl, -2.811, 0.535, 3.981, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 42 [SEP] 4, Newspaper, -6.010, 0.532, 6.607, 0, 135, 0, 60 [SEP] 5, Watch, -5.960, 0.453, 4.547, 0, 0, 0, 54 [SEP] 6, Watch, -2.352, 0.533, 4.335, 0, 270, 0, 59 [SEP] 7, CreditCard, -0.947, 0.435, 3.611, 0, 0, 0, 42 [SEP] 8, RemoteControl, -5.950, 0.149, 4.745, 0, 0, 0, 49 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -3.462, 0.453, 7.145, 0, 90, 0, 51 [SEP] 12, Vase, -2.422, 0.542, 3.607, 0, 270, 0, 59 [SEP] 13, Newspaper, -5.670, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -3.462, 0.880, 7.139, 0, 90, 0, 50 [SEP] 17, CreditCard, -0.636, 0.793, 1.626, 0, 270, 0, 44 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -3.067, 0.453, 7.221, 0, 90, 0, 51 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.474, 0.454, 7.221, 0, 90, 0, 51 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.274, 0.536, 6.665, 0, 45, 0, 60 [SEP] 26, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 59 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk across the room to the side table by the sofa | STEP 2: Pick up the grey bowl from the table | STEP 3: Face toward the lamp on the same side table | STEP 4: Turn on the lamp | END


Input: Put a washed bar of soap in the cupboard under the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 1.75, 0, 0, 0,  [SEP] 1, Cloth, -1.439, 0.067, 2.391, 0, 0, 0, 23 [SEP] 2, SoapBar, -1.322, 0.068, 3.743, 0, 0, 0, 29 [SEP] 3, Candle, -1.322, 0.068, 3.894, 0, 0, 0, 29 [SEP] 4, Candle, -1.561, 0.068, 2.706, 0, 0, 0, 21 [SEP] 5, SprayBottle, 0.258, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SoapBottle, -1.382, 0.068, 3.642, 0, 0, 0, 29 [SEP] 7, SoapBottle, -1.219, 0.993, 2.863, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.382, 0.068, 2.857, 0, 0, 0, 21 [SEP] 11, ToiletPaper, -1.416, 0.991, 2.239, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.382, 0.068, 2.757, 0, 0, 0, 21 [SEP] 14, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 17, SprayBottle, -1.620, 0.068, 3.377, 0, 0, 0, 27 [SEP] 18, Cloth, -1.501, 0.068, 3.693, 0, 0, 0, 29 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink | STEP 3: Get closer to the sink | STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap | STEP 5: Turn around and go to the wall, then turn back around facing the sink | STEP 6: Put the soap in the cupboard on the right under the sink | END


Input: Place a rinsed bar of soap in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 1.75, 0, 0, 0,  [SEP] 1, Cloth, -1.439, 0.067, 2.391, 0, 0, 0, 23 [SEP] 2, SoapBar, -1.322, 0.068, 3.743, 0, 0, 0, 29 [SEP] 3, Candle, -1.322, 0.068, 3.894, 0, 0, 0, 29 [SEP] 4, Candle, -1.561, 0.068, 2.706, 0, 0, 0, 21 [SEP] 5, SprayBottle, 0.258, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SoapBottle, -1.382, 0.068, 3.642, 0, 0, 0, 29 [SEP] 7, SoapBottle, -1.219, 0.993, 2.863, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.382, 0.068, 2.857, 0, 0, 0, 21 [SEP] 11, ToiletPaper, -1.416, 0.991, 2.239, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.382, 0.068, 2.757, 0, 0, 0, 21 [SEP] 14, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 17, SprayBottle, -1.620, 0.068, 3.377, 0, 0, 0, 27 [SEP] 18, Cloth, -1.501, 0.068, 3.693, 0, 0, 0, 29 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Walk ahead to the wall, then turn left to the right sink. | STEP 2: Take the soap out of the bottom right cabinet. | STEP 3: Look up at the sink. | STEP 4: Wash the soap in the sink. | STEP 5: Look down at the cabinets. | STEP 6: Place the soap in the right bottom cabinet in front of the blue bottle. | END


Input: To move two bars of soap to the center of the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 0.5, 0, 0, 0,  [SEP] 1, TissueBox, -2.080, 1.047, -0.674, 0, 0, 0, 38 [SEP] 2, TissueBox, -0.980, 1.773, 2.127, 0, 0, 0, 31 [SEP] 3, Cloth, 0.124, 0.048, 0.156, 0, 0, 0, 32 [SEP] 4, SoapBar, -0.181, 0.609, 1.589, 0, 45, 0, 25 [SEP] 5, SoapBar, -2.343, 1.046, -0.766, 0, 0, 0, 38 [SEP] 6, SoapBar, -0.304, 0.609, 0.039, 0, 0, 0, 25 [SEP] 7, Candle, -0.817, 1.814, 2.067, 0, 0, 0, 33 [SEP] 8, SprayBottle, -2.212, 1.048, -0.674, 0, 0, 0, 38 [SEP] 9, SprayBottle, -0.980, 1.071, 2.067, 0, 0, 0, 33 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 35 [SEP] 11, ToiletPaper, -1.308, 1.066, 2.217, 0, 0, 0, 33 [SEP] 12, Candle, -2.343, 1.088, -0.827, 0, 0, 0, 38 [SEP] 13, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 34 [SEP] 14, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 15, SoapBar, -0.653, 1.069, 2.127, 0, 0, 0, 33 [SEP] 16, ToiletPaper, -0.187, 0.606, -0.466, 0, 315, 0, 25 [SEP] 17, SoapBottle, -1.666, 0.083, -0.549, 0, 270, 0, 26 [SEP] 18, TissueBox, -1.144, 0.289, 2.157, 0, 0, 0, 29 [SEP] 19, Cloth, -1.308, 1.777, 2.157, 0, 0, 0, 31 [SEP] 20, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 28 [SEP] 21, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 27 [SEP] 22, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 23, SprayBottle, -2.080, 1.048, -0.797, 0, 0, 0, 38 [SEP] 24, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 25, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 26, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 27, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 28, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 30, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 32, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 33, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 34, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 35, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 36, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 37, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 38, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 39, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 40, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 41, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 42, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally. | STEP 5: Turn left and walk forward to face the soap on the top shelf. | STEP 6: Pick up the soap on the top shelf. | STEP 7: Turn to the right to face the tub. | STEP 8: Place the bar of soap beside the first bar of soap. | END


Input: Place a pot filled with water on 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, -0.75, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 2, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 97 [SEP] 3, Fork, 1.558, 0.771, 1.198, 0, 270, 0, 60 [SEP] 4, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 42 [SEP] 5, Spatula, -0.055, 0.926, 1.129, 0, 90, 0, 53 [SEP] 6, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.363, 1.782, 1.423, 0, 180, 0, 100 [SEP] 8, Cup, 2.715, 1.561, -0.775, 0, 0, 0, 97 [SEP] 9, Egg, 2.591, 0.764, -0.565, 0, 0, 0, 97 [SEP] 10, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 77 [SEP] 11, Knife, -0.911, 0.853, -1.206, 0, 270, 0, 101 [SEP] 12, Tomato, 2.777, 0.756, -0.565, 0, 0, 0, 97 [SEP] 13, Tomato, 2.900, 0.758, -0.442, 0, 0, 0, 97 [SEP] 14, Bowl, 2.715, 1.286, -0.578, 0, 0, 0, 97 [SEP] 15, Bowl, -0.983, 0.818, -1.360, 0, 90, 0, 101 [SEP] 16, SaltShaker, 1.797, 0.110, -0.495, 0, 180, 0, 88 [SEP] 17, Mug, -0.164, 1.649, 1.470, 0, 0, 0, 100 [SEP] 18, Apple, 1.155, 0.980, 1.299, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.561, 1.660, 1.508, 0, 0, 0, 65 [SEP] 20, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 77 [SEP] 21, Fork, 0.634, 0.912, -0.430, 0, 0, 0, 42 [SEP] 22, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 57 [SEP] 23, Bread, 1.688, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 0.466, 1.822, 1.423, 0, 180, 0, 100 [SEP] 25, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 26, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 95 [SEP] 27, Cup, 0.750, 1.653, -0.693, 0, 180, 0, 52 [SEP] 28, Spatula, -0.836, 0.835, -1.255, 0, 270, 0, 101 [SEP] 29, Apple, -0.151, 0.980, 1.129, 0, 0, 0, 53 [SEP] 30, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 77 [SEP] 31, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 32, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 101 [SEP] 33, Knife, -0.103, 0.944, 1.468, 0, 0, 0, 53 [SEP] 34, Potato, 0.570, 1.819, 1.455, 0, 180, 0, 100 [SEP] 35, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 101 [SEP] 36, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 42 [SEP] 37, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 77 [SEP] 38, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 95 [SEP] 39, Spoon, 2.156, 0.912, -0.6, 0, 0, 0, 42 [SEP] 40, Mug, 2.754, 0.906, 1.129, 0, 0, 0, 77 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the oven. | STEP 2: Pick up the pot from the oven. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the pot in the sink and turn the faucet on and off before removing the water-filled pot. | STEP 5: Turn around and walk to the  oven. | STEP 6: Place the pot on the stove | END


Input: Put the two spray bottle on the toilet tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 1.75, 0, 180, 0,  [SEP] 1, TissueBox, -1.635, 0.289, 2.127, 0, 0, 0, 26 [SEP] 2, Cloth, 0.289, 0.048, 0.839, 0, 0, 0, 29 [SEP] 3, SoapBar, -0.334, 0.609, 0.039, 0, 0, 0, 22 [SEP] 4, Candle, -2.343, 1.088, -0.644, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.471, 1.071, 2.097, 0, 0, 0, 30 [SEP] 6, SoapBottle, -0.980, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.705, 0, 0, 0, 35 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 9, Candle, -1.308, 1.111, 2.157, 0, 0, 0, 30 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -0.653, 1.069, 2.187, 0, 0, 0, 30 [SEP] 13, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 25 [SEP] 14, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 33 [SEP] 15, TissueBox, -0.817, 1.070, 2.127, 0, 0, 0, 30 [SEP] 16, Cloth, -2.015, 1.052, -0.766, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -1.144, 1.066, 2.157, 0, 0, 0, 30 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -1.308, 0.289, 2.067, 0, 0, 0, 26 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack  | STEP 3: Turn left then head to the right side of the toilet | STEP 4: Put the spray bottle on the tank | STEP 5: Turn left then head back to the shelf | STEP 6: Pick up the spray bottle on the bottom shelf | STEP 7: Turn left then head back to the right side of the toilet | STEP 8: Put the spray bottle beside the other spray bottle on the tank | END


Input: grab the credit card on the end table, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 5.75, 0, 180, 0,  [SEP] 1, Bowl, -2.869, 1.281, 7.045, 0, 90, 0, 56 [SEP] 2, Watch, -0.433, 0.793, 1.626, 0, 270, 0, 42 [SEP] 3, KeyChain, -0.789, 0.367, 3.002, 0, 0, 0, 40 [SEP] 4, CreditCard, -3.557, 1.279, 6.981, 0, 90, 0, 56 [SEP] 5, CreditCard, -2.474, 0.452, 7.183, 0, 90, 0, 49 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 40 [SEP] 7, Box, -3.328, 1.443, 7.171, 0, 90, 0, 56 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.405, 0.534, 6.684, 0, 45, 0, 58 [SEP] 10, Vase, -2.352, 0.542, 4.480, 0, 270, 0, 57 [SEP] 11, Newspaper, -0.484, 0.792, 2.252, 0, 270, 0, 42 [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, -0.535, 0.794, 5.600, 0, 270, 0, 41 [SEP] 15, CreditCard, -0.845, 0.793, 1.900, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.277, 0.880, 7.139, 0, 90, 0, 49 [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, -2.492, 0.535, 3.607, 0, 270, 0, 57 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.710, 0.369, 3.306, 0, 0, 0, 40 [SEP] 24, Watch, -0.535, 0.793, 5.726, 0, 270, 0, 41 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.998, 0.454, 4.942, 0, 90, 0, 52 [SEP] 27, Statue, -5.950, 0.156, 4.349, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: walk straight to the chair, turn left, walk to the end table | STEP 2: grab the credit card on the table | STEP 3: turn right, walk behind the chairs to the floor lamp  | STEP 4: turn on the floor lamp | END


Input: Move a bar of clean soap to a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.25, 0, 180, 0,  [SEP] 1, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 19 [SEP] 2, Candle, -1.560, 0.067, 3.226, 0, 0, 0, 25 [SEP] 3, SprayBottle, -1.319, 0.068, 2.290, 0, 0, 0, 21 [SEP] 4, SprayBottle, -1.319, 0.068, 3.226, 0, 0, 0, 25 [SEP] 5, ToiletPaper, -1.561, 0.065, 2.857, 0, 0, 0, 19 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.284, 0.994, 2.148, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.441, 0.065, 3.693, 0, 0, 0, 27 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.259, 0.067, 3.427, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.481, 0.994, 2.982, 0, 0, 0, 26 [SEP] 13, SoapBottle, -1.547, 0.993, 3.933, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 26 [SEP] 15, SprayBottle, -1.439, 0.068, 2.240, 0, 0, 0, 21 [SEP] 16, Cloth, -1.500, 0.067, 2.391, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop.  | STEP 2: Pick up the bar of soap that is on the bathroom counter.  | STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter.  | STEP 4: Rinse off the soap in the sink. | STEP 5: Move away from the bathroom counter. | STEP 6: Place the bar of soap in the right hand cabinet under the right bathroom sink. | END


Input: Place a rinsed bar of soap in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.25, 0, 180, 0,  [SEP] 1, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 19 [SEP] 2, Candle, -1.560, 0.067, 3.226, 0, 0, 0, 25 [SEP] 3, SprayBottle, -1.319, 0.068, 2.290, 0, 0, 0, 21 [SEP] 4, SprayBottle, -1.319, 0.068, 3.226, 0, 0, 0, 25 [SEP] 5, ToiletPaper, -1.561, 0.065, 2.857, 0, 0, 0, 19 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.284, 0.994, 2.148, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.441, 0.065, 3.693, 0, 0, 0, 27 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.259, 0.067, 3.427, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.481, 0.994, 2.982, 0, 0, 0, 26 [SEP] 13, SoapBottle, -1.547, 0.993, 3.933, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 26 [SEP] 15, SprayBottle, -1.439, 0.068, 2.240, 0, 0, 0, 21 [SEP] 16, Cloth, -1.500, 0.067, 2.391, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the left side of the vanity with the sink. | STEP 2: Pick up the bar of soap from the corner of the vanity counter. | STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity. | STEP 4: Put the bar of soap inside the sink, rinse it and pick it back up. | STEP 5: Turn around, walk to the wall and turn around to face the cabinets under the vanity. | STEP 6: Open the lower right cabinet under the vanity, put the bar of soap inside and close the door. | END


Input: Put a box of tissues on the lid of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, -0.25, 0, 180, 0,  [SEP] 1, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 26 [SEP] 2, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, SoapBar, -1.144, 1.772, 2.097, 0, 0, 0, 24 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.276, 0.650, 1.724, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.686, 0.081, -0.549, 0, 270, 0, 23 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 29 [SEP] 11, TissueBox, -1.471, 1.070, 2.097, 0, 0, 0, 26 [SEP] 12, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.144, 0.289, 2.067, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Make a left to walk to the wall across from the toilet. | STEP 2: Pick up the box of tissues on the right. | STEP 3: Turn around to walk towards the toilet. | STEP 4: Put the box of tissues down on the lid of the toilet tank. | END


Input: Put a box of tissue on the back of the toilet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, -0.25, 0, 180, 0,  [SEP] 1, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 26 [SEP] 2, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, SoapBar, -1.144, 1.772, 2.097, 0, 0, 0, 24 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.276, 0.650, 1.724, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.686, 0.081, -0.549, 0, 270, 0, 23 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 29 [SEP] 11, TissueBox, -1.471, 1.070, 2.097, 0, 0, 0, 26 [SEP] 12, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.144, 0.289, 2.067, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room.  | STEP 2: Pick up the box of tissue on the right.  | STEP 3: Turn around and go to the toilet across the room, in the right corner.  | STEP 4: Place the box of tissue on the back, right side of the toilet.  | END


Input: Put the heated tomato on the counter next to the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, 0.5, 0, 180, 0,  [SEP] 1, DishSponge, -0.260, 1.046, -1.720, 0, 0, 0, 44 [SEP] 2, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 3, Fork, 0.740, 1.047, -1.828, 0, 90, 0, 44 [SEP] 4, Spoon, 0.160, 1.044, 0.307, 0, 0, 0, 46 [SEP] 5, Spoon, 1.701, 1.044, 0.091, 0, 0, 0, 46 [SEP] 6, Egg, 0.848, 1.108, 0.131, 0, 90, 0, 42 [SEP] 7, Cup, 1.435, 1.020, -1.630, 0, 0, 0, 50 [SEP] 8, Plate, 0.885, 1.577, -1.764, 0, 0, 0, 48 [SEP] 9, Plate, -1.300, 1.241, 1.885, 0, 90, 0, 59 [SEP] 10, Knife, 0.379, 1.072, -1.118, 0, 0, 0, 44 [SEP] 11, SoapBottle, 1.015, 1.044, 0.720, 0, 0, 0, 46 [SEP] 12, Bowl, 1.112, 1.563, -1.689, 0, 0, 0, 48 [SEP] 13, SaltShaker, -1.261, 0.197, -1.338, 0, 0, 0, 52 [SEP] 14, PepperShaker, -0.323, 1.560, -1.545, 0, 0, 0, 49 [SEP] 15, PepperShaker, -0.775, 1.041, -1.505, 0, 0, 0, 44 [SEP] 16, Lettuce, 0.065, 1.103, 0.522, 0, 0, 0, 46 [SEP] 17, Apple, -1.194, 1.759, -1.269, 0, 0, 0, 58 [SEP] 18, SoapBottle, -1.416, 0.203, -1.555, 0, 0, 0, 52 [SEP] 19, Apple, 0.892, 1.098, 0.281, 0, 90, 0, 42 [SEP] 20, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 46 [SEP] 21, Fork, 1.879, 1.043, 0.091, 0, 0, 0, 46 [SEP] 22, Kettle, -0.699, 1.566, -1.693, 0, 0, 0, 49 [SEP] 23, Pan, -0.401, 0.203, -1.337, 0, 0, 0, 53 [SEP] 24, Tomato, -0.346, 1.097, -1.505, 0, 0, 0, 44 [SEP] 25, SaltShaker, -0.432, 1.041, -1.181, 0, 0, 0, 44 [SEP] 26, Egg, 0.446, 1.097, 0.307, 0, 0, 0, 46 [SEP] 27, Cup, -1.027, 0.202, -1.555, 0, 0, 0, 52 [SEP] 28, Spatula, 0.805, 1.068, 0.131, 0, 90, 0, 42 [SEP] 29, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 44 [SEP] 30, Lettuce, -1.095, 1.023, 1.974, 0, 90, 0, 59 [SEP] 31, ButterKnife, -0.432, 1.046, -1.397, 0, 0, 0, 44 [SEP] 32, PepperShaker, 1.181, 1.038, 0.545, 0, 0, 0, 46 [SEP] 33, DishSponge, 0.065, 1.042, 0.199, 0, 0, 0, 46 [SEP] 34, Plate, 1.743, 1.032, -1.337, 0, 0, 0, 50 [SEP] 35, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 44 [SEP] 36, Spoon, 0.980, 1.054, 0.231, 0, 270, 0, 42 [SEP] 37, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 38, Mug, -1.095, 0.959, 2.331, 0, 90, 0, 59 [SEP] 39, Bowl, 1.817, 0.203, -1.408, 0, 0, 0, 54 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Move to the counter right of the stove.  | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave.  | STEP 5: Bring the tomato to the counter right of the stove.  | STEP 6: Put the tomato on the counter right of the stove.  | END


Input: Put a slice of washed tomato 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, -1.25, 0.931, 0.75, 0, 0, 0,  [SEP] 1, ButterKnife, 1.514, 1.043, 0.545, 0, 0, 0, 49 [SEP] 2, Spoon, 0.065, 1.044, 0.630, 0, 0, 0, 49 [SEP] 3, Spoon, -0.346, 1.048, -1.289, 0, 90, 0, 47 [SEP] 4, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 47 [SEP] 5, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 47 [SEP] 6, Egg, -1.011, 0.762, 2.153, 0, 90, 0, 62 [SEP] 7, Cup, 1.068, 0.200, -1.267, 0, 0, 0, 58 [SEP] 8, Cup, -1.235, 1.228, 2.242, 0, 90, 0, 62 [SEP] 9, Plate, 1.817, 0.217, -1.480, 0, 0, 0, 57 [SEP] 10, Knife, -0.603, 1.072, -1.397, 0, 90, 0, 47 [SEP] 11, Tomato, -0.775, 1.097, -1.397, 0, 0, 0, 47 [SEP] 12, Tomato, -1.276, 1.764, 1.796, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.689, 1.047, -1.289, 0, 0, 0, 47 [SEP] 14, SoapBottle, 1.589, 1.020, -1.191, 0, 90, 0, 53 [SEP] 15, Bowl, 0.160, 1.042, 0.738, 0, 0, 0, 49 [SEP] 16, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 17, SaltShaker, 1.743, 1.014, -1.337, 0, 0, 0, 53 [SEP] 18, PepperShaker, -0.580, 0.198, -1.409, 0, 0, 0, 56 [SEP] 19, Mug, -1.184, 2.023, -1.627, 0, 0, 0, 54 [SEP] 20, Apple, -1.095, 1.007, 2.153, 0, 90, 0, 62 [SEP] 21, SoapBottle, 0.979, 0.200, -1.628, 0, 0, 0, 58 [SEP] 22, Apple, -1.096, 1.759, -1.300, 0, 0, 0, 61 [SEP] 23, Potato, -1.268, 2.001, 2.242, 0, 90, 0, 62 [SEP] 24, Fork, 0.906, 1.047, -1.612, 0, 0, 0, 47 [SEP] 25, Kettle, 1.036, 1.566, -1.614, 0, 0, 0, 51 [SEP] 26, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 27, Tomato, -1.126, 1.014, 2.331, 0, 90, 0, 62 [SEP] 28, SaltShaker, 1.666, 1.014, -1.484, 0, 0, 0, 53 [SEP] 29, Egg, 1.072, 1.101, -1.181, 0, 0, 0, 47 [SEP] 30, Cup, -1.268, 1.948, 1.974, 0, 90, 0, 62 [SEP] 31, Spatula, 1.015, 1.058, 0.720, 0, 0, 0, 49 [SEP] 32, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 49 [SEP] 33, Lettuce, -1.095, 1.023, 1.885, 0, 90, 0, 62 [SEP] 34, ButterKnife, 0.682, 1.043, 0.589, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.347, 1.038, 0.763, 0, 0, 0, 49 [SEP] 36, DishSponge, -1.105, 0.202, -1.555, 0, 0, 0, 55 [SEP] 37, Plate, -0.398, 1.577, -1.619, 0, 0, 0, 52 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, -1.029, 2.029, -1.337, 0, 90, 0, 54 [SEP] 41, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 65 [SEP] 42, Bowl, -1.339, 0.201, -1.482, 0, 0, 0, 55 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge. | STEP 10: Place the tomato slice in the right sink, turn on the water, and then move once rinsed. | STEP 11: Turn left and carry the tomato slice to the wall, then turn your body left to face the microwave. | STEP 12: Place the tomato slice in the microwave. | END