Input: Cut an apple, wash it and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 105 [SEP] 2, DishSponge, 2.153, 0.114, 1.156, 0, 0, 0, 82 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 81 [SEP] 5, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 105 [SEP] 6, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 81 [SEP] 7, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 8, Spatula, -0.055, 0.926, 1.129, 0, 90, 0, 57 [SEP] 9, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 81 [SEP] 10, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 81 [SEP] 11, Cup, -0.621, 0.818, -1.308, 0, 90, 0, 105 [SEP] 12, Cup, 2.900, 0.723, -0.504, 0, 0, 0, 101 [SEP] 13, Egg, 0.415, 1.822, 1.423, 0, 180, 0, 104 [SEP] 14, SoapBottle, -2.019, 0.429, 1.417, 0, 270, 0, 99 [SEP] 15, Tomato, 3.220, 0.871, -0.485, 0, 0, 0, 101 [SEP] 16, Tomato, -0.151, 0.942, 1.383, 0, 0, 0, 57 [SEP] 17, Bowl, 2.872, 0.112, 1.156, 0, 0, 0, 78 [SEP] 18, SaltShaker, -0.887, 0.817, -1.400, 0, 0, 0, 105 [SEP] 19, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 81 [SEP] 20, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 81 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 101 [SEP] 22, Apple, -0.151, 0.980, 1.214, 0, 0, 0, 57 [SEP] 23, SoapBottle, 0.900, 1.661, -0.693, 0, 180, 0, 56 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, 1.141, 0.912, -0.769, 0, 90, 0, 46 [SEP] 26, Pot, 1.155, 0.915, 1.383, 0, 0, 0, 81 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, 2.715, 0.764, -0.504, 0, 0, 0, 101 [SEP] 29, Kettle, -0.785, 0.821, -1.255, 0, 270, 0, 105 [SEP] 30, Tomato, 0.888, 0.942, -0.6, 0, 0, 0, 46 [SEP] 31, Cup, 2.962, 1.561, -0.775, 0, 0, 0, 101 [SEP] 32, Spatula, 0.251, 0.926, -0.302, 0, 0, 0, 46 [SEP] 33, Apple, -0.246, 0.980, 1.044, 0, 0, 0, 57 [SEP] 34, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 81 [SEP] 35, Lettuce, 2.912, 1.345, -0.613, 14.844, 5.052, 19.928, 101 [SEP] 36, SaltShaker, -0.151, 0.908, 1.044, 0, 0, 0, 57 [SEP] 37, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 81 [SEP] 38, Potato, 0.634, 0.946, -0.769, 0, 0, 0, 46 [SEP] 39, PepperShaker, 2.138, 1.651, -0.725, 0, 180, 0, 67 [SEP] 40, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.653, 1.017, -0.644, 0, 0, 0, 101 [SEP] 42, DishSponge, 1.842, 1.655, 1.390, 0, 0, 0, 58 [SEP] 43, Spoon, 1.862, 0.772, 1.198, 0, 0, 0, 79 [SEP] 44, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn around, go to the microwave | STEP 12: Put the apple piece in the microwave | END


Input: Put a clean rag on the bench. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0,  [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [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, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [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, -0.653, 0.289, 2.097, 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 left and walk over to the bath mat. Then turn right and face the bath tub. | STEP 2: Pick up the yellow rag from the bath tub. | STEP 3: Turn around and walk towards the toilet, then turn left and move towards the sink. | STEP 4: Drop the rag in the sink and wash it off with water. | STEP 5: Turn around and walk to the bench on floor against the wall on the other side of the room. | STEP 6: Put the rag on the bench next to the candle. | END


Input: Put a cleaned yellow cloth on a shelf close to the floor. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0,  [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [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, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [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, -0.653, 0.289, 2.097, 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: Move slightly to the left and stand in front of the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub basin. | STEP 3: Turn right and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn around and walk forward to the shelf close to the floor containing the candle. | STEP 6: Put the cloth on the shelf, to the left of the candle. | END


Input: Put the washed yellow cloth on the shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0,  [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [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, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [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, -0.653, 0.289, 2.097, 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: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub | STEP 3: Turn around and walk up to the sink | STEP 4: Wash the yellow cloth under water in the sink then remove it | STEP 5: Turn around and walk up to the white shelves against the wall | STEP 6: Put the cloth down on the bottom shelf | END


Input: Put a wet wash cloth on a shelf in the bathroom. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0,  [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [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, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [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, -0.653, 0.289, 2.097, 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 left and move to the center of the tub. | STEP 2: Pick up the yellow wash cloth in the tub. | STEP 3: Turn around and face the waste paper basket between the sink and the tub. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn left and walk until you hit the tub and then turn and walk to the shelf near the floor. | STEP 6: Put the wash cloth to the left of the white and orange object. | END


Input: Clean the rag to put back in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 1.5, 0, 90, 0,  [SEP] 1, Cloth, -1.471, 1.074, 2.157, 0, 0, 0, 33 [SEP] 2, Cloth, 0.124, 0.048, 0.384, 0, 0, 0, 32 [SEP] 3, Cloth, -1.144, 1.777, 2.157, 0, 0, 0, 31 [SEP] 4, SoapBar, -1.144, 0.288, 2.157, 0, 0, 0, 29 [SEP] 5, Candle, -0.653, 1.111, 2.067, 0, 0, 0, 33 [SEP] 6, Candle, -1.949, 1.088, -0.674, 0, 0, 0, 38 [SEP] 7, SprayBottle, -2.212, 1.048, -0.705, 0, 0, 0, 38 [SEP] 8, SprayBottle, -2.343, 1.048, -0.766, 0, 0, 0, 38 [SEP] 9, SoapBottle, -1.308, 0.291, 2.157, 0, 0, 0, 29 [SEP] 10, SoapBottle, -1.635, 1.072, 2.127, 0, 0, 0, 33 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 34 [SEP] 12, Candle, -0.164, 0.650, 1.653, 0, 45, 0, 25 [SEP] 13, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 35 [SEP] 14, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 15, SoapBar, 0.371, 0.043, 0.384, 0, 0, 0, 32 [SEP] 16, ToiletPaper, -0.246, 0.606, -0.445, 0, 315, 0, 25 [SEP] 17, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 36 [SEP] 18, TissueBox, -0.653, 0.289, 2.097, 0, 0, 0, 29 [SEP] 19, Cloth, 0.206, 0.048, 0.156, 0, 0, 0, 32 [SEP] 20, ToiletPaper, -1.308, 1.769, 2.187, 0, 0, 0, 31 [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, -1.471, 1.774, 2.157, 0, 0, 0, 31 [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 to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub | STEP 3: Turn to your right and head to the sink | STEP 4: Put the rag in the sink and rinse it | STEP 5: Turn to your left and head to the tub | STEP 6: Put the clean rag in the tub | END


Input: Place the box in between the 2 sinks on top 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, -1.25, 0.901, 1.5, 0, 0, 0,  [SEP] 1, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 2, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.560, 0.067, 3.377, 0, 0, 0, 27 [SEP] 4, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 34 [SEP] 5, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SprayBottle, -1.613, 0.995, 2.982, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.416, 0.993, 3.812, 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, 0.313, 0.047, 3.782, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.262, 0.065, 2.857, 0, 0, 0, 21 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.481, 0.994, 2.239, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.350, 0.993, 2.239, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.500, 0.068, 2.240, 0, 0, 0, 23 [SEP] 18, Cloth, -1.501, 0.068, 3.793, 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: Turn to the left, go straight, then to the left again to face the counter top between the two sinks. | STEP 2: Pick up the tissue box to the left. | STEP 3: Turn to the left and head straight to face the glass shower door. | STEP 4: Place the tissue box on the top of the toilet to the left of the glass shower door. | END


Input: take a tissue box to the toilet and put it on the tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 1.5, 0, 0, 0,  [SEP] 1, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 2, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.560, 0.067, 3.377, 0, 0, 0, 27 [SEP] 4, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 34 [SEP] 5, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SprayBottle, -1.613, 0.995, 2.982, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.416, 0.993, 3.812, 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, 0.313, 0.047, 3.782, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.262, 0.065, 2.857, 0, 0, 0, 21 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.481, 0.994, 2.239, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.350, 0.993, 2.239, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.500, 0.068, 2.240, 0, 0, 0, 23 [SEP] 18, Cloth, -1.501, 0.068, 3.793, 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: go around the sink so you are facing it between both bowls | STEP 2: pick up the tissue box on the left side | STEP 3: take the tissue box to the toilet | STEP 4: place the tissue box on the toilet tank on its end | END


Input: cool the egg with refrigerator, put the egg 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, 3.0, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 100 [SEP] 2, DishSponge, 0.888, 0.911, -0.854, 0, 0, 0, 43 [SEP] 3, DishSponge, 2.205, 0.771, -0.383, 0, 180, 0, 56 [SEP] 4, Kettle, -0.160, 0.116, 1.156, 0, 0, 0, 71 [SEP] 5, Fork, -0.766, 0.821, -1.308, 0, 90, 0, 102 [SEP] 6, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 78 [SEP] 7, Cup, 0.123, 0.763, -0.596, 0, 0, 0, 100 [SEP] 8, Cup, 1.896, 0.112, 1.117, 0, 0, 0, 79 [SEP] 9, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 102 [SEP] 10, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 100 [SEP] 11, Tomato, 2.591, 0.758, -0.565, 0, 0, 0, 98 [SEP] 12, Bowl, 1.563, 0.112, 1.119, 0, 0, 0, 72 [SEP] 13, SaltShaker, 1.955, 0.908, 1.299, 0, 0, 0, 78 [SEP] 14, PepperShaker, -0.198, 0.908, 1.468, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.246, 0.908, 1.383, 0, 0, 0, 54 [SEP] 16, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 78 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 78 [SEP] 18, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 98 [SEP] 19, Mug, 0.363, 1.779, 1.455, 0, 180, 0, 101 [SEP] 20, SoapBottle, -0.911, 0.826, -1.308, 0, 90, 0, 102 [SEP] 21, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 77 [SEP] 22, Fork, 1.141, 0.912, -0.515, 0, 0, 0, 43 [SEP] 23, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 24, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 78 [SEP] 25, Egg, -0.087, 0.803, -0.596, 0, 0, 0, 100 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 2.900, 1.594, -0.578, 0, 0, 0, 98 [SEP] 28, Cup, 2.715, 1.286, -0.644, 0, 0, 0, 98 [SEP] 29, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 78 [SEP] 30, Apple, 1.141, 0.980, -0.430, 0, 0, 0, 43 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, 2.715, 1.644, -0.644, 0, 0, 0, 98 [SEP] 33, SaltShaker, 2.754, 0.908, 1.214, 0, 0, 0, 78 [SEP] 34, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 102 [SEP] 35, Potato, -0.055, 0.946, 1.044, 0, 0, 0, 54 [SEP] 36, PepperShaker, 1.947, 0.110, -0.495, 0, 180, 0, 89 [SEP] 37, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 102 [SEP] 38, Bowl, 1.141, 0.909, -0.769, 0, 0, 0, 43 [SEP] 39, DishSponge, -0.983, 0.820, -1.103, 0, 90, 0, 102 [SEP] 40, Spoon, 2.418, 0.772, 1.122, 0, 90, 0, 59 [SEP] 41, Mug, -0.055, 0.906, 1.214, 0, 0, 0, 54 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: turn right, walk to the sink | STEP 2: grab the egg in the sink | STEP 3: turn left walk to the refrigerator | STEP 4: put the egg in the refrigerator, wait a while, take the egg out | STEP 5: turn right, walk to the microwave on the right | STEP 6: open the microwave, put the egg in  | END


Input: move the candle from the tub to the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 180, 0,  [SEP] 1, SoapBar, -0.304, 0.609, 0.935, 0, 0, 0, 18 [SEP] 2, SprayBottle, -0.817, 1.774, 2.097, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.080, 1.048, -0.766, 0, 0, 0, 31 [SEP] 4, SoapBottle, -0.226, 0.611, -0.465, 0, 315, 0, 18 [SEP] 5, Candle, -0.182, 0.650, 1.789, 0, 0, 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, -2.015, 1.046, -0.705, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 10, SoapBottle, -2.343, 1.049, -0.736, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 26 [SEP] 12, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.707, 0.078, -0.655, 0, 270, 0, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.146, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: turn left to the tub | STEP 2: grab the candle by the tub | STEP 3: turn around, walk across the room to the toilet | STEP 4: put the candle on the toilet | END


Input: move the candle from the tub to the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 180, 0,  [SEP] 1, SoapBar, -0.304, 0.609, 0.935, 0, 0, 0, 18 [SEP] 2, SprayBottle, -0.817, 1.774, 2.097, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.080, 1.048, -0.766, 0, 0, 0, 31 [SEP] 4, SoapBottle, -0.226, 0.611, -0.465, 0, 315, 0, 18 [SEP] 5, Candle, -0.182, 0.650, 1.789, 0, 0, 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, -2.015, 1.046, -0.705, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 10, SoapBottle, -2.343, 1.049, -0.736, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 26 [SEP] 12, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.707, 0.078, -0.655, 0, 270, 0, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.146, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: turn left and walk towards the bathtub | STEP 2: pick up the candle from the tub | STEP 3: turn around and walk towards the door. make a left and walk forward to the toilet | STEP 4: place the candle on the toilet | END


Input: Move an empty box to the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.25, 0, 270, 0,  [SEP] 1, Watch, -0.411, 0.552, -0.365, 0, 270, 0, 28 [SEP] 2, Newspaper, -0.922, 0.324, -1.917, 0, 90, 0, 30 [SEP] 3, Newspaper, 1.724, 0.869, 0.220, 0, 90, 0, 34 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, 1.849, 0.871, 0.008, 0, 90, 0, 34 [SEP] 6, Watch, -0.582, 0.360, -0.152, 0, 270, 0, 37 [SEP] 7, Newspaper, 1.807, 0.868, 0.537, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.711, 0.357, -0.120, 0, 270, 0, 25 [SEP] 10, RemoteControl, -0.260, 0.553, -0.106, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, , , , , , , ,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Move to the wood desk to the left of the brown chair | STEP 2: Pick up the empty box under the desk on the floor | STEP 3: Carry the box to the large brown sofa | STEP 4: Place the box in the middle of the sofa | END


Input: Pick up the newspaper from the coffee table and turn on the light on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 3.25, 0, 90, 0,  [SEP] 1, Bowl, -2.474, 0.454, 7.145, 0, 90, 0, 52 [SEP] 2, Bowl, -0.326, 0.795, 1.951, 0, 0, 0, 45 [SEP] 3, Watch, -6.075, 1.280, 3.662, 0, 0, 0, 57 [SEP] 4, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 45 [SEP] 5, KeyChain, -2.870, 0.453, 7.221, 0, 90, 0, 52 [SEP] 6, KeyChain, -0.789, 0.367, 3.002, 0, 0, 0, 43 [SEP] 7, CreditCard, -5.329, 0.533, 6.835, 0, 135, 0, 61 [SEP] 8, CreditCard, -0.687, 0.793, 2.377, 0, 270, 0, 45 [SEP] 9, RemoteControl, -5.518, 0.536, 6.797, 0, 135, 0, 61 [SEP] 10, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 54 [SEP] 11, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 59 [SEP] 12, Vase, -0.585, 0.794, 2.252, 0, 270, 0, 45 [SEP] 13, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 55 [SEP] 14, Newspaper, -2.492, 0.532, 3.752, 0, 270, 0, 60 [SEP] 15, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 60 [SEP] 16, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 17, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 53 [SEP] 18, CreditCard, -0.758, 0.793, 2.103, 0, 0, 0, 45 [SEP] 19, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 57 [SEP] 20, KeyChain, -0.789, 0.433, 3.306, 0, 90, 0, 43 [SEP] 21, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 55 [SEP] 22, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 55 [SEP] 23, Bowl, -5.899, 0.148, 4.942, 0, 0, 0, 50 [SEP] 24, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 43 [SEP] 25, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 57 [SEP] 26, RemoteControl, -5.885, 1.282, 3.891, 0, 0, 0, 57 [SEP] 27, Watch, -6.075, 1.280, 4.808, 0, 0, 0, 57 [SEP] 28, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 59 [SEP] 29, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 57 [SEP] 30, Statue, -2.631, 0.543, 4.335, 0, 270, 0, 60 [SEP] 31, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 59 [SEP] 32, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 33, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 34, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 35, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 36, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 37, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 38, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 39, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 40, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 41, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 42, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 43, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 44, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 45, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 46, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 47, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 48, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 49, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 50, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 51, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 54, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 56, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 57, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 58, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 59, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 60, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 61, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,

Output: STEP 1: Go around to the other side of the coffee table. | STEP 2: Pick up the newspaper from the coffee table. | STEP 3: Go to the end table to your left. | STEP 4: Turn the light on that's on the end table. | END


Input: Put a clean bar of soap on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 180, 0,  [SEP] 1, Cloth, -1.382, 0.068, 3.793, 0, 0, 0, 29 [SEP] 2, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 28 [SEP] 3, SoapBar, -1.481, 0.994, 2.269, 0, 0, 0, 28 [SEP] 4, SprayBottle, -1.481, 0.995, 3.159, 0, 0, 0, 28 [SEP] 5, SprayBottle, -1.547, 0.995, 2.982, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.379, 0.067, 3.276, 0, 0, 0, 27 [SEP] 7, SoapBottle, -1.620, 0.067, 3.226, 0, 0, 0, 27 [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, 0.286, 0.047, 3.810, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.613, 0.991, 2.178, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 21 [SEP] 15, SoapBottle, -1.350, 0.993, 2.148, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.284, 0.995, 2.239, 0, 0, 0, 28 [SEP] 18, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 27 [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: Turn around and face the side of the cabinet with the sink. | STEP 2: Pick the bar of soap up from the counter. | STEP 3: Go around to the front of the cabinet and stand in front of the sink on the left. | STEP 4: Put the soap in the sink and turn the water on and then turn it off and take the soap back out of the sink. | STEP 5: Go to the left and turn to face the side of the cabinet with the sink in it. | STEP 6: Put the bar of soap in the counter. | END


Input: place cleaned pink sponge on counter to the left of blue bottle SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 180, 0,  [SEP] 1, Cloth, -1.382, 0.068, 3.793, 0, 0, 0, 29 [SEP] 2, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 28 [SEP] 3, SoapBar, -1.481, 0.994, 2.269, 0, 0, 0, 28 [SEP] 4, SprayBottle, -1.481, 0.995, 3.159, 0, 0, 0, 28 [SEP] 5, SprayBottle, -1.547, 0.995, 2.982, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.379, 0.067, 3.276, 0, 0, 0, 27 [SEP] 7, SoapBottle, -1.620, 0.067, 3.226, 0, 0, 0, 27 [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, 0.286, 0.047, 3.810, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.613, 0.991, 2.178, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 21 [SEP] 15, SoapBottle, -1.350, 0.993, 2.148, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.284, 0.995, 2.239, 0, 0, 0, 28 [SEP] 18, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 27 [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: turn right, go to left end of sink counter, face blue bottle on counter | STEP 2: pick up pink sponge on counter | STEP 3: go to sink, face sink | STEP 4: place pink sponge in sink, turn on water, pick up pink sponge from sink | STEP 5: turn left, go to left end of counter | STEP 6: place pink sponge on counter to the left of blue bottle | END


Input: Place two alarm clocks on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.949, 2.0, 0, 0, 0,  [SEP] 1, Vase, 1.950, 0.993, -1.862, 0, 270, 0, 39 [SEP] 2, CD, -0.990, 0.091, -1.121, 0, 0, 0, 25 [SEP] 3, Pen, 2.519, 0.993, -1.774, 0, 270, 0, 39 [SEP] 4, Pen, -0.848, 0.591, 0.027, 0, 0, 0, 61 [SEP] 5, Pencil, -0.776, 0.589, -0.794, 0, 0, 0, 52 [SEP] 6, CreditCard, 1.666, 0.988, -1.687, 0, 270, 0, 39 [SEP] 7, CreditCard, -0.253, 0.784, 3.143, 0, 180, 0, 46 [SEP] 8, Book, 2.545, 0.610, 0.308, 0, 0, 0, 24 [SEP] 9, Book, 2.710, 0.610, 0.790, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.772, 0.785, -0.128, 0, 0, 0, 60 [SEP] 11, Book, 3.072, 0.184, -1.835, 0, 270, 0, 38 [SEP] 12, KeyChain, 2.519, 0.986, -2.037, 0, 270, 0, 39 [SEP] 13, CreditCard, 3.455, 0.723, 1.397, 0, 180, 0, 64 [SEP] 14, Pen, -0.772, 0.790, -0.758, 0, 0, 0, 60 [SEP] 15, Pencil, -0.970, 0.789, -0.548, 0, 0, 0, 60 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, -0.904, 0.789, -0.338, 0, 0, 0, 60 [SEP] 18, AlarmClock, 2.803, 0.986, -2.037, 0, 270, 0, 39 [SEP] 19, Pillow, 1.888, 0.674, 0.068, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, 3.569, 0.417, 1.341, 0, 0, 0, 65 [SEP] 22, CD, 2.803, 0.987, -1.687, 0, 270, 0, 39 [SEP] 23, Vase, 2.095, 0.188, -1.948, 0, 270, 0, 34 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 66, NorthWall, , , , , , ,  [SEP] 67, EastWall, , , , , , ,  [SEP] 68, SouthWall, , , , , , ,  [SEP] 69, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall. | STEP 4: Place the alarm clock on the shelf above where the credit card is. | STEP 5: Turn around and walk ahead, then veer left to the left side of the other dresser. | STEP 6: Pick up the alarm clock on the left side of the dresser. | STEP 7: Walk right around the dresser and then veer right to the shelves along the far wall. | STEP 8: Place the alarm on the shelf to the right of the other alarm clock. | END


Input: To put two watches into the drawer of a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Watch, 1.933, 0.871, 0.114, 0, 90, 0, 36 [SEP] 2, Watch, -0.561, 0.552, -0.106, 0, 270, 0, 30 [SEP] 3, Newspaper, 1.724, 0.869, 0.114, 0, 90, 0, 36 [SEP] 4, Newspaper, -0.323, 0.358, -0.544, 0, 90, 0, 29 [SEP] 5, KeyChain, 1.724, 0.872, 0.325, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.077, 0.324, -1.844, 0, 180, 0, 32 [SEP] 8, Watch, 1.891, 0.870, 0.326, 0, 90, 0, 36 [SEP] 9, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.766, 0.870, 0.643, 0, 90, 0, 36 [SEP] 12, RemoteControl, 1.849, 0.872, 0.008, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Look up to face the watch on the desk. | STEP 6: Pick up the watch on the back of the desk. | STEP 7: Take a step back to face the drawer of the desk. | STEP 8: Place the watch in the drawer of the desk. | END


Input: Put the red pen from the night stand in the dresser with the other pen on the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.949, 2.5, 0, 90, 0,  [SEP] 1, CellPhone, 2.444, 0.887, -1.705, 0, 270, 0, 37 [SEP] 2, Pen, -0.253, 0.789, 3.088, 0, 180, 0, 50 [SEP] 3, Pen, 1.950, 0.993, -1.774, 0, 270, 0, 43 [SEP] 4, Pen, 2.519, 0.990, -1.949, 0, 270, 0, 43 [SEP] 5, Pencil, 2.519, 0.992, -1.774, 0, 270, 0, 43 [SEP] 6, Pencil, 3.300, 0.727, 1.397, 0, 180, 0, 68 [SEP] 7, CreditCard, -0.706, 0.785, -0.128, 0, 0, 0, 64 [SEP] 8, CreditCard, -0.163, 1.107, 3.226, 0, 180, 0, 51 [SEP] 9, KeyChain, -0.163, 1.109, 3.088, 0, 180, 0, 51 [SEP] 10, KeyChain, 3.512, 0.126, 1.365, 0, 0, 0, 67 [SEP] 11, Book, 1.950, 0.988, -2.037, 0, 270, 0, 43 [SEP] 12, Book, 2.234, 0.985, -1.862, 0, 270, 0, 43 [SEP] 13, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 28 [SEP] 14, AlarmClock, -0.970, 0.785, -0.548, 0, 0, 0, 64 [SEP] 15, Book, 2.381, 0.610, 0.068, 0, 0, 0, 28 [SEP] 16, KeyChain, 1.666, 0.986, -2.125, 0, 270, 0, 43 [SEP] 17, CreditCard, 2.803, 0.988, -2.125, 0, 270, 0, 43 [SEP] 18, Pen, 3.300, 0.729, 1.262, 0, 180, 0, 68 [SEP] 19, Pencil, 3.455, 0.727, 1.443, 0, 180, 0, 68 [SEP] 20, Laptop, 2.052, 0.607, 1.271, 0, 0, 0, 28 [SEP] 21, Vase, 2.492, 0.185, -1.950, 0, 270, 0, 45 [SEP] 22, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 64 [SEP] 23, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 28 [SEP] 24, Pillow, 2.217, 0.674, 0.790, 0, 0, 0, 28 [SEP] 25, CellPhone, -1.037, 0.785, 0.291, 0, 0, 0, 64 [SEP] 26, CD, 1.272, 0.179, -1.896, 0, 270, 0, 40 [SEP] 27, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 50 [SEP] 28, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 29, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 30, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 31, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 32, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 33, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 34, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 35, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 36, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 37, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 42, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 43, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 44, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 45, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 46, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 47, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 48, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 49, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 50, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 51, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 52, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 53, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 63, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 64, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 65, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 66, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 67, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 68, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 69, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser. | STEP 4: Open second drawer from bottom put pen inside drawer and close drawer. | STEP 5: Go forward then turn left to face tall dresser.  | STEP 6: Pick up the pen in the shelf beside the golden bowl. | STEP 7: Turn around and face dresser from left side. | STEP 8: Open second drawer from bottom put pen inside drawer and close drawer. | END


Input: Put two pens in the first drawer of the dresser shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.949, 2.5, 0, 90, 0,  [SEP] 1, CellPhone, 2.444, 0.887, -1.705, 0, 270, 0, 37 [SEP] 2, Pen, -0.253, 0.789, 3.088, 0, 180, 0, 50 [SEP] 3, Pen, 1.950, 0.993, -1.774, 0, 270, 0, 43 [SEP] 4, Pen, 2.519, 0.990, -1.949, 0, 270, 0, 43 [SEP] 5, Pencil, 2.519, 0.992, -1.774, 0, 270, 0, 43 [SEP] 6, Pencil, 3.300, 0.727, 1.397, 0, 180, 0, 68 [SEP] 7, CreditCard, -0.706, 0.785, -0.128, 0, 0, 0, 64 [SEP] 8, CreditCard, -0.163, 1.107, 3.226, 0, 180, 0, 51 [SEP] 9, KeyChain, -0.163, 1.109, 3.088, 0, 180, 0, 51 [SEP] 10, KeyChain, 3.512, 0.126, 1.365, 0, 0, 0, 67 [SEP] 11, Book, 1.950, 0.988, -2.037, 0, 270, 0, 43 [SEP] 12, Book, 2.234, 0.985, -1.862, 0, 270, 0, 43 [SEP] 13, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 28 [SEP] 14, AlarmClock, -0.970, 0.785, -0.548, 0, 0, 0, 64 [SEP] 15, Book, 2.381, 0.610, 0.068, 0, 0, 0, 28 [SEP] 16, KeyChain, 1.666, 0.986, -2.125, 0, 270, 0, 43 [SEP] 17, CreditCard, 2.803, 0.988, -2.125, 0, 270, 0, 43 [SEP] 18, Pen, 3.300, 0.729, 1.262, 0, 180, 0, 68 [SEP] 19, Pencil, 3.455, 0.727, 1.443, 0, 180, 0, 68 [SEP] 20, Laptop, 2.052, 0.607, 1.271, 0, 0, 0, 28 [SEP] 21, Vase, 2.492, 0.185, -1.950, 0, 270, 0, 45 [SEP] 22, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 64 [SEP] 23, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 28 [SEP] 24, Pillow, 2.217, 0.674, 0.790, 0, 0, 0, 28 [SEP] 25, CellPhone, -1.037, 0.785, 0.291, 0, 0, 0, 64 [SEP] 26, CD, 1.272, 0.179, -1.896, 0, 270, 0, 40 [SEP] 27, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 50 [SEP] 28, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 29, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 30, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 31, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 32, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 33, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 34, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 35, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 36, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 37, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 42, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 43, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 44, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 45, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 46, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 47, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 48, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 49, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 50, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 51, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 52, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 53, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 63, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 64, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 65, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 66, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 67, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 68, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 69, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it | STEP 5: Move to the front of the dresser shelf | STEP 6: Pick up pen from off the shelf | STEP 7: Move to the left side of the dresser shelf  | STEP 8: Open drawer and place pen inside, close drawer again. | END


Input: Move two clocks from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.0, 0, 90, 0,  [SEP] 1, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 33 [SEP] 2, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 39 [SEP] 3, CellPhone, -1.066, 0.803, -4.137, 0, 0, 0, 39 [SEP] 4, Pen, -0.657, 0.805, -4.029, 0, 180, 0, 39 [SEP] 5, Pen, -0.329, 0.548, -3.749, 0, 0, 0, 33 [SEP] 6, Pencil, -0.453, 0.807, -3.811, 0, 0, 0, 39 [SEP] 7, Pencil, -3.539, 0.984, -4.276, 0, 0, 0, 42 [SEP] 8, Book, -3.613, 0.620, -1.506, 0, 0, 0, 24 [SEP] 9, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.657, 0.803, -4.246, 0, 0, 0, 39 [SEP] 11, Book, -2.981, 0.620, -0.643, 0, 0, 0, 24 [SEP] 12, CellPhone, -0.426, 0.348, -3.779, 0, 0, 0, 32 [SEP] 13, Laptop, -3.402, 0.618, -1.218, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.908, 0.981, -4.276, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.657, 0.803, -3.920, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.657, 0.800, -4.354, 0, 90, 0, 39 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.751, 0.617, -4.255, 0, 0, 0, 48 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.466, 0.979, -3.271, 0, 0, 0, 42 [SEP] 22, Pen, -0.596, 0.548, -3.749, 0, 0, 0, 33 [SEP] 23, Mug, -3.687, 0.979, -3.874, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser | STEP 4: Put the clock on the dresser.  | STEP 5: Turn and go to the desk. | STEP 6: Pick up the clock on the desk. | STEP 7: Turn and go to the dresser. | STEP 8: Put the clock on the dresser.  | END


Input: Move a newspaper to a TV stand.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 4.5, 0, 90, 0,  [SEP] 1, Bowl, -6.053, 0.148, 4.152, 0, 0, 0, 44 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 54 [SEP] 3, RemoteControl, -2.631, 0.536, 3.607, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -3.328, 1.280, 7.235, 0, 90, 0, 53 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -0.484, 0.792, 5.726, 0, 270, 0, 38 [SEP] 9, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 37 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 11, Vase, -2.870, 0.147, 7.276, 0, 90, 0, 48 [SEP] 12, CreditCard, -0.413, 0.788, 2.002, 0, 0, 0, 39 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.326, 0.794, 5.826, 0, 0, 0, 38 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -3.557, 1.281, 7.045, 0, 90, 0, 53 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.847, 0.455, 4.152, 0, 0, 0, 44 [SEP] 21, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 38 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -2.704, 0.543, 3.856, 0, 0, 0, 54 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,

Output: STEP 1: Turn to the left then go forward to the side table with the lamp.  | STEP 2: Pick up the newspaper off the side table. | STEP 3: Turn around completely and walk to the other side of the room, Make a right and go to the TV stand. | STEP 4: Place the newspaper on the TV stand. | END


Input: Move a newspaper to the TV stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 4.5, 0, 90, 0,  [SEP] 1, Bowl, -6.053, 0.148, 4.152, 0, 0, 0, 44 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 54 [SEP] 3, RemoteControl, -2.631, 0.536, 3.607, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -3.328, 1.280, 7.235, 0, 90, 0, 53 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -0.484, 0.792, 5.726, 0, 270, 0, 38 [SEP] 9, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 37 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 11, Vase, -2.870, 0.147, 7.276, 0, 90, 0, 48 [SEP] 12, CreditCard, -0.413, 0.788, 2.002, 0, 0, 0, 39 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.326, 0.794, 5.826, 0, 0, 0, 38 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -3.557, 1.281, 7.045, 0, 90, 0, 53 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.847, 0.455, 4.152, 0, 0, 0, 44 [SEP] 21, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 38 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -2.704, 0.543, 3.856, 0, 0, 0, 54 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,

Output: STEP 1: Move to the back right corner where the round table with the newspaper is | STEP 2: Pick up the newspaper on the table | STEP 3: Carry the newspaper over to the TV stand | STEP 4: Place on the newspaper on the top left side of the TV stand | END


Input: Put a cell phone on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 0.75, 0, 90, 0,  [SEP] 1, Vase, 2.035, 0.189, -1.892, 0, 270, 0, 32 [SEP] 2, CD, -0.253, 0.783, 3.198, 0, 180, 0, 44 [SEP] 3, Pen, 1.950, 0.990, -2.125, 0, 270, 0, 37 [SEP] 4, Pencil, 2.803, 0.989, -1.862, 0, 270, 0, 37 [SEP] 5, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 62 [SEP] 6, KeyChain, -0.068, 0.785, 3.226, 0, 270, 0, 44 [SEP] 7, Pillow, 2.545, 0.674, -0.172, 0, 0, 0, 22 [SEP] 8, AlarmClock, -0.257, 1.109, 3.171, 0, 180, 0, 45 [SEP] 9, Book, -0.772, 0.785, -0.128, 0, 0, 0, 58 [SEP] 10, KeyChain, 3.087, 0.989, -2.125, 0, 270, 0, 37 [SEP] 11, CreditCard, 3.455, 0.723, 1.352, 0, 180, 0, 62 [SEP] 12, Pen, 1.666, 0.990, -1.774, 0, 270, 0, 37 [SEP] 13, Pencil, -0.812, 0.384, 0.074, 0, 0, 0, 55 [SEP] 14, Laptop, 2.519, 0.986, -2.037, 0, 270, 0, 37 [SEP] 15, Vase, 3.012, 0.189, -1.721, 0, 270, 0, 36 [SEP] 16, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 58 [SEP] 17, Pillow, 2.545, 0.674, 0.308, 0, 0, 0, 22 [SEP] 18, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 22 [SEP] 19, CellPhone, 1.382, 0.985, -1.862, 0, 270, 0, 37 [SEP] 20, CD, -0.990, 0.091, -1.147, 0, 0, 0, 23 [SEP] 21, Vase, -0.970, 0.789, -0.548, 0, 0, 0, 58 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Turn and walk to the dresser. | STEP 2: Pick up the blue cell phone on the dresser. | STEP 3: Turn and walk back to the bed. | STEP 4: Lay the blue cell phone down on the bed. | END


Input: Put a phone on the bed.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 0.75, 0, 90, 0,  [SEP] 1, Vase, 2.035, 0.189, -1.892, 0, 270, 0, 32 [SEP] 2, CD, -0.253, 0.783, 3.198, 0, 180, 0, 44 [SEP] 3, Pen, 1.950, 0.990, -2.125, 0, 270, 0, 37 [SEP] 4, Pencil, 2.803, 0.989, -1.862, 0, 270, 0, 37 [SEP] 5, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 62 [SEP] 6, KeyChain, -0.068, 0.785, 3.226, 0, 270, 0, 44 [SEP] 7, Pillow, 2.545, 0.674, -0.172, 0, 0, 0, 22 [SEP] 8, AlarmClock, -0.257, 1.109, 3.171, 0, 180, 0, 45 [SEP] 9, Book, -0.772, 0.785, -0.128, 0, 0, 0, 58 [SEP] 10, KeyChain, 3.087, 0.989, -2.125, 0, 270, 0, 37 [SEP] 11, CreditCard, 3.455, 0.723, 1.352, 0, 180, 0, 62 [SEP] 12, Pen, 1.666, 0.990, -1.774, 0, 270, 0, 37 [SEP] 13, Pencil, -0.812, 0.384, 0.074, 0, 0, 0, 55 [SEP] 14, Laptop, 2.519, 0.986, -2.037, 0, 270, 0, 37 [SEP] 15, Vase, 3.012, 0.189, -1.721, 0, 270, 0, 36 [SEP] 16, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 58 [SEP] 17, Pillow, 2.545, 0.674, 0.308, 0, 0, 0, 22 [SEP] 18, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 22 [SEP] 19, CellPhone, 1.382, 0.985, -1.862, 0, 270, 0, 37 [SEP] 20, CD, -0.990, 0.091, -1.147, 0, 0, 0, 23 [SEP] 21, Vase, -0.970, 0.789, -0.548, 0, 0, 0, 58 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Head to the dresser on the right. | STEP 2: Pick up the phone on the dresser. | STEP 3: Turn to the left and bring the phone to the bed.  | STEP 4: Put the phone on the bed.  | END


Input: Put a credit card in a blue dish to move it to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 1.5, 0, 90, 0,  [SEP] 1, Newspaper, -6.002, 0.145, 3.757, 0, 0, 0, 47 [SEP] 2, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 3, KeyChain, -0.947, 0.442, 3.915, 0, 0, 0, 40 [SEP] 4, CreditCard, -2.672, 0.879, 7.242, 0, 90, 0, 49 [SEP] 5, RemoteControl, -3.265, 0.882, 7.208, 0, 90, 0, 56 [SEP] 6, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.277, 0.453, 7.145, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.700, 0.532, 3.607, 0, 270, 0, 57 [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, -3.067, 0.147, 7.225, 0, 90, 0, 51 [SEP] 15, CreditCard, -5.882, 0.879, 4.349, 0, 0, 0, 50 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 41 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.687, 0.795, 2.377, 0, 270, 0, 42 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.672, 0.149, 7.070, 0, 90, 0, 51 [SEP] 24, Watch, -5.215, 0.533, 6.949, 0, 135, 0, 58 [SEP] 25, Statue, -0.535, 0.800, 6.357, 0, 270, 0, 41 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.352, 0.543, 4.480, 0, 270, 0, 57 [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 across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf. | STEP 3: Turn right and make another right to walk to the far side table to the right of the couch. | STEP 4: Put the credit card in the blue dish. | STEP 5: Pick up the blue dish with the credit card in it. | STEP 6: Turn around to walk to the coffee table. | STEP 7: Set blue dish and credit card down on the coffee table. | END


Input: Put a newspaper on a shelf.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 6.75, 0, 0, 0,  [SEP] 1, Bowl, -5.707, 0.535, 6.532, 0, 135, 0, 58 [SEP] 2, Bowl, -0.636, 0.795, 5.600, 0, 270, 0, 41 [SEP] 3, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 40 [SEP] 4, Watch, -2.870, 0.453, 7.221, 0, 90, 0, 49 [SEP] 5, RemoteControl, -5.885, 0.455, 4.547, 0, 0, 0, 52 [SEP] 6, RemoteControl, -3.265, 0.455, 7.183, 0, 90, 0, 49 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.491, 0.534, 4.480, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.349, 0.532, 6.740, 0, 45, 0, 58 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.917, 0.880, 4.547, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.845, 0.793, 1.951, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.277, 0.147, 7.225, 0, 90, 0, 51 [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, -5.330, 0.536, 6.609, 0, 45, 0, 58 [SEP] 24, Watch, -0.326, 0.793, 2.002, 0, 0, 0, 42 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.455, 0.841, 5.716, 72.057, 1.403, 271.548, 41 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn around, go forward, hang a right and go to the table where the TV is.  | STEP 2: Pick up the newspaper that is under the remote control on the table.  | STEP 3: Turn around, go forward to the black shelves on the right where the plant is.  | STEP 4: Put the newspaper on the top shelf to the left of the plant.  | END


Input: move the egg to 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, 1.0, 0, 90, 0,  [SEP] 1, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 99 [SEP] 2, ButterKnife, -0.621, 0.820, -1.206, 0, 90, 0, 101 [SEP] 3, ButterKnife, -0.836, 0.820, -1.473, 0, 0, 0, 101 [SEP] 4, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 5, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 42 [SEP] 6, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 77 [SEP] 7, Cup, 1.955, 0.909, 1.044, 0, 0, 0, 77 [SEP] 8, Egg, -1.962, 0.461, 1.247, 0, 270, 0, 95 [SEP] 9, Egg, -1.962, 0.461, 1.375, 0, 270, 0, 95 [SEP] 10, Knife, 1.155, 0.944, 1.044, 0, 0, 0, 77 [SEP] 11, Knife, -0.007, 0.944, 1.383, 0, 270, 0, 53 [SEP] 12, SoapBottle, 2.449, 1.661, 1.429, 0, 0, 0, 67 [SEP] 13, SoapBottle, -0.053, 1.660, 1.546, 0, 0, 0, 68 [SEP] 14, Tomato, -0.990, 0.852, -1.183, 0, 0, 0, 101 [SEP] 15, Bowl, 2.488, 0.909, 1.299, 0, 0, 0, 77 [SEP] 16, PepperShaker, 2.221, 0.908, 1.468, 0, 0, 0, 77 [SEP] 17, Lettuce, 2.838, 1.644, -0.578, 0, 0, 0, 97 [SEP] 18, Mug, 1.213, 0.110, 1.077, 0, 0, 0, 49 [SEP] 19, SoapBottle, -0.151, 0.917, 1.044, 0, 0, 0, 53 [SEP] 20, Plate, 2.838, 1.021, -0.578, 0, 0, 0, 97 [SEP] 21, Fork, 1.862, 0.771, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 1.422, 0.915, 1.383, 0, 0, 0, 77 [SEP] 23, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 95 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.939, 0.852, -1.400, 0, 0, 0, 101 [SEP] 27, Cup, 0.518, 1.782, 1.423, 0, 180, 0, 100 [SEP] 28, Spatula, 0.193, 0.780, -0.596, 0, 0, 0, 99 [SEP] 29, Apple, 1.155, 0.980, 1.383, 0, 0, 0, 77 [SEP] 30, Pan, 2.754, 0.911, 1.383, 0, 0, 0, 77 [SEP] 31, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 53 [SEP] 32, SaltShaker, -0.939, 0.817, -1.038, 0, 0, 0, 101 [SEP] 33, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 101 [SEP] 34, Potato, 2.156, 0.946, -0.854, 0, 0, 0, 42 [SEP] 35, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 53 [SEP] 36, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 42 [SEP] 37, Bowl, 2.222, 1.652, 1.470, 0, 0, 0, 66 [SEP] 38, DishSponge, -0.839, 0.820, -1.155, 0, 90, 0, 101 [SEP] 39, Spoon, 1.141, 0.912, -0.515, 0, 90, 0, 42 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [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: cross the kitchen to the counter beside the fridge with the toaster sitting on it | STEP 2: pick up the egg sitting by the toaster | STEP 3: go to the fridge and open the doors | STEP 4: place the egg in the fridge and close the doors then open it and take the egg back out | STEP 5: go across the kitchen to the table by the window | STEP 6: place the egg by the salt shaker | END