Input: move empty toilet paper roll from back of toilet to holder SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.5, 0, 0, 0,  [SEP] 1, TissueBox, -1.441, 0.069, 2.757, 0, 0, 0, 20 [SEP] 2, SoapBar, -1.439, 0.067, 3.377, 0, 0, 0, 26 [SEP] 3, SoapBar, -1.560, 0.067, 3.377, 0, 0, 0, 26 [SEP] 4, SprayBottle, -1.379, 0.068, 2.441, 0, 0, 0, 22 [SEP] 5, SprayBottle, 0.313, 0.048, 3.810, 0, 0, 0, 30 [SEP] 6, SoapBottle, -1.416, 0.993, 2.269, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.317, 1.007, 2.536, 0, 90, 0, 34 [SEP] 10, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 22 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.620, 0.067, 3.276, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.500, 0.068, 2.341, 0, 0, 0, 22 [SEP] 14, SoapBottle, -1.547, 0.993, 2.982, 0, 0, 0, 27 [SEP] 15, ToiletPaper, 0.329, 0.889, 1.723, 0, 0, 0, 33 [SEP] 16, SprayBottle, -1.284, 0.995, 2.148, 0, 0, 0, 27 [SEP] 17, Cloth, -1.441, 0.068, 3.743, 0, 0, 0, 28 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: turn right, turn right, take a few steps, turn left to face toilet | STEP 2: take the empty toilet paper roll off the back of the toilet | STEP 3: take two steps to the right | STEP 4: put empty toilet paper roll on the toilet paper holder | END


Input: Cool an egg, put it into the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, DishSponge, 2.754, 0.911, 1.553, 0, 0, 0, 87 [SEP] 2, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 52 [SEP] 3, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 87 [SEP] 4, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 87 [SEP] 5, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 97 [SEP] 6, Fork, 2.743, 0.771, 1.198, 0, 270, 0, 96 [SEP] 7, Fork, -0.990, 0.821, -1.255, 0, 270, 0, 111 [SEP] 8, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 109 [SEP] 9, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 87 [SEP] 10, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 61 [SEP] 11, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 109 [SEP] 12, Cup, 1.931, 0.112, 1.117, 0, 0, 0, 88 [SEP] 13, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 109 [SEP] 14, Knife, 1.141, 0.944, -0.6, 0, 0, 0, 52 [SEP] 15, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 109 [SEP] 16, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 111 [SEP] 17, Tomato, 3.301, 0.871, -0.543, 0, 0, 0, 107 [SEP] 18, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 105 [SEP] 19, Bowl, 0.888, 0.909, -0.6, 0, 0, 0, 52 [SEP] 20, Bowl, 2.715, 1.561, -0.578, 0, 0, 0, 107 [SEP] 21, SaltShaker, 1.902, 0.908, -0.430, 0, 0, 0, 52 [SEP] 22, PepperShaker, -0.621, 0.817, -1.206, 0, 90, 0, 111 [SEP] 23, PepperShaker, 0.750, 1.651, -0.654, 0, 180, 0, 91 [SEP] 24, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 87 [SEP] 25, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 87 [SEP] 26, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 111 [SEP] 27, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 107 [SEP] 28, Apple, 0.415, 1.853, 1.455, 0, 180, 0, 110 [SEP] 29, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 87 [SEP] 30, Plate, 1.422, 0.914, 1.383, 0, 0, 0, 87 [SEP] 31, Fork, 1.277, 0.771, 1.122, 0, 90, 0, 97 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 63 [SEP] 34, Egg, -0.983, 0.858, -1.103, 0, 90, 0, 111 [SEP] 35, Kettle, 0.178, 1.656, -0.771, 0, 180, 0, 92 [SEP] 36, Tomato, 2.653, 1.320, -0.578, 0, 0, 0, 107 [SEP] 37, Cup, -0.198, 0.909, 1.468, 0, 0, 0, 63 [SEP] 38, Spatula, 2.754, 0.926, 1.129, 0, 0, 0, 87 [SEP] 39, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 107 [SEP] 40, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 90 [SEP] 41, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 52 [SEP] 42, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 63 [SEP] 43, Knife, -0.007, 0.944, 1.383, 0, 90, 0, 63 [SEP] 44, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 107 [SEP] 45, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 52 [SEP] 46, ButterKnife, -0.839, 0.820, -1.257, 0, 270, 0, 111 [SEP] 47, Bowl, 2.838, 1.286, -0.578, 0, 0, 0, 107 [SEP] 48, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 52 [SEP] 49, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 63 [SEP] 50, Mug, 1.208, 1.649, -0.696, 0, 180, 0, 54 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 113, NorthWall, , , , , , ,  [SEP] 114, EastWall, , , , , , ,  [SEP] 115, SouthWall, , , , , , ,  [SEP] 116, WestWall, , , , , , ,

Output: STEP 1: Go forward, turn left in front of the sink | STEP 2: Pick up the egg in the sink | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in front of the fridge | STEP 4: Put the egg into the fridge, wait, pick up the egg from the fridge | STEP 5: Turn right, go forward, turn right in front of the stove | STEP 6: Put the egg into the microwave | END


Input: Chill an onion and put in microwave.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, DishSponge, 2.754, 0.911, 1.553, 0, 0, 0, 87 [SEP] 2, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 52 [SEP] 3, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 87 [SEP] 4, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 87 [SEP] 5, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 97 [SEP] 6, Fork, 2.743, 0.771, 1.198, 0, 270, 0, 96 [SEP] 7, Fork, -0.990, 0.821, -1.255, 0, 270, 0, 111 [SEP] 8, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 109 [SEP] 9, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 87 [SEP] 10, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 61 [SEP] 11, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 109 [SEP] 12, Cup, 1.931, 0.112, 1.117, 0, 0, 0, 88 [SEP] 13, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 109 [SEP] 14, Knife, 1.141, 0.944, -0.6, 0, 0, 0, 52 [SEP] 15, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 109 [SEP] 16, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 111 [SEP] 17, Tomato, 3.301, 0.871, -0.543, 0, 0, 0, 107 [SEP] 18, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 105 [SEP] 19, Bowl, 0.888, 0.909, -0.6, 0, 0, 0, 52 [SEP] 20, Bowl, 2.715, 1.561, -0.578, 0, 0, 0, 107 [SEP] 21, SaltShaker, 1.902, 0.908, -0.430, 0, 0, 0, 52 [SEP] 22, PepperShaker, -0.621, 0.817, -1.206, 0, 90, 0, 111 [SEP] 23, PepperShaker, 0.750, 1.651, -0.654, 0, 180, 0, 91 [SEP] 24, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 87 [SEP] 25, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 87 [SEP] 26, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 111 [SEP] 27, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 107 [SEP] 28, Apple, 0.415, 1.853, 1.455, 0, 180, 0, 110 [SEP] 29, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 87 [SEP] 30, Plate, 1.422, 0.914, 1.383, 0, 0, 0, 87 [SEP] 31, Fork, 1.277, 0.771, 1.122, 0, 90, 0, 97 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 63 [SEP] 34, Egg, -0.983, 0.858, -1.103, 0, 90, 0, 111 [SEP] 35, Kettle, 0.178, 1.656, -0.771, 0, 180, 0, 92 [SEP] 36, Tomato, 2.653, 1.320, -0.578, 0, 0, 0, 107 [SEP] 37, Cup, -0.198, 0.909, 1.468, 0, 0, 0, 63 [SEP] 38, Spatula, 2.754, 0.926, 1.129, 0, 0, 0, 87 [SEP] 39, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 107 [SEP] 40, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 90 [SEP] 41, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 52 [SEP] 42, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 63 [SEP] 43, Knife, -0.007, 0.944, 1.383, 0, 90, 0, 63 [SEP] 44, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 107 [SEP] 45, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 52 [SEP] 46, ButterKnife, -0.839, 0.820, -1.257, 0, 270, 0, 111 [SEP] 47, Bowl, 2.838, 1.286, -0.578, 0, 0, 0, 107 [SEP] 48, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 52 [SEP] 49, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 63 [SEP] 50, Mug, 1.208, 1.649, -0.696, 0, 180, 0, 54 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 113, NorthWall, , , , , , ,  [SEP] 114, EastWall, , , , , , ,  [SEP] 115, SouthWall, , , , , , ,  [SEP] 116, WestWall, , , , , , ,

Output: STEP 1: Walk forward then make a left at the sink. | STEP 2: Pick up the onion from the sink. | STEP 3: Turn to the left and walk forward to the fridge. | STEP 4: Open the fridge and place the onion inside. Chill the onion and then take it out of the fridge.  | STEP 5: Turn to the right and walk to the oven. Make a right again to face it. Look above the oven to the microwave. | STEP 6: Place the onion inside the microwave and close it. | END


Input: To move 2 sets of keys from their original positions to the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 7.25, 0, 0, 0,  [SEP] 1, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 41 [SEP] 2, Watch, -2.277, 0.880, 7.242, 0, 90, 0, 48 [SEP] 3, KeyChain, -2.352, 0.534, 4.480, 0, 270, 0, 57 [SEP] 4, CreditCard, -2.869, 1.279, 6.981, 0, 90, 0, 56 [SEP] 5, RemoteControl, -2.561, 0.536, 3.607, 0, 270, 0, 57 [SEP] 6, RemoteControl, -2.811, 0.536, 4.106, 0, 0, 0, 57 [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, -2.672, 0.880, 7.139, 0, 90, 0, 48 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.972, 0.532, 6.569, 0, 135, 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, -2.491, 0.534, 4.335, 0, 270, 0, 57 [SEP] 15, CreditCard, -0.326, 0.793, 2.052, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -3.265, 0.453, 7.107, 0, 180, 0, 49 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.998, 0.454, 4.547, 0, 0, 0, 52 [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, -2.811, 0.536, 3.919, 0, 0, 0, 57 [SEP] 24, Watch, -5.648, 0.533, 6.592, 0, 45, 0, 58 [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, -5.950, 0.156, 4.745, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch. | STEP 4: Place the keys on the edge of the couch. | STEP 5: Turn to the left and walk across the room to the shelving. | STEP 6: Pick up the keys from the second shelf from the bottom. | STEP 7: Turn to the right and walk forward, then turn right and walk forward and then turn left to face the couch. | STEP 8: Place the keys next to the other keys on the couch. | END


Input: Move two keys to the sofa.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 7.25, 0, 0, 0,  [SEP] 1, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 41 [SEP] 2, Watch, -2.277, 0.880, 7.242, 0, 90, 0, 48 [SEP] 3, KeyChain, -2.352, 0.534, 4.480, 0, 270, 0, 57 [SEP] 4, CreditCard, -2.869, 1.279, 6.981, 0, 90, 0, 56 [SEP] 5, RemoteControl, -2.561, 0.536, 3.607, 0, 270, 0, 57 [SEP] 6, RemoteControl, -2.811, 0.536, 4.106, 0, 0, 0, 57 [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, -2.672, 0.880, 7.139, 0, 90, 0, 48 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.972, 0.532, 6.569, 0, 135, 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, -2.491, 0.534, 4.335, 0, 270, 0, 57 [SEP] 15, CreditCard, -0.326, 0.793, 2.052, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -3.265, 0.453, 7.107, 0, 180, 0, 49 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.998, 0.454, 4.547, 0, 0, 0, 52 [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, -2.811, 0.536, 3.919, 0, 0, 0, 57 [SEP] 24, Watch, -5.648, 0.533, 6.592, 0, 45, 0, 58 [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, -5.950, 0.156, 4.745, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table.  | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys on the sofa.  | STEP 5: Turn and go to the shelves | STEP 6: Pick up the keys on the shelves. | STEP 7: Turn around and go to the sofa.  | STEP 8: Put the keys on the sofa.  | END


Input: Move the watering can from the shelf 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, -2.75, 0.901, 5.0, 0, 0, 0,  [SEP] 1, Bowl, -5.461, 0.535, 6.628, 0, 45, 0, 56 [SEP] 2, Watch, -5.885, 0.453, 4.745, 0, 0, 0, 45 [SEP] 3, KeyChain, -0.535, 0.794, 6.357, 0, 270, 0, 39 [SEP] 4, KeyChain, -6.053, 0.147, 4.547, 0, 0, 0, 45 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -0.484, 0.794, 1.626, 0, 270, 0, 40 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -2.352, 0.532, 3.752, 0, 270, 0, 55 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.420, 3.915, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -3.557, 1.280, 7.045, 0, 90, 0, 54 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -2.422, 0.535, 4.335, 0, 270, 0, 55 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -5.923, 0.455, 3.954, 0, 0, 0, 45 [SEP] 22, Watch, -2.640, 1.280, 6.981, 0, 90, 0, 54 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -3.328, 1.289, 7.108, 0, 270, 0, 54 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: Walk forward to the shelf in front of you. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and go to the coffee table. | STEP 4: Put the watering can on the coffee table. | END


Input: Move the white tea kettle from the bookshelf 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, -2.75, 0.901, 5.0, 0, 0, 0,  [SEP] 1, Bowl, -5.461, 0.535, 6.628, 0, 45, 0, 56 [SEP] 2, Watch, -5.885, 0.453, 4.745, 0, 0, 0, 45 [SEP] 3, KeyChain, -0.535, 0.794, 6.357, 0, 270, 0, 39 [SEP] 4, KeyChain, -6.053, 0.147, 4.547, 0, 0, 0, 45 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -0.484, 0.794, 1.626, 0, 270, 0, 40 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -2.352, 0.532, 3.752, 0, 270, 0, 55 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.420, 3.915, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -3.557, 1.280, 7.045, 0, 90, 0, 54 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -2.422, 0.535, 4.335, 0, 270, 0, 55 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -5.923, 0.455, 3.954, 0, 0, 0, 45 [SEP] 22, Watch, -2.640, 1.280, 6.981, 0, 90, 0, 54 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -3.328, 1.289, 7.108, 0, 270, 0, 54 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: Walk to the black bookshelf. | STEP 2: Pick up the white tea kettle from the bottom shelf of the bookshelf. | STEP 3: Turn around and walk to the brown coffee table. | STEP 4: Set the white tea kettle down on the brown coffee table. | END


Input: Put a heated egg inside the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.75, 0, 0, 0,  [SEP] 1, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 57 [SEP] 2, Potato, -0.346, 1.100, -1.289, 0, 0, 0, 48 [SEP] 3, DishSponge, 1.072, 1.046, -1.181, 0, 0, 0, 48 [SEP] 4, ButterKnife, 0.936, 1.053, 0.231, 0, 90, 0, 46 [SEP] 5, Pot, 1.820, 1.021, -1.557, 0, 90, 0, 54 [SEP] 6, Pot, -1.029, 2.029, -1.337, 0, 90, 0, 55 [SEP] 7, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 50 [SEP] 8, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 48 [SEP] 9, Spatula, 0.255, 1.058, 0.630, 0, 0, 0, 50 [SEP] 10, Egg, 0.823, 1.101, -1.289, 0, 0, 0, 48 [SEP] 11, Cup, 1.188, 1.565, -1.614, 0, 0, 0, 52 [SEP] 12, Cup, -1.051, 0.707, 2.153, 0, 90, 0, 63 [SEP] 13, Plate, -1.105, 0.215, -1.482, 0, 0, 0, 56 [SEP] 14, Tomato, -1.423, 1.764, 1.885, 0, 90, 0, 63 [SEP] 15, SoapBottle, 0.936, 1.056, 0.331, 0, 90, 0, 46 [SEP] 16, SoapBottle, 0.848, 1.054, 0.131, 0, 90, 0, 46 [SEP] 17, SaltShaker, 0.065, 1.038, 0.630, 0, 0, 0, 50 [SEP] 18, PepperShaker, -0.760, 0.198, -1.481, 0, 0, 0, 57 [SEP] 19, PepperShaker, -0.473, 1.560, -1.470, 0, 0, 0, 53 [SEP] 20, Lettuce, 1.015, 1.103, 0.632, 0, 0, 0, 50 [SEP] 21, Apple, -1.034, 1.007, 1.796, 0, 90, 0, 63 [SEP] 22, SoapBottle, -0.952, 2.029, -1.555, 0, 0, 0, 55 [SEP] 23, Apple, -1.231, 1.991, 2.242, 0, 90, 0, 63 [SEP] 24, Potato, 0.805, 1.106, 0.331, 0, 90, 0, 46 [SEP] 25, Fork, -0.346, 1.047, -1.505, 0, 0, 0, 48 [SEP] 26, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 60 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, 1.241, 0.951, 0.231, 0, 90, 0, 45 [SEP] 29, SaltShaker, -0.775, 1.041, -1.612, 0, 0, 0, 48 [SEP] 30, Egg, -1.268, 2.002, 1.796, 0, 90, 0, 63 [SEP] 31, Cup, -0.473, 1.565, -1.693, 0, 0, 0, 53 [SEP] 32, Spatula, 1.181, 1.058, 0.589, 0, 90, 0, 50 [SEP] 33, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 48 [SEP] 34, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.415, 0, 0, 0, 50 [SEP] 37, DishSponge, -1.339, 2.027, -1.191, 0, 0, 0, 55 [SEP] 38, Plate, -0.699, 1.577, -1.470, 0, 0, 0, 53 [SEP] 39, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.682, 1.044, 0.676, 0, 0, 0, 50 [SEP] 41, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 42, Mug, -0.030, 1.038, 0.522, 0, 90, 0, 50 [SEP] 43, Bowl, 1.817, 0.203, -1.480, 0, 0, 0, 58 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Move to the left of the cook top | STEP 2: Pick up a egg from the counter | STEP 3: Move to the microwave to the right of the cook top | STEP 4: Heat the egg and get it back then close the door to the microwave | STEP 5: Move to the sink to the left of the cook top | STEP 6: Put the egg in the sink | END


Input: Place a bowl with a watch in it on a coffee table. 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, 6.0, 0, 90, 0,  [SEP] 1, Newspaper, -0.535, 0.792, 2.252, 0, 270, 0, 44 [SEP] 2, Watch, -0.413, 0.793, 2.154, 0, 0, 0, 44 [SEP] 3, Watch, -5.796, 0.146, 4.349, 0, 0, 0, 49 [SEP] 4, KeyChain, -2.277, 0.147, 7.276, 0, 90, 0, 53 [SEP] 5, CreditCard, -0.789, 0.432, 3.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.636, 0.793, 1.626, 0, 270, 0, 44 [SEP] 7, RemoteControl, -0.868, 0.369, 3.306, 0, 0, 0, 42 [SEP] 8, Box, -3.328, 1.443, 7.171, 0, 90, 0, 58 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.484, 0.794, 5.726, 0, 270, 0, 43 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -5.517, 0.532, 6.572, 0, 45, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 49 [SEP] 17, CreditCard, -0.484, 0.793, 1.626, 0, 270, 0, 44 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.868, 0.367, 3.002, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -5.923, 0.454, 4.547, 0, 0, 0, 54 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -2.811, 0.536, 4.106, 0, 0, 0, 59 [SEP] 26, Watch, -6.019, 0.880, 4.349, 0, 0, 0, 56 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -5.349, 0.543, 6.740, 0, 45, 0, 60 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table. | STEP 3: Turn around and walk to the shelves on the wall. | STEP 4: Put the watch in the rightmost blue bowl. | STEP 5: Pick up the bowl. | STEP 6: Turn around and take a couple steps to the coffee table to the right of the laptop. | STEP 7: Place the bowl on the coffee table. | END


Input: Place the clean cloth on the lower shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 0, 0,  [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [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, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Walk over to the shelf left of the bath tub | STEP 2: Pick up the yellow cloth from the shelf | STEP 3: Turn around and go to the sink | STEP 4: Wash the cloth in the sink and pick it up again | STEP 5: Turn around and walk back to the white shelf | STEP 6: Put the yellow cloth on the lower shelf left of the spray bottle | END


Input: Put a clean rag on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 0, 0,  [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [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, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Walk forward and to the right to face the two shelves. | STEP 2: Pick the yellow rag up off the top shelf. | STEP 3: Turn around and veer left to the sink. | STEP 4: Wash the rag in the sink and pick it back up. | STEP 5: Turn around and go back to the wall with the two shelves. | STEP 6: Place the yellow rag to the left of the purple bottom on the bottom shelf. | END


Input: Put a cleaned rag on the bottom shelf.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 0, 0,  [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [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, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf. | STEP 2: Pick up the yellow rag on the shelf.  | STEP 3: Turn around, bring the rag to the sink.  | STEP 4: Wash the rag in the sink with water.  | STEP 5: Take the cleaned rag back to the white shelf. | STEP 6: Put the cleaned rag on the bottom shelf next to the spray bottle.  | END


Input: Put a cleaned yellow cloth on a shelf near the floor. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 0, 0,  [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [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, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall. | STEP 2: Pick up the yellow cloth from the shelf. | STEP 3: Turn around 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 to the spray bottle on the shelf near the floor. | STEP 6: Put the cloth on that shelf, in front of and between the spray bottle and empty roll of toilet paper. | END


Input: Put the empty toilet paper roll back on the holder.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.0, 0, 0, 0,  [SEP] 1, Cloth, -1.439, 0.067, 3.276, 0, 0, 0, 29 [SEP] 2, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.620, 0.068, 3.642, 0, 0, 0, 31 [SEP] 4, SoapBar, -1.441, 0.068, 2.757, 0, 0, 0, 23 [SEP] 5, Candle, -1.441, 0.068, 3.844, 0, 0, 0, 31 [SEP] 6, Candle, -1.613, 0.994, 2.982, 0, 0, 0, 30 [SEP] 7, SprayBottle, -1.350, 0.995, 2.269, 0, 0, 0, 30 [SEP] 8, SprayBottle, -1.561, 0.069, 2.908, 0, 0, 0, 29 [SEP] 9, SoapBottle, -1.219, 0.993, 2.178, 0, 0, 0, 30 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, 0.231, 0.047, 3.838, 0, 0, 0, 33 [SEP] 13, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 25 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, -1.441, 0.068, 3.743, 0, 0, 0, 31 [SEP] 16, TissueBox, -1.547, 0.994, 3.873, 0, 0, 0, 30 [SEP] 17, SoapBottle, 0.306, 0.892, 1.618, 0, 0, 0, 36 [SEP] 18, ToiletPaper, -1.613, 0.991, 3.159, 0, 0, 0, 30 [SEP] 19, SprayBottle, -1.501, 0.069, 3.642, 0, 0, 0, 31 [SEP] 20, Cloth, -1.500, 0.067, 2.391, 0, 0, 0, 25 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn left to go to th sink on the right.  | STEP 2: Pick up the empty toilet paper roll on the left of the sink | STEP 3: Turn left and go to the right side of the toilet.  | STEP 4: Put the empty toilet paper roll on the holder.  | END


Input: Place a clean cloth back into a bath tub basin. 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, 270, 0,  [SEP] 1, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 30 [SEP] 2, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.277, 1.088, -0.736, 0, 0, 0, 35 [SEP] 6, SprayBottle, -1.144, 1.774, 2.127, 0, 0, 0, 28 [SEP] 7, SprayBottle, -2.015, 1.048, -0.644, 0, 0, 0, 35 [SEP] 8, SoapBottle, -1.308, 1.072, 2.127, 0, 0, 0, 30 [SEP] 9, Candle, -0.653, 1.814, 2.097, 0, 0, 0, 30 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.146, 1.046, -0.797, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -0.653, 1.066, 2.217, 0, 0, 0, 30 [SEP] 14, SoapBottle, -1.687, 0.083, -0.584, 0, 270, 0, 33 [SEP] 15, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.371, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [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, -2.212, 1.048, -0.644, 0, 0, 0, 35 [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 around towards the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub. | STEP 3: Turn right and walk to the sink. | STEP 4: Clean the cloth in the sink. | STEP 5: Turn left and walk back to the bath tub. | STEP 6: Put the cloth back into the bath tub basin. | END


Input: Put a clean rag 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, -0.75, 0.903, 0.0, 0, 270, 0,  [SEP] 1, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 30 [SEP] 2, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.277, 1.088, -0.736, 0, 0, 0, 35 [SEP] 6, SprayBottle, -1.144, 1.774, 2.127, 0, 0, 0, 28 [SEP] 7, SprayBottle, -2.015, 1.048, -0.644, 0, 0, 0, 35 [SEP] 8, SoapBottle, -1.308, 1.072, 2.127, 0, 0, 0, 30 [SEP] 9, Candle, -0.653, 1.814, 2.097, 0, 0, 0, 30 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.146, 1.046, -0.797, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -0.653, 1.066, 2.217, 0, 0, 0, 30 [SEP] 14, SoapBottle, -1.687, 0.083, -0.584, 0, 270, 0, 33 [SEP] 15, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.371, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [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, -2.212, 1.048, -0.644, 0, 0, 0, 35 [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 to the tub to the left of the sink | STEP 2: Pick up a rag from the tub | STEP 3: Move to the sink to the right of you | STEP 4: Place the rag in the sink and run some water before turning off the water and picking up the rag | STEP 5: Move to the tub to the left of the sink | STEP 6: Place the rag in the tub | END


Input: Slice potato in the sink, put knife and potato slice in the bowl, put bowl 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, 3.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, DishSponge, -0.983, 0.820, -1.155, 0, 90, 0, 105 [SEP] 2, Kettle, 2.524, 1.656, 1.429, 0, 0, 0, 71 [SEP] 3, ButterKnife, 0.888, 0.911, -0.515, 0, 0, 0, 46 [SEP] 4, ButterKnife, 0.123, 0.765, -0.651, 0, 0, 0, 103 [SEP] 5, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 103 [SEP] 6, Spoon, 0.123, 0.766, -0.651, 0, 0, 0, 103 [SEP] 7, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 105 [SEP] 8, Spatula, 0.634, 0.926, -0.345, 0, 0, 0, 46 [SEP] 9, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 81 [SEP] 10, Cup, 1.155, 0.909, 1.044, 0, 0, 0, 81 [SEP] 11, Egg, 1.688, 0.949, 1.468, 0, 0, 0, 81 [SEP] 12, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 81 [SEP] 13, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 99 [SEP] 14, Tomato, 0.193, 0.797, -0.541, 0, 0, 0, 103 [SEP] 15, Tomato, -0.836, 0.852, -1.473, 0, 0, 0, 105 [SEP] 16, Bowl, -0.983, 0.818, -1.360, 0, 90, 0, 105 [SEP] 17, PepperShaker, 0.284, 2.153, 1.389, 0, 0, 0, 80 [SEP] 18, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 81 [SEP] 19, Lettuce, 1.902, 0.992, -0.430, 0, 0, 0, 46 [SEP] 20, Mug, 0.888, 0.906, -0.854, 0, 0, 0, 46 [SEP] 21, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 104 [SEP] 22, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 103 [SEP] 23, SoapBottle, 1.597, 1.661, -0.810, 0, 180, 0, 68 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.159, 0.771, 1.122, 0, 90, 0, 51 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 81 [SEP] 28, Egg, 2.962, 0.762, -0.442, 0, 0, 0, 101 [SEP] 29, Kettle, 2.754, 0.912, 1.299, 0, 0, 0, 81 [SEP] 30, Tomato, 1.955, 0.942, 1.214, 0, 0, 0, 81 [SEP] 31, Cup, 2.777, 0.723, -0.565, 0, 0, 0, 101 [SEP] 32, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 81 [SEP] 33, Apple, 2.900, 1.632, -0.775, 0, 0, 0, 101 [SEP] 34, Pan, 1.422, 0.911, 1.214, 0, 0, 0, 81 [SEP] 35, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 57 [SEP] 36, SaltShaker, 2.156, 0.908, -0.854, 0, 0, 0, 46 [SEP] 37, Knife, -0.055, 0.944, 1.214, 0, 90, 0, 57 [SEP] 38, Potato, -0.087, 0.800, -0.762, 0, 0, 0, 103 [SEP] 39, PepperShaker, 0.865, 2.150, 1.429, 0, 0, 0, 55 [SEP] 40, ButterKnife, -0.621, 0.820, -1.257, 0, 90, 0, 105 [SEP] 41, Bowl, 1.688, 0.909, 1.299, 0, 0, 0, 81 [SEP] 42, DishSponge, 2.217, 0.771, 1.122, 0, 0, 0, 77 [SEP] 43, Spoon, 0.888, 0.912, -0.345, 0, 0, 0, 46 [SEP] 44, Mug, 2.653, 1.283, -0.644, 0, 0, 0, 101 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink | STEP 9: Walk with the potato slice towards the round table | STEP 10: Put the potato slice in the bowl | STEP 11: Grab the bowl from the table | STEP 12: Walk with the bowl towards the microwave | STEP 13: Put the bowl inside the microwave | END


Input: Examine a set of keys next to the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 6.75, 0, 270, 0,  [SEP] 1, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 60 [SEP] 2, Bowl, -0.535, 0.795, 2.252, 0, 270, 0, 44 [SEP] 3, Newspaper, -2.672, 0.878, 7.173, 0, 90, 0, 50 [SEP] 4, KeyChain, -0.789, 0.367, 3.915, 0, 0, 0, 42 [SEP] 5, KeyChain, -5.985, 0.880, 4.349, 0, 0, 0, 52 [SEP] 6, CreditCard, -0.687, 0.793, 5.600, 0, 270, 0, 43 [SEP] 7, CreditCard, -2.422, 0.533, 4.335, 0, 270, 0, 59 [SEP] 8, RemoteControl, -0.868, 0.369, 4.828, 0, 0, 0, 42 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -5.848, 0.147, 4.152, 0, 0, 0, 49 [SEP] 12, Vase, -0.585, 0.802, 6.357, 0, 270, 0, 43 [SEP] 13, Newspaper, -0.947, 0.365, 3.002, 0, 0, 0, 42 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -2.869, 1.280, 7.045, 0, 90, 0, 58 [SEP] 17, CreditCard, -6.105, 0.146, 4.349, 0, 0, 0, 49 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -5.899, 0.147, 3.954, 0, 0, 0, 49 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -0.326, 0.795, 2.002, 0, 0, 0, 44 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.461, 0.536, 6.628, 0, 45, 0, 60 [SEP] 26, Watch, -3.462, 0.146, 7.070, 0, 90, 0, 53 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -3.067, 0.454, 7.259, 0, 180, 0, 51 [SEP] 29, Statue, -3.557, 1.289, 7.171, 0, 90, 0, 58 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Turn left towards the shelves on your right. | STEP 2: Pick up the keys on the second shelf. | STEP 3: Turn left and head towards the lamp next to the grey bin. | STEP 4: Turn on the lamp. | END


Input: Examine a textbook by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -2.25, 0, 270, 0,  [SEP] 1, Mug, -1.270, 0.801, -3.703, 0, 0, 0, 36 [SEP] 2, CD, -3.470, 0.418, -3.000, 0, 0, 0, 47 [SEP] 3, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 21 [SEP] 4, CellPhone, -0.453, 0.800, -3.811, 0, 0, 0, 36 [SEP] 5, CreditCard, -1.270, 0.803, -4.137, 0, 0, 0, 36 [SEP] 6, Book, -2.981, 0.620, -0.356, 0, 0, 0, 21 [SEP] 7, Laptop, -3.191, 0.618, -0.931, 0, 0, 0, 21 [SEP] 8, Book, -3.539, 0.980, -3.673, 0, 0, 0, 39 [SEP] 9, CellPhone, -0.426, 0.348, -3.811, 0, 0, 0, 29 [SEP] 10, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.329, 0.542, -3.713, 0, 0, 0, 30 [SEP] 12, AlarmClock, -3.834, 0.979, -3.673, 0, 0, 0, 39 [SEP] 13, KeyChain, -3.760, 0.982, -4.075, 0, 90, 0, 39 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -0.685, 0.546, -3.676, 0, 0, 0, 30 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -0.350, 0.029, -3.876, 0, 0, 0, 28 [SEP] 19, Pen, -3.687, 0.986, -3.070, 0, 0, 0, 39 [SEP] 20, Mug, -3.834, 0.977, -4.075, 0, 0, 0, 39 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Walk to the right toward the stuffed animal on the bed. | STEP 2: Pick up the textbook on the bed which is behind the stuffed animal. | STEP 3: Turn left and walk in front of the lamp which is on the desk. | STEP 4: Turn on the lamp. | END


Input: Place a soap bottle in a trash bin. 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, 2.25, 0, 90, 0,  [SEP] 1, Cloth, -1.500, 0.067, 3.276, 0, 0, 0, 25 [SEP] 2, SoapBar, -1.284, 0.994, 3.873, 0, 0, 0, 26 [SEP] 3, Candle, -1.322, 0.068, 3.844, 0, 0, 0, 27 [SEP] 4, Candle, -1.379, 0.067, 3.176, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.350, 0.993, 3.041, 0, 0, 0, 26 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.501, 0.068, 3.844, 0, 0, 0, 27 [SEP] 9, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 21 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.547, 0.994, 3.041, 0, 0, 0, 26 [SEP] 12, TissueBox, -1.501, 0.069, 2.757, 0, 0, 0, 19 [SEP] 13, SoapBottle, -1.547, 0.993, 3.842, 0, 0, 0, 26 [SEP] 14, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 34 [SEP] 15, SprayBottle, -1.547, 0.995, 2.118, 0, 0, 0, 26 [SEP] 16, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around and veer right to the right sink. | STEP 2: Pick up the soap bottle to the right of the sink. | STEP 3: Turn around and walk to the green bin on the floor. | STEP 4: Place the bottle in the bin. | END


Input: Examine the mug from the light of the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.0, 0, 90, 0,  [SEP] 1, Mug, -3.613, 0.977, -4.276, 0, 0, 0, 45 [SEP] 2, CD, -0.657, 0.799, -3.920, 0, 0, 0, 42 [SEP] 3, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 42 [SEP] 4, Pencil, -1.861, 0.065, -3.825, 0, 9.990, 0, 31 [SEP] 5, CreditCard, -3.806, 0.044, -4.070, 0, 0, 0, 50 [SEP] 6, CreditCard, -1.474, 0.800, -4.029, 0, 0, 0, 42 [SEP] 7, KeyChain, -3.637, 0.810, -3.465, 0, 0, 0, 52 [SEP] 8, KeyChain, -3.638, 0.420, -3.885, 0, 0, 0, 48 [SEP] 9, Book, -3.638, 0.227, -2.999, 0, 270, 0, 47 [SEP] 10, Pillow, -3.191, 0.722, -0.931, 0, 0, 0, 27 [SEP] 11, Pillow, -2.559, 0.722, -1.218, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.270, 0.800, -3.703, 0, 0, 0, 42 [SEP] 13, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 42 [SEP] 14, Book, -3.687, 0.980, -3.070, 0, 0, 0, 45 [SEP] 15, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 27 [SEP] 16, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 42 [SEP] 17, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 36 [SEP] 18, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 42 [SEP] 19, KeyChain, -0.862, 0.800, -4.137, 0, 90, 0, 42 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.865, 0.066, -3.849, 0, 9.990, 0, 31 [SEP] 23, Pillow, -3.402, 0.722, -1.506, 0, 0, 0, 27 [SEP] 24, CD, -3.539, 0.980, -3.874, 0, 0, 0, 45 [SEP] 25, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 36 [SEP] 26, Mug, -3.760, 0.977, -3.271, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 54, NorthWall, , , , , , ,  [SEP] 55, EastWall, , , , , , ,  [SEP] 56, SouthWall, , , , , , ,  [SEP] 57, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the wall then turn right and go to the dresser | STEP 2: Pick up the mug from the dresser | STEP 3: Turn around and go to the table | STEP 4: Turn on the lamp that is on the table | END


Input: Move two remote controls from the coffee table to the couch.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.25, 0, 180, 0,  [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn around and go to the coffee table. | STEP 6: Pick up a remote control on the coffee table. | STEP 7: Turn around and go to the couch.  | STEP 8: Put the remote control on the couch. | END


Input: Put the remotes on the couch.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.25, 0, 180, 0,  [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn to the right, take 2 steps, turn to the right.  | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch.  | STEP 4: Set the remote on the edge of the couch cushion. | STEP 5: Turn to the left, take a step, turn to the left. | STEP 6: Pick up the remote behind the figurine.  | STEP 7: Turn around, take a step, turn to the right, take a step, turn to the left. | STEP 8: Put the remote on the couch behind the placard.  | END


Input: Put two remotes on the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.25, 0, 180, 0,  [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch | STEP 4: Put the remote on the couch | STEP 5: Move to the coffee table in front of the couch | STEP 6: pick up the remote from the table | STEP 7: turn around to the couch | STEP 8: Put the remote on the couch | END


Input: Place two remotes on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.25, 0, 180, 0,  [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Place the remote on the left side of the middle cushion of the couch. | STEP 5: Turn around and face the coffee table. | STEP 6: Pick up the remote from the right side of the coffee table. | STEP 7: Turn around and face the couch again. | STEP 8: Place the remote on the back right side of the middle cushion. | END


Input: Put a microwaved apple by the coffee machine 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, 0.25, 0, 270, 0,  [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 2, DishSponge, 1.909, 0.114, -0.383, 0, 180, 0, 91 [SEP] 3, ButterKnife, 2.156, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.198, 0.911, 1.044, 0, 0, 0, 56 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 6, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 45 [SEP] 7, Spatula, 1.422, 0.926, 1.214, 0, 0, 0, 80 [SEP] 8, Spatula, 1.422, 0.926, 1.553, 0, 270, 0, 80 [SEP] 9, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 10, Cup, 2.838, 0.724, -0.535, 0, 0, 0, 100 [SEP] 11, Cup, 0.123, 0.763, -0.596, 0, 0, 0, 102 [SEP] 12, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 13, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 103 [SEP] 14, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 80 [SEP] 15, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 104 [SEP] 16, SoapBottle, -2.019, 0.429, 1.290, 0, 270, 0, 98 [SEP] 17, Tomato, -0.694, 0.852, -1.411, 0, 90, 0, 104 [SEP] 18, Bowl, 2.562, 1.653, 1.507, 0, 0, 0, 70 [SEP] 19, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 45 [SEP] 20, Mug, 1.908, 1.649, -0.849, 0, 180, 0, 82 [SEP] 21, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 102 [SEP] 22, SoapBottle, 2.754, 0.917, 1.129, 0, 0, 0, 80 [SEP] 23, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 80 [SEP] 24, Fork, 1.902, 0.772, -0.498, 0, 90, 0, 59 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 98 [SEP] 28, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 102 [SEP] 29, Tomato, 2.777, 1.050, -0.775, 0, 0, 0, 100 [SEP] 30, Cup, -0.694, 0.818, -1.206, 0, 90, 0, 104 [SEP] 31, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 45 [SEP] 32, Apple, 2.838, 1.632, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.299, 0, 270, 0, 80 [SEP] 35, SaltShaker, 1.931, 0.111, 1.276, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 2.962, 0.761, -0.504, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.983, 0.817, -1.308, 0, 90, 0, 104 [SEP] 39, ButterKnife, -0.198, 0.911, 1.383, 0, 0, 0, 56 [SEP] 40, Bowl, 1.827, 0.112, 1.156, 0, 0, 0, 65 [SEP] 41, DishSponge, -0.103, 0.911, 1.214, 0, 0, 0, 56 [SEP] 42, Spoon, -1.056, 0.822, -1.308, 0, 90, 0, 104 [SEP] 43, Mug, 0.570, 1.779, 1.520, 0, 270, 0, 103 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the sink. | STEP 2: Pick up an apple in the sink. | STEP 3: Turn and go to the microwave.  | STEP 4: Heat up the apple in the microwave.  | STEP 5: Turn and go to the coffee machine. | STEP 6: Put the apple on the counter by the coffee machine. | END