Input: take the bowl to the fridge then the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 100 [SEP] 2, DishSponge, -1.056, 0.820, -1.360, 0, 90, 0, 101 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 77 [SEP] 5, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 53 [SEP] 6, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.634, 0.909, -0.345, 0, 0, 0, 42 [SEP] 8, Egg, -1.056, 0.858, -1.206, 0, 90, 0, 101 [SEP] 9, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 99 [SEP] 10, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 11, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 12, Tomato, -0.939, 0.852, -1.400, 0, 0, 0, 101 [SEP] 13, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 99 [SEP] 14, SaltShaker, -0.836, 0.817, -1.473, 0, 0, 0, 101 [SEP] 15, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 101 [SEP] 16, PepperShaker, 1.422, 0.908, 1.129, 0, 0, 0, 77 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 77 [SEP] 18, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.155, 0.917, 1.553, 0, 0, 0, 77 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.768, 0.772, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 77 [SEP] 24, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 99 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 101 [SEP] 27, Cup, -0.017, 0.763, -0.596, 0, 0, 0, 99 [SEP] 28, Spatula, 0.193, 0.780, -0.541, 0, 270, 0, 99 [SEP] 29, Apple, 0.888, 0.980, -0.854, 0, 0, 0, 42 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.246, 0.992, 1.214, 0, 0, 0, 53 [SEP] 32, SaltShaker, 0.054, 0.908, -0.316, 0, 0, 0, 42 [SEP] 33, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 101 [SEP] 36, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 101 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, 1.209, 0.771, 1.160, 0, 0, 0, 87 [SEP] 39, Spoon, -0.766, 0.822, -1.308, 0, 90, 0, 101 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: go to the counter to the right of the fridge | STEP 2: pick up the blue bowl from the counter | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: take the bowl to the cabinet on the bottom to the right of the fridge | STEP 6: put the bowl in the cabinet | END


Input: Move two alarm clocks, cover keys. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.949, -1.5, 0, 0, 0,  [SEP] 1, CD, -0.069, 1.107, 3.198, 0, 180, 0, 46 [SEP] 2, CellPhone, 1.723, 0.610, 0.068, 0, 0, 0, 23 [SEP] 3, Pen, 1.666, 0.993, -2.125, 0, 270, 0, 38 [SEP] 4, Pencil, -0.970, 0.788, -0.548, 0, 0, 0, 59 [SEP] 5, CreditCard, -0.904, 0.785, 0.081, 0, 0, 0, 59 [SEP] 6, KeyChain, -0.068, 0.785, 3.171, 0, 180, 0, 45 [SEP] 7, KeyChain, -0.812, 0.586, 0.165, 0, 0, 0, 60 [SEP] 8, Laptop, -0.904, 0.781, -0.128, 0, 0, 0, 59 [SEP] 9, AlarmClock, 2.803, 0.986, -1.949, 0, 270, 0, 38 [SEP] 10, Book, 2.710, 0.610, 0.790, 0, 0, 0, 23 [SEP] 11, KeyChain, -0.444, 1.109, 3.143, 0, 180, 0, 46 [SEP] 12, CreditCard, 1.950, 0.988, -2.212, 0, 270, 0, 38 [SEP] 13, Pen, 3.377, 0.729, 1.352, 0, 180, 0, 63 [SEP] 14, Pencil, 3.377, 0.727, 1.488, 0, 180, 0, 63 [SEP] 15, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 23 [SEP] 16, Vase, 1.332, 0.185, -1.786, 0, 270, 0, 35 [SEP] 17, AlarmClock, 2.519, 0.989, -1.949, 0, 270, 0, 38 [SEP] 18, Pillow, 2.217, 0.674, -0.172, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, -0.885, 0.585, -0.794, 0, 0, 0, 51 [SEP] 21, CD, -0.706, 0.783, -0.548, 0, 0, 0, 59 [SEP] 22, Vase, -0.838, 0.789, -0.758, 0, 0, 0, 59 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk.  Turn right, proceed to shelf. | STEP 4: Place alarm clock on second shelf down, to the left of the keys. | STEP 5: Turn around, proceed to dresser.  Turn left, proceed to end of dresser, turn right to face dresser. | STEP 6: Pick up alarm clock from dresser. | STEP 7: Turn around, proceed to desk.  Turn right, proceed to shelf. | STEP 8: Put alarm clock directly to the right of the other alarm clock, directly covering the keys. | END


Input: Put a chilled mug on the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Potato, 2.715, 1.598, -0.512, 0, 0, 0, 102 [SEP] 2, DishSponge, -0.990, 0.820, -1.328, 0, 0, 0, 106 [SEP] 3, DishSponge, -1.056, 0.820, -1.206, 0, 90, 0, 106 [SEP] 4, Pot, 1.955, 0.915, 1.214, 0, 0, 0, 82 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 6, Spoon, 1.073, 0.772, 1.122, 0, 90, 0, 92 [SEP] 7, Spoon, -0.887, 0.822, -1.400, 0, 0, 0, 106 [SEP] 8, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 59 [SEP] 9, Cup, 2.591, 1.016, -0.775, 0, 0, 0, 102 [SEP] 10, Cup, 0.825, 1.653, -0.771, 0, 180, 0, 57 [SEP] 11, SoapBottle, 1.485, 0.120, -0.498, 0, 180, 0, 64 [SEP] 12, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 102 [SEP] 13, Bowl, 2.838, 1.286, -0.578, 0, 0, 0, 102 [SEP] 14, SaltShaker, 0.390, 2.153, 1.389, 0, 0, 0, 81 [SEP] 15, PepperShaker, 0.707, 2.150, 1.468, 0, 0, 0, 56 [SEP] 16, Bread, 2.838, 1.621, -0.709, 0, 0, 0, 102 [SEP] 17, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 82 [SEP] 18, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 106 [SEP] 19, Lettuce, 2.754, 0.992, 1.129, 0, 0, 0, 82 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 47 [SEP] 21, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 47 [SEP] 22, Mug, 2.872, 0.109, 1.119, 0, 0, 0, 79 [SEP] 23, Apple, 2.715, 1.087, -0.775, 0, 0, 0, 102 [SEP] 24, SoapBottle, 1.902, 0.917, -0.430, 0, 0, 0, 47 [SEP] 25, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 82 [SEP] 26, Fork, 0.193, 0.766, -0.596, 0, 0, 0, 104 [SEP] 27, Pot, 1.422, 0.915, 1.129, 0, 0, 0, 82 [SEP] 28, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 58 [SEP] 29, Egg, -1.991, 0.461, 1.502, 0, 270, 0, 100 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, 2.962, 1.594, -0.512, 0, 0, 0, 102 [SEP] 32, Cup, 0.812, 2.151, 1.468, 0, 0, 0, 56 [SEP] 33, Spatula, 0.053, 0.780, -0.651, 0, 0, 0, 104 [SEP] 34, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 105 [SEP] 35, Pan, 1.955, 0.911, 1.468, 0, 90, 0, 82 [SEP] 36, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, 1.155, 0.908, 1.214, 0, 0, 0, 82 [SEP] 38, Knife, 1.141, 0.944, -0.684, 0, 0, 0, 47 [SEP] 39, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 102 [SEP] 40, PepperShaker, 1.213, 0.111, 1.077, 0, 0, 0, 76 [SEP] 41, ButterKnife, 2.754, 0.911, 1.383, 0, 0, 0, 82 [SEP] 42, Bowl, 1.688, 0.909, 1.299, 0, 0, 0, 82 [SEP] 43, DishSponge, -0.621, 0.820, -1.308, 0, 90, 0, 106 [SEP] 44, Spoon, -0.766, 0.822, -1.308, 0, 90, 0, 106 [SEP] 45, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 104 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Move to the coffee maker ahead of you | STEP 2: Pick up the mug from the coffee maker | STEP 3: Move to the fridge to the left of you | STEP 4: Chill the mug in the fridge for a moment | STEP 5: Move to the coffee maker to the right of the fridge | STEP 6: Put the mug on the coffee maker | END


Input: drop 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, 0.5, 0.900, -0.75, 0, 270, 0,  [SEP] 1, KeyChain, 1.285, 0.324, -0.742, 0, 0, 0, 38 [SEP] 2, KeyChain, 1.933, 0.872, 0.326, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.582, 0.037, -0.152, 0, 270, 0, 26 [SEP] 4, CreditCard, -0.260, 0.551, -0.623, 0, 270, 0, 30 [SEP] 5, RemoteControl, -0.561, 0.553, -0.623, 0, 270, 0, 30 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.711, 0.199, -0.185, 0, 270, 0, 28 [SEP] 8, Watch, -0.582, 0.201, -0.120, 0, 270, 0, 28 [SEP] 9, Newspaper, 1.724, 0.868, 0.325, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.364, 0.308, -0.588, 0, 0, 0, 38 [SEP] 12, RemoteControl, 1.807, 0.871, 0.537, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.411, 0.562, -0.192, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: move forward towards the table | STEP 2: pick up the remote  | STEP 3: move left towards the couch  | STEP 4: drop the remote on the couch | STEP 5: turn around to the center table  | STEP 6: pick up the remote on the center table | STEP 7: turn around to the couch | STEP 8: drop the remote on the couch | END


Input: Place a pot filled with water on a stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Kettle, -0.694, 0.821, -1.206, 0, 0, 0, 104 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 3, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, Spatula, 1.141, 0.926, -0.345, 0, 180, 0, 45 [SEP] 5, Spatula, -0.939, 0.835, -1.328, 0, 90, 0, 104 [SEP] 6, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 80 [SEP] 7, Cup, -0.103, 0.909, 1.383, 0, 0, 0, 56 [SEP] 8, Cup, 1.597, 1.653, -0.732, 0, 180, 0, 82 [SEP] 9, Egg, 2.653, 1.601, -0.709, 0, 0, 0, 100 [SEP] 10, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 11, Knife, -0.103, 0.944, 1.129, 0, 0, 0, 56 [SEP] 12, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 104 [SEP] 13, Bowl, 2.837, 0.112, 1.156, 0, 0, 0, 77 [SEP] 14, Bowl, 2.777, 1.017, -0.775, 0, 0, 0, 100 [SEP] 15, SaltShaker, -0.197, 0.111, 1.236, 0, 0, 0, 73 [SEP] 16, PepperShaker, -0.294, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 45 [SEP] 19, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 104 [SEP] 20, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 104 [SEP] 21, Mug, 2.754, 0.906, 1.383, 0, 0, 0, 80 [SEP] 22, SoapBottle, -0.836, 0.826, -1.038, 0, 0, 0, 104 [SEP] 23, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 45 [SEP] 24, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 56 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.512, 0, 0, 0, 100 [SEP] 28, Kettle, 2.488, 0.912, 1.299, 0, 0, 0, 80 [SEP] 29, Tomato, -1.933, 0.455, 1.290, 0, 270, 0, 98 [SEP] 30, Cup, 0.812, 2.151, 1.429, 0, 0, 0, 54 [SEP] 31, Spatula, 1.155, 0.926, 1.129, 0, 180, 0, 80 [SEP] 32, Apple, 1.155, 0.980, 1.214, 0, 0, 0, 80 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 2.277, 1.651, -0.725, 0, 180, 0, 66 [SEP] 36, Knife, 1.155, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, -1.933, 0.458, 1.417, 0, 270, 0, 98 [SEP] 38, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.422, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 103 [SEP] 41, DishSponge, 2.223, 0.114, 1.081, 0, 0, 0, 81 [SEP] 42, Spoon, 1.276, 0.772, -0.460, 0, 270, 0, 64 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [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 to your right, then walk towards the stove and turn to face it.  | STEP 2: Pick up the pot from the back left burner of the stove. | STEP 3: Turn around and walk to the sink.  | STEP 4: Fill the pot with water.  | STEP 5: Turn around and walk back to the stove.  | STEP 6: Place the pot on the back left burner.  | END


Input: To fill a pot with water and place it back on it's original burner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Kettle, -0.694, 0.821, -1.206, 0, 0, 0, 104 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 3, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, Spatula, 1.141, 0.926, -0.345, 0, 180, 0, 45 [SEP] 5, Spatula, -0.939, 0.835, -1.328, 0, 90, 0, 104 [SEP] 6, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 80 [SEP] 7, Cup, -0.103, 0.909, 1.383, 0, 0, 0, 56 [SEP] 8, Cup, 1.597, 1.653, -0.732, 0, 180, 0, 82 [SEP] 9, Egg, 2.653, 1.601, -0.709, 0, 0, 0, 100 [SEP] 10, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 11, Knife, -0.103, 0.944, 1.129, 0, 0, 0, 56 [SEP] 12, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 104 [SEP] 13, Bowl, 2.837, 0.112, 1.156, 0, 0, 0, 77 [SEP] 14, Bowl, 2.777, 1.017, -0.775, 0, 0, 0, 100 [SEP] 15, SaltShaker, -0.197, 0.111, 1.236, 0, 0, 0, 73 [SEP] 16, PepperShaker, -0.294, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 45 [SEP] 19, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 104 [SEP] 20, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 104 [SEP] 21, Mug, 2.754, 0.906, 1.383, 0, 0, 0, 80 [SEP] 22, SoapBottle, -0.836, 0.826, -1.038, 0, 0, 0, 104 [SEP] 23, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 45 [SEP] 24, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 56 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.512, 0, 0, 0, 100 [SEP] 28, Kettle, 2.488, 0.912, 1.299, 0, 0, 0, 80 [SEP] 29, Tomato, -1.933, 0.455, 1.290, 0, 270, 0, 98 [SEP] 30, Cup, 0.812, 2.151, 1.429, 0, 0, 0, 54 [SEP] 31, Spatula, 1.155, 0.926, 1.129, 0, 180, 0, 80 [SEP] 32, Apple, 1.155, 0.980, 1.214, 0, 0, 0, 80 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 2.277, 1.651, -0.725, 0, 180, 0, 66 [SEP] 36, Knife, 1.155, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, -1.933, 0.458, 1.417, 0, 270, 0, 98 [SEP] 38, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.422, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 103 [SEP] 41, DishSponge, 2.223, 0.114, 1.081, 0, 0, 0, 81 [SEP] 42, Spoon, 1.276, 0.772, -0.460, 0, 270, 0, 64 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [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 around and step to the left to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and step forward to face the sink. | STEP 4: Fill the pot with water and then pick it up. | STEP 5: Turn around and step forward to face the stove. | STEP 6: Place the water filled pot on the back left burner. | END


Input: put two pencils in the top left drawer of the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.949, 2.5, 0, 270, 0,  [SEP] 1, CD, -0.990, 0.091, -1.147, 0, 0, 0, 22 [SEP] 2, Pencil, 0.024, 0.788, 3.088, 0, 180, 0, 43 [SEP] 3, Pencil, -0.970, 0.788, 0.081, 0, 0, 0, 57 [SEP] 4, KeyChain, -0.068, 0.785, 3.198, 0, 270, 0, 43 [SEP] 5, Book, -0.838, 0.784, -0.338, 0, 0, 0, 57 [SEP] 6, Laptop, 2.234, 0.986, -1.862, 0, 270, 0, 36 [SEP] 7, Laptop, 2.545, 0.607, -0.172, 0, 0, 0, 21 [SEP] 8, Book, 1.950, 0.988, -2.037, 0, 270, 0, 36 [SEP] 9, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 61 [SEP] 10, CreditCard, 3.300, 0.723, 1.352, 0, 180, 0, 61 [SEP] 11, Pen, 2.519, 0.993, -2.037, 0, 270, 0, 36 [SEP] 12, Pencil, -0.350, 1.112, 3.088, 0, 180, 0, 44 [SEP] 13, Laptop, 2.217, 0.607, 0.308, 0, 0, 0, 21 [SEP] 14, Vase, 3.012, 0.189, -1.721, 0, 270, 0, 35 [SEP] 15, AlarmClock, 1.382, 0.989, -1.774, 0, 270, 0, 36 [SEP] 16, Pillow, 2.381, 0.674, 0.790, 0, 0, 0, 21 [SEP] 17, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 21 [SEP] 18, CellPhone, 1.382, 0.988, -2.212, 0, 270, 0, 36 [SEP] 19, CD, -0.776, 0.379, 0.166, 0, 0, 0, 54 [SEP] 20, Vase, -0.904, 0.789, 0.501, 0, 0, 0, 57 [SEP] 21, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 22, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 23, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 25, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 26, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 27, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 28, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 29, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 30, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 31, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 32, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 37, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 40, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 41, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 44, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 45, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 46, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 57, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 60, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 61, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 62, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 63, NorthWall, , , , , , ,  [SEP] 64, EastWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, WestWall, , , , , , ,

Output: STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left | STEP 5: approach the top of the dresser | STEP 6: pick up the pencil from the top of the dresser | STEP 7: approach the left side of dresser again | STEP 8: put the pencil in the top drawer on the left next to the first pencil | END


Input: Place chilled coffee mug on coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0,  [SEP] 1, DishSponge, 1.558, 0.770, -0.536, 0, 180, 0, 78 [SEP] 2, DishSponge, 2.481, 0.770, 1.198, 0, 0, 0, 64 [SEP] 3, ButterKnife, -0.887, 0.820, -1.255, 0, 90, 0, 107 [SEP] 4, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 107 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 6, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 92 [SEP] 7, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 105 [SEP] 8, Fork, -0.887, 0.821, -1.473, 0, 0, 0, 107 [SEP] 9, Spatula, -0.694, 0.835, -1.206, 0, 270, 0, 107 [SEP] 10, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 57 [SEP] 11, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 12, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 105 [SEP] 13, SoapBottle, 2.754, 0.917, 1.214, 0, 0, 0, 83 [SEP] 14, Tomato, -1.991, 0.455, 1.332, 0, 270, 0, 101 [SEP] 15, Tomato, 2.777, 0.758, -0.535, 0, 0, 0, 103 [SEP] 16, Bowl, 2.715, 1.286, -0.709, 0, 0, 0, 103 [SEP] 17, SaltShaker, 1.450, 1.650, 1.470, 0, 0, 0, 71 [SEP] 18, SaltShaker, -0.055, 0.908, 1.468, 0, 0, 0, 59 [SEP] 19, PepperShaker, -0.839, 0.817, -1.360, 0, 90, 0, 107 [SEP] 20, PepperShaker, -0.694, 0.817, -1.206, 0, 90, 0, 107 [SEP] 21, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 83 [SEP] 22, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 83 [SEP] 23, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 48 [SEP] 24, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 25, SoapBottle, 1.561, 1.660, 1.432, 0, 0, 0, 71 [SEP] 26, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 83 [SEP] 27, Fork, -0.151, 0.912, 1.214, 0, 180, 0, 59 [SEP] 28, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 48 [SEP] 29, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 59 [SEP] 30, Egg, 0.193, 0.803, -0.762, 0, 0, 0, 105 [SEP] 31, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 32, Tomato, 2.900, 1.050, -0.644, 0, 0, 0, 103 [SEP] 33, Cup, 1.155, 0.909, 1.044, 0, 0, 0, 83 [SEP] 34, Spatula, 0.888, 0.926, -0.515, 0, 0, 0, 48 [SEP] 35, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 83 [SEP] 38, SaltShaker, 2.161, 0.111, -0.379, 0, 180, 0, 89 [SEP] 39, Knife, 2.156, 0.944, -0.430, 0, 0, 0, 48 [SEP] 40, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 103 [SEP] 41, PepperShaker, 0.349, 0.908, -0.316, 0, 0, 0, 48 [SEP] 42, ButterKnife, 0.634, 0.911, -0.345, 0, 0, 0, 48 [SEP] 43, Bowl, 2.653, 1.017, -0.644, 0, 0, 0, 103 [SEP] 44, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 77 [SEP] 45, Spoon, 1.688, 0.912, 1.129, 0, 0, 0, 83 [SEP] 46, Mug, 2.754, 0.906, 1.468, 0, 0, 0, 83 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: turn around, go to counter with coffee maker | STEP 2: pick up white coffee cup from heater area of coffee maker | STEP 3: go to black refrigerator to the left | STEP 4: place coffee cup on left side of top shelf of refrigerator, above tomato, close refrigerator, open refrigerator, pick up coffee mug, close refrigerator | STEP 5: go to counter with coffee maker to the right | STEP 6: place mug on heater area of coffee maker  | END


Input: Put two pencils in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.949, 0.5, 0, 0, 0,  [SEP] 1, CD, 1.393, 0.179, -1.841, 0, 270, 0, 35 [SEP] 2, Pencil, -1.037, 0.788, -0.548, 0, 0, 0, 59 [SEP] 3, Pencil, 3.455, 0.727, 1.443, 0, 180, 0, 63 [SEP] 4, KeyChain, 0.006, 0.157, 3.222, 0, 0, 0, 44 [SEP] 5, Book, 2.052, 0.610, 0.790, 0, 0, 0, 23 [SEP] 6, Book, 2.035, 0.184, -1.892, 0, 270, 0, 33 [SEP] 7, Laptop, 2.052, 0.607, 0.308, 0, 0, 0, 23 [SEP] 8, AlarmClock, -0.350, 1.109, 3.171, 0, 180, 0, 46 [SEP] 9, AlarmClock, -0.838, 0.785, 0.081, 0, 0, 0, 59 [SEP] 10, Book, 2.952, 0.184, -1.892, 0, 270, 0, 37 [SEP] 11, KeyChain, 3.455, 0.725, 1.262, 0, 180, 0, 63 [SEP] 12, CreditCard, 0.116, 0.784, 3.198, 0, 180, 0, 45 [SEP] 13, Pen, -0.069, 1.113, 3.088, 0, 180, 0, 46 [SEP] 14, Pencil, -0.068, 0.788, 3.115, 0, 180, 0, 45 [SEP] 15, Laptop, 1.950, 0.983, -1.950, 0, 270, 0, 38 [SEP] 16, Vase, -1.037, 0.789, 0.501, 0, 0, 0, 59 [SEP] 17, AlarmClock, -0.970, 0.786, -0.128, 0, 0, 0, 59 [SEP] 18, Pillow, 2.545, 0.674, 0.308, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 3.569, 0.125, 1.318, 0, 0, 0, 62 [SEP] 21, CD, -1.043, 0.091, -1.147, 0, 0, 0, 24 [SEP] 22, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 45 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table.  | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser.  | STEP 4: Put the pencil in the middle drawer, third from the left.  | STEP 5: Move forward toward to the dresser.  | STEP 6: Pick up the pencil that is on top of the dresser.  | STEP 7: Turn around, go forward, turn around to face the dresser. | STEP 8: Put the pencil in the middle drawer, third from the left.  | END


Input: Move a cardboard box 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, -1.25, 0.901, 2.5, 0, 90, 0,  [SEP] 1, Bowl, -0.636, 0.795, 2.377, 0, 270, 0, 42 [SEP] 2, Watch, -0.845, 0.793, 5.826, 0, 0, 0, 41 [SEP] 3, Watch, -6.036, 0.453, 4.547, 0, 0, 0, 52 [SEP] 4, KeyChain, -2.704, 0.534, 3.981, 0, 0, 0, 57 [SEP] 5, CreditCard, -0.552, 0.367, 3.915, 0, 0, 0, 40 [SEP] 6, CreditCard, -0.326, 0.793, 5.826, 0, 0, 0, 41 [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, -0.326, 0.794, 1.951, 0, 0, 0, 42 [SEP] 10, Vase, -2.491, 0.542, 4.335, 0, 270, 0, 57 [SEP] 11, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -3.328, 1.280, 7.045, 0, 90, 0, 56 [SEP] 15, CreditCard, -0.947, 0.441, 3.306, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.640, 1.280, 7.298, 0, 90, 0, 56 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.253, 0.535, 6.986, 0, 135, 0, 58 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -3.067, 0.455, 7.259, 0, 90, 0, 49 [SEP] 24, Watch, -2.87, 0.880, 7.139, 0, 90, 0, 48 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.517, 0.535, 6.572, 0, 45, 0, 58 [SEP] 27, Statue, -2.422, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn around, walk to the end of the couch, hang a left at the coffee table, and walk up to the cardboard box that is on the floor.  | STEP 2: Pick up the cardboard box that is on the floor.  | STEP 3: Turn around completely and head back towards the couch.  | STEP 4: Place the cardboard box down on the couch. | END


Input: Put the knife plus a cold slice of potato in the recycling bin.   SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.75, 0, 270, 0,  [SEP] 1, Potato, 2.221, 0.946, 1.383, 0, 0, 0, 87 [SEP] 2, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 109 [SEP] 3, DishSponge, -1.056, 0.820, -1.257, 0, 90, 0, 111 [SEP] 4, DishSponge, 1.141, 0.911, -0.515, 0, 0, 0, 52 [SEP] 5, Kettle, 1.835, 1.655, -0.772, 0, 180, 0, 89 [SEP] 6, ButterKnife, 2.173, 0.771, -0.460, 0, 270, 0, 65 [SEP] 7, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 67 [SEP] 8, Fork, 2.140, 0.772, -0.422, 0, 270, 0, 65 [SEP] 9, Fork, 1.862, 0.772, 1.122, 0, 90, 0, 85 [SEP] 10, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 87 [SEP] 11, Cup, 0.363, 1.782, 1.488, 0, 180, 0, 110 [SEP] 12, Cup, 2.653, 0.724, -0.504, 0, 0, 0, 107 [SEP] 13, Knife, 0.123, 0.798, -0.651, 0, 0, 0, 109 [SEP] 14, SoapBottle, 0.888, 0.917, -0.6, 0, 0, 0, 52 [SEP] 15, Tomato, -0.983, 0.852, -1.103, 0, 90, 0, 111 [SEP] 16, Tomato, 0.888, 0.942, -0.769, 0, 0, 0, 52 [SEP] 17, Bowl, 2.900, 1.286, -0.578, 0, 0, 0, 107 [SEP] 18, Bowl, 2.153, 0.112, 1.156, 0, 0, 0, 88 [SEP] 19, SaltShaker, 0.284, 2.153, 1.583, 0, 0, 0, 86 [SEP] 20, PepperShaker, 0.759, 2.150, 1.584, 0, 0, 0, 61 [SEP] 21, PepperShaker, 2.221, 0.908, 1.553, 0, 0, 0, 87 [SEP] 22, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 87 [SEP] 23, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 52 [SEP] 24, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 87 [SEP] 25, Mug, -0.939, 0.815, -1.328, 0, 0, 0, 111 [SEP] 26, Mug, -0.055, 0.906, 1.214, 0, 0, 0, 63 [SEP] 27, Apple, 2.653, 1.632, -0.644, 0, 0, 0, 107 [SEP] 28, Apple, 3.381, 0.909, -0.485, 0, 0, 0, 107 [SEP] 29, SoapBottle, 2.767, 0.120, 1.231, 0, 0, 0, 84 [SEP] 30, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 52 [SEP] 31, Fork, 2.092, 0.772, 1.160, 0, 90, 0, 83 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 87 [SEP] 34, Egg, 1.955, 0.949, 1.468, 0, 0, 0, 87 [SEP] 35, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 52 [SEP] 36, Tomato, -0.766, 0.852, -1.411, 0, 90, 0, 111 [SEP] 37, Cup, 0.193, 0.763, -0.762, 0, 0, 0, 109 [SEP] 38, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 87 [SEP] 39, Apple, 1.688, 0.980, 1.214, 0, 0, 0, 87 [SEP] 40, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 55 [SEP] 41, Lettuce, -0.246, 0.992, 1.383, 0, 0, 0, 63 [SEP] 42, SaltShaker, -0.694, 0.817, -1.257, 0, 90, 0, 111 [SEP] 43, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 52 [SEP] 44, Potato, -1.933, 0.458, 1.375, 0, 270, 0, 105 [SEP] 45, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 111 [SEP] 46, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 87 [SEP] 47, Bowl, 1.155, 0.909, 1.299, 0, 0, 0, 87 [SEP] 48, DishSponge, 1.558, 0.770, 1.236, 0, 0, 0, 70 [SEP] 49, Spoon, -0.836, 0.822, -1.400, 0, 0, 0, 111 [SEP] 50, Mug, 0.759, 2.148, 1.468, 0, 0, 0, 61 [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 straight to the counter top on top of the dishwasher.  | STEP 2: Grab the yellow knife on the counter top.  | STEP 3: Walk further to the front to the sink on the right side of the dishwasher.  | STEP 4: Cut the potato in the sink.  | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room  | STEP 6: Put the knife in the recycling bin.  | STEP 7: Go to the left, turn right and go back to the sink again.  | STEP 8: Grab a slice of potato from the sink.  | STEP 9: Go to the left and walk towards the refrigerator.  | STEP 10: Open the refrigerator, put the potato slice next to the clear glass, close the refrigerator, leave it for a few seconds and then grab the slice of potato again.  | STEP 11: Walk to your right and go straight to the recycling bin.  | STEP 12: Put the slice of potato in the recycling bin.  | END


Input: Place a pen on a dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 180, 0,  [SEP] 1, Mug, -1.066, 0.798, -3.703, 0, 0, 0, 39 [SEP] 2, CD, -1.831, 0.063, -3.929, 0, 279.990, 0, 28 [SEP] 3, CD, -3.638, 0.614, -2.999, 0, 0, 0, 43 [SEP] 4, CellPhone, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 6, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 39 [SEP] 7, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 39 [SEP] 8, KeyChain, -0.329, 0.543, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 10, Book, -3.582, 0.419, -3.978, 0, 0, 0, 45 [SEP] 11, Book, -3.693, 0.045, -4.164, 0, 0, 0, 47 [SEP] 12, CellPhone, -2.770, 0.620, -0.643, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 24 [SEP] 14, CreditCard, -0.453, 0.800, -4.246, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.249, 0.800, -3.811, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.685, 0.543, -3.713, 0, 0, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 21, CD, -0.350, 0.029, -3.779, 0, 0, 0, 31 [SEP] 22, Pen, -0.507, 0.548, -3.768, 0, 0, 0, 33 [SEP] 23, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Walk left to the front of the desk. | STEP 2: Pick up the black and white pen. | STEP 3: Turn right and walk to the dresser. | STEP 4: Place the pen on the dresser, on the left side. | END


Input: Place a pen on a dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 180, 0,  [SEP] 1, Mug, -1.066, 0.798, -3.703, 0, 0, 0, 39 [SEP] 2, CD, -1.831, 0.063, -3.929, 0, 279.990, 0, 28 [SEP] 3, CD, -3.638, 0.614, -2.999, 0, 0, 0, 43 [SEP] 4, CellPhone, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 6, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 39 [SEP] 7, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 39 [SEP] 8, KeyChain, -0.329, 0.543, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 10, Book, -3.582, 0.419, -3.978, 0, 0, 0, 45 [SEP] 11, Book, -3.693, 0.045, -4.164, 0, 0, 0, 47 [SEP] 12, CellPhone, -2.770, 0.620, -0.643, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 24 [SEP] 14, CreditCard, -0.453, 0.800, -4.246, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.249, 0.800, -3.811, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.685, 0.543, -3.713, 0, 0, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 21, CD, -0.350, 0.029, -3.779, 0, 0, 0, 31 [SEP] 22, Pen, -0.507, 0.548, -3.768, 0, 0, 0, 33 [SEP] 23, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn around, hang a right at the bed and walk to the white table on the right. | STEP 2: Pick up the black pen from the middle of the table. | STEP 3: Turn right, hang a left to the wall at the end of the table and walk to the wooden dresser on the right. | STEP 4: Put the pen on the left side of the dresser. | END


Input: Put soap bottles on the middle shelf next to Kleenex. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 1.5, 0, 180, 0,  [SEP] 1, SoapBar, -1.308, 1.069, 2.217, 0, 0, 0, 29 [SEP] 2, SprayBottle, -2.212, 1.048, -0.674, 0, 0, 0, 34 [SEP] 3, SprayBottle, -1.144, 0.289, 2.097, 0, 0, 0, 25 [SEP] 4, SoapBottle, -0.207, 0.611, 1.655, 0, 45, 0, 21 [SEP] 5, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 32 [SEP] 6, SoapBottle, -2.015, 1.049, -0.797, 0, 0, 0, 34 [SEP] 7, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 31 [SEP] 8, Candle, -1.308, 0.330, 2.157, 0, 0, 0, 25 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 30 [SEP] 10, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 11, SoapBar, 0.371, 0.043, 0.611, 0, 0, 0, 28 [SEP] 12, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 24 [SEP] 13, SoapBottle, -2.212, 1.049, -0.797, 0, 0, 0, 34 [SEP] 14, TissueBox, -0.980, 1.070, 2.127, 0, 0, 0, 29 [SEP] 15, Cloth, 0.289, 0.048, -0.071, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -2.343, 1.043, -0.797, 0, 0, 0, 34 [SEP] 17, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 19, SprayBottle, -2.015, 1.048, -0.674, 0, 0, 0, 34 [SEP] 20, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 21, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 22, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 23, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 24, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 26, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 28, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 31, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 32, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 33, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 34, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 35, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 36, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 37, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 38, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex. | STEP 5: Turn around and head to the trashcan on the left of the toilet. | STEP 6: Pick up the bottle out of the trashcan. | STEP 7: Turn around and go back to the shelves. | STEP 8: Place the bottle the bottle next to the other bottle on the middle shelf. | END


Input: Put a set of keys on a brown 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, 0.900, -1.25, 0, 180, 0,  [SEP] 1, Statue, -0.260, 0.562, -0.365, 0, 270, 0, 28 [SEP] 2, KeyChain, -0.411, 0.553, -0.537, 0, 270, 0, 28 [SEP] 3, RemoteControl, 1.766, 0.872, 0.220, 0, 90, 0, 34 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, 1.724, 0.872, 0.114, 0, 90, 0, 34 [SEP] 6, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 28 [SEP] 7, Newspaper, -0.5, 0.327, -1.624, 0, 0, 0, 30 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, 0.133, 0.293, -1.917, 0, 0, 0, 30 [SEP] 10, RemoteControl, 1.766, 0.872, 0.643, 0, 90, 0, 34 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.411, 0.562, -0.192, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the coffee table with the plant on top. | STEP 2: Pick up the set of keys next to the figurine on the coffee table. | STEP 3: Turn around and face the brown couch. | STEP 4: Put the set of keys on the right side of the brown couch. | END


Input: Put a mug with a knife in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, 1.155, 0.946, 1.553, 0, 0, 0, 77 [SEP] 2, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 99 [SEP] 3, Kettle, 2.221, 0.912, 1.214, 0, 0, 0, 77 [SEP] 4, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 42 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 6, Fork, -0.766, 0.821, -1.308, 0, 90, 0, 101 [SEP] 7, Fork, -0.887, 0.821, -1.328, 0, 180, 0, 101 [SEP] 8, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 77 [SEP] 9, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 99 [SEP] 10, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 99 [SEP] 11, SoapBottle, 2.221, 0.917, 1.383, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 101 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 95 [SEP] 14, Bowl, 2.715, 1.561, -0.775, 0, 0, 0, 97 [SEP] 15, SaltShaker, -0.055, 0.908, 1.044, 0, 0, 0, 53 [SEP] 16, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 101 [SEP] 17, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 77 [SEP] 18, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.872, 1.660, -0.849, 0, 180, 0, 79 [SEP] 20, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 76 [SEP] 21, Fork, 0.888, 0.912, -0.345, 0, 0, 0, 42 [SEP] 22, Pot, 2.838, 1.022, -0.709, 0, 0, 0, 97 [SEP] 23, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 53 [SEP] 24, Egg, 2.488, 0.949, 1.383, 0, 0, 0, 77 [SEP] 25, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 26, Tomato, -0.055, 0.942, 1.129, 0, 0, 0, 53 [SEP] 27, Cup, 2.907, 0.112, 1.193, 0, 0, 0, 74 [SEP] 28, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 77 [SEP] 29, Apple, 2.777, 0.794, -0.473, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 97 [SEP] 32, SaltShaker, 2.258, 0.110, 1.231, 0, 0, 0, 78 [SEP] 33, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 77 [SEP] 34, Potato, -0.887, 0.855, -1.255, 0, 180, 0, 101 [SEP] 35, PepperShaker, -0.246, 0.908, 1.044, 0, 0, 0, 53 [SEP] 36, ButterKnife, 1.141, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, 2.715, 1.561, -0.512, 0, 0, 0, 97 [SEP] 38, DishSponge, 1.842, 1.655, 1.546, 0, 0, 0, 54 [SEP] 39, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 42 [SEP] 40, Mug, -0.087, 0.760, -0.707, 0, 0, 0, 99 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little. | STEP 4: Put the knife in the white mug in the sink. | STEP 5: Take the mug from the sink. | STEP 6: Turn right, go towards the window, turn left to face the round table. | STEP 7: Put the mug on the round table. | END


Input: Pick soap up from tub, wash soap in sink, put soap on box in front of sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.903, 0.75, 0, 0, 0,  [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, TissueBox, -2.277, 1.047, -0.674, 0, 0, 0, 31 [SEP] 3, SoapBar, 0.289, 0.043, 0.839, 0, 0, 0, 25 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.233, 0.650, 1.722, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -0.653, 1.072, 2.157, 0, 0, 0, 26 [SEP] 11, TissueBox, -2.080, 1.047, -0.705, 0, 0, 0, 31 [SEP] 12, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 13, ToiletPaper, -0.319, 0.606, 1.234, 0, 0, 0, 18 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.471, 1.071, 2.187, 0, 0, 0, 26 [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 and go to tub. | STEP 2: Pick up soap from tub. | STEP 3: Turn around, go straight until reach sink on left.  Turn left to face sink.  Proceed to sink. | STEP 4: Put soap in sink, fill sink with water, empty water.  Pick up soap. | STEP 5: Turn around, go half way the length of the tub on right. | STEP 6: Put soap on box on floor in front of sink. | END


Input: Put a clean bar of soap 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, -2.5, 0.903, 0.75, 0, 0, 0,  [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, TissueBox, -2.277, 1.047, -0.674, 0, 0, 0, 31 [SEP] 3, SoapBar, 0.289, 0.043, 0.839, 0, 0, 0, 25 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.233, 0.650, 1.722, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -0.653, 1.072, 2.157, 0, 0, 0, 26 [SEP] 11, TissueBox, -2.080, 1.047, -0.705, 0, 0, 0, 31 [SEP] 12, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 13, ToiletPaper, -0.319, 0.606, 1.234, 0, 0, 0, 18 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.471, 1.071, 2.187, 0, 0, 0, 26 [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 and walk over to the tub. | STEP 2: Pick up the bar of soap out of the tub. | STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn left and walk towards the tub, then turn left and walk over to wall. | STEP 6: Put the clean bar of soap on the shelf in lower shelf in front of you. | END


Input: To wash a bar of soap and place it on the left back side of 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, 0.901, 3.0, 0, 270, 0,  [SEP] 1, Candle, -1.322, 0.068, 3.693, 0, 0, 0, 27 [SEP] 2, SprayBottle, -1.547, 0.995, 3.933, 0, 0, 0, 26 [SEP] 3, SoapBottle, -1.620, 0.068, 2.706, 0, 0, 0, 21 [SEP] 4, SoapBottle, -1.382, 0.068, 3.793, 0, 0, 0, 27 [SEP] 5, ToiletPaper, -1.219, 0.991, 2.178, 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, 3.894, 0, 0, 0, 27 [SEP] 9, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 34 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.379, 0.067, 3.276, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.561, 0.069, 3.743, 0, 0, 0, 27 [SEP] 13, SoapBottle, -1.259, 0.067, 3.327, 0, 0, 0, 25 [SEP] 14, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 29 [SEP] 15, SprayBottle, -1.481, 0.995, 2.148, 0, 0, 0, 26 [SEP] 16, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Step to the right to face the cabinet below the right side of the sink. | STEP 2: Pick up the bar of soap under the right side of the sink. | STEP 3: Step to the left to face the left side of the sink. | STEP 4: Wash the bar of soap in the sink and remove it. | STEP 5: Walk around the left side of the sink to face the side of the left sink. | STEP 6: Place the bar of soap on the back of the sink on the left edge. | END


Input: Place the wet soap on the counter by the spray bottle.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.0, 0, 270, 0,  [SEP] 1, Candle, -1.322, 0.068, 3.693, 0, 0, 0, 27 [SEP] 2, SprayBottle, -1.547, 0.995, 3.933, 0, 0, 0, 26 [SEP] 3, SoapBottle, -1.620, 0.068, 2.706, 0, 0, 0, 21 [SEP] 4, SoapBottle, -1.382, 0.068, 3.793, 0, 0, 0, 27 [SEP] 5, ToiletPaper, -1.219, 0.991, 2.178, 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, 3.894, 0, 0, 0, 27 [SEP] 9, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 34 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.379, 0.067, 3.276, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.561, 0.069, 3.743, 0, 0, 0, 27 [SEP] 13, SoapBottle, -1.259, 0.067, 3.327, 0, 0, 0, 25 [SEP] 14, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 29 [SEP] 15, SprayBottle, -1.481, 0.995, 2.148, 0, 0, 0, 26 [SEP] 16, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and go to the sink next to the wall | STEP 2: Open the cabinet door on the right next to the wall and get the pink soap | STEP 3: Turn to the left and go to the sink closest to shower.  | STEP 4: Place the soap in the sink in front of you and turn the water on. | STEP 5: Pick up the soap in the sink. | STEP 6: Turn to the left and go to the wall between counter and shower and place the soap behind the spray bottle. | END


Input: Place the laptop from the dresser on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.949, -1.0, 0, 0, 0,  [SEP] 1, Vase, -0.350, 1.113, 3.171, 0, 180, 0, 47 [SEP] 2, CD, 2.095, 0.183, -1.948, 0, 270, 0, 34 [SEP] 3, CD, -0.772, 0.783, 0.291, 0, 0, 0, 60 [SEP] 4, CellPhone, 2.710, 0.610, 0.068, 0, 0, 0, 24 [SEP] 5, CellPhone, 1.950, 0.985, -2.212, 0, 270, 0, 39 [SEP] 6, Pencil, -0.068, 0.788, 3.143, 0, 180, 0, 46 [SEP] 7, Pencil, -0.970, 0.789, -0.128, 0, 0, 0, 60 [SEP] 8, CreditCard, -1.037, 0.785, -0.758, 0, 0, 0, 60 [SEP] 9, Book, -0.838, 0.784, 0.081, 0, 0, 0, 60 [SEP] 10, Book, 2.381, 0.610, 0.790, 0, 0, 0, 24 [SEP] 11, Book, 1.888, 0.610, 0.308, 0, 0, 0, 24 [SEP] 12, KeyChain, 3.222, 0.725, 1.443, 0, 90, 0, 64 [SEP] 13, CreditCard, -0.069, 1.107, 3.143, 0, 180, 0, 47 [SEP] 14, Pen, 3.300, 0.729, 1.533, 0, 180, 0, 64 [SEP] 15, Pencil, -0.812, 0.384, -0.702, 0, 0, 0, 59 [SEP] 16, Laptop, 2.519, 0.983, -2.037, 0, 270, 0, 39 [SEP] 17, Vase, -1.037, 0.790, -0.548, 0, 0, 0, 60 [SEP] 18, AlarmClock, -0.838, 0.786, -0.758, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 2.052, 0.674, -0.172, 0, 0, 0, 24 [SEP] 21, CellPhone, -1.103, 0.785, 0.291, 0, 0, 0, 60 [SEP] 22, CD, 1.332, 0.179, -1.841, 0, 270, 0, 36 [SEP] 23, Vase, 1.950, 0.989, -1.950, 0, 270, 0, 39 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 66, NorthWall, , , , , , ,  [SEP] 67, EastWall, , , , , , ,  [SEP] 68, SouthWall, , , , , , ,  [SEP] 69, WestWall, , , , , , ,

Output: STEP 1: Turn right and head towards the dresser to your right. | STEP 2: Close the lid of the laptop on the dresser and pick it up. | STEP 3: Turn right, head towards the edge of the bed, turn right and head towards the middle of the bed to your right. | STEP 4: Place the computer on the bed. | END


Input: move soap from counter to inside cabinet  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.5, 0, 0, 0,  [SEP] 1, TissueBox, -1.547, 0.994, 2.178, 0, 0, 0, 26 [SEP] 2, SoapBar, -1.416, 0.994, 3.873, 0, 0, 0, 26 [SEP] 3, Candle, -1.382, 0.068, 2.857, 0, 0, 0, 19 [SEP] 4, SprayBottle, -1.561, 0.069, 2.908, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.620, 0.067, 2.391, 0, 0, 0, 21 [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, -1.620, 0.067, 2.190, 0, 0, 0, 21 [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, 3.842, 0, 0, 0, 26 [SEP] 12, TissueBox, -1.501, 0.069, 3.793, 0, 0, 0, 27 [SEP] 13, SoapBottle, 0.329, 0.893, 1.618, 0, 0, 0, 32 [SEP] 14, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 29 [SEP] 15, SprayBottle, -1.501, 0.069, 2.757, 0, 0, 0, 21 [SEP] 16, Cloth, -1.379, 0.067, 3.226, 0, 0, 0, 25 [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: walk forward, turn left, walk to the sink | STEP 2: pick up the pink bar of soap that is next to the sink | STEP 3: put the soap in the sink, turn the water on and then off, take the bar of soap out | STEP 4: turn around, take a few steps, turn around | STEP 5: open cabinet on the right, put soap in, close cabinet | END