Input: Place a chilled piece of lettuce into the blue recycling bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 49 [SEP] 2, DishSponge, 1.896, 0.114, 1.117, 0, 0, 0, 66 [SEP] 3, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 81 [SEP] 4, Pot, 2.488, 0.915, 1.129, 0, 0, 0, 81 [SEP] 5, Spoon, 1.869, 0.773, -0.460, 0, 180, 0, 60 [SEP] 6, Spoon, 2.868, 0.772, 1.198, 0, 0, 0, 90 [SEP] 7, Fork, 1.107, 0.772, 1.198, 0, 270, 0, 91 [SEP] 8, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 81 [SEP] 9, Cup, 0.140, 1.653, -0.771, 0, 180, 0, 86 [SEP] 10, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 105 [SEP] 11, Egg, 1.155, 0.949, 1.468, 0, 0, 0, 81 [SEP] 12, SoapBottle, 1.600, 0.120, 1.081, 0, 0, 0, 75 [SEP] 13, SoapBottle, -0.055, 0.917, 1.468, 0, 0, 0, 57 [SEP] 14, Tomato, 2.754, 0.942, 1.468, 0, 0, 0, 81 [SEP] 15, Tomato, -0.157, 0.797, -0.596, 0, 0, 0, 103 [SEP] 16, SaltShaker, -0.694, 0.817, -1.308, 0, 90, 0, 105 [SEP] 17, SaltShaker, 1.522, 1.651, -0.693, 0, 180, 0, 68 [SEP] 18, PepperShaker, -0.007, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, Lettuce, -0.246, 0.992, 1.383, 0, 0, 0, 57 [SEP] 20, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 81 [SEP] 21, Lettuce, -0.103, 0.992, 1.129, 0, 90, 0, 57 [SEP] 22, Mug, 1.798, 1.649, -0.849, 0, 180, 0, 83 [SEP] 23, SoapBottle, -0.887, 0.826, -1.328, 0, 0, 0, 105 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 81 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, 2.156, 0.949, -0.684, 0, 0, 0, 46 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, 0.888, 0.909, -0.6, 0, 0, 0, 46 [SEP] 32, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 105 [SEP] 33, Apple, -0.983, 0.889, -1.206, 0, 90, 0, 105 [SEP] 34, Pan, 0.231, 2.156, 1.467, 0, 0, 0, 55 [SEP] 35, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 81 [SEP] 36, SaltShaker, 1.597, 1.651, -0.810, 0, 180, 0, 68 [SEP] 37, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 105 [SEP] 38, Potato, 0.466, 1.819, 1.520, 0, 180, 0, 104 [SEP] 39, PepperShaker, 1.409, 1.651, -0.693, 0, 180, 0, 68 [SEP] 40, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 1.909, 0.112, -0.421, 0, 180, 0, 92 [SEP] 42, DishSponge, -0.246, 0.911, 1.553, 0, 0, 0, 57 [SEP] 43, Spoon, 0.263, 0.766, -0.707, 0, 90, 0, 103 [SEP] 44, Mug, -0.734, 0.815, -1.400, 0, 0, 0, 105 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the piece of lettuce in the fridge and then pick up the piece of lettuce from the fridge. | STEP 11: Turn right and walk to the blue recycling bin next to the window. | STEP 12: Place the piece of lettuce into the blue recycling bin. | END


Input: Move a book from the bed into a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.949, -0.25, 0, 90, 0,  [SEP] 1, CellPhone, -0.772, 0.785, 0.291, 0, 0, 0, 54 [SEP] 2, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 58 [SEP] 3, Book, 2.710, 0.610, 0.068, 0, 0, 0, 18 [SEP] 4, AlarmClock, 1.950, 0.986, -2.037, 0, 270, 0, 33 [SEP] 5, Book, 2.519, 0.985, -2.125, 0, 270, 0, 33 [SEP] 6, KeyChain, -0.812, 0.586, 0.529, 0, 0, 0, 48 [SEP] 7, CreditCard, 1.382, 0.985, -2.212, 0, 270, 0, 33 [SEP] 8, Pen, 3.087, 0.990, -1.949, 0, 270, 0, 33 [SEP] 9, Pencil, -0.812, 0.589, 0.119, 0, 0, 0, 55 [SEP] 10, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 33 [SEP] 11, Vase, 3.300, 0.728, 1.352, 0, 180, 0, 58 [SEP] 12, AlarmClock, -0.772, 0.786, -0.128, 0, 0, 0, 54 [SEP] 13, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 18 [SEP] 14, Pillow, 2.545, 0.674, 0.549, 0, 0, 0, 18 [SEP] 15, CellPhone, 1.666, 0.985, -1.687, 0, 270, 0, 33 [SEP] 16, CD, -0.990, 0.091, -1.147, 0, 0, 0, 19 [SEP] 17, Vase, 2.234, 0.989, -1.862, 0, 270, 0, 33 [SEP] 18, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 19, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 20, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 21, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 22, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 23, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 24, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 25, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 26, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 27, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 28, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 29, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 30, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 31, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 34, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 37, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 38, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 39, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 40, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 41, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 42, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 43, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 44, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 45, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 54, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 57, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 58, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 59, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, EastWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, WestWall, , , , , , ,

Output: STEP 1: Walk around to the far side of the bed. | STEP 2: Pick up the book off of the bed. | STEP 3: Turn left and walk over to the black dresser. | STEP 4: Open the leftmost lower cabinet door and put the book inside the cabinet, then close the door. | END


Input: Pick up the brown book and put it in the black cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.949, -0.25, 0, 90, 0,  [SEP] 1, CellPhone, -0.772, 0.785, 0.291, 0, 0, 0, 54 [SEP] 2, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 58 [SEP] 3, Book, 2.710, 0.610, 0.068, 0, 0, 0, 18 [SEP] 4, AlarmClock, 1.950, 0.986, -2.037, 0, 270, 0, 33 [SEP] 5, Book, 2.519, 0.985, -2.125, 0, 270, 0, 33 [SEP] 6, KeyChain, -0.812, 0.586, 0.529, 0, 0, 0, 48 [SEP] 7, CreditCard, 1.382, 0.985, -2.212, 0, 270, 0, 33 [SEP] 8, Pen, 3.087, 0.990, -1.949, 0, 270, 0, 33 [SEP] 9, Pencil, -0.812, 0.589, 0.119, 0, 0, 0, 55 [SEP] 10, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 33 [SEP] 11, Vase, 3.300, 0.728, 1.352, 0, 180, 0, 58 [SEP] 12, AlarmClock, -0.772, 0.786, -0.128, 0, 0, 0, 54 [SEP] 13, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 18 [SEP] 14, Pillow, 2.545, 0.674, 0.549, 0, 0, 0, 18 [SEP] 15, CellPhone, 1.666, 0.985, -1.687, 0, 270, 0, 33 [SEP] 16, CD, -0.990, 0.091, -1.147, 0, 0, 0, 19 [SEP] 17, Vase, 2.234, 0.989, -1.862, 0, 270, 0, 33 [SEP] 18, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 19, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 20, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 21, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 22, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 23, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 24, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 25, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 26, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 27, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 28, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 29, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 30, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 31, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 34, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 37, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 38, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 39, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 40, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 41, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 42, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 43, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 44, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 45, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 54, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 57, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 58, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 59, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, EastWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, WestWall, , , , , , ,

Output: STEP 1: Circle around the white bed to the left and stop between the bed and the wall. | STEP 2: Pick up the brown book on the white bed. | STEP 3: Turn around and walk to the black cabinets. | STEP 4: Open the first cabinet door and place the book inside the cabinet closing the door behind it. | END


Input: Pick up a newspaper and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -6.0, 0.901, 2.25, 0, 90, 0,  [SEP] 1, Newspaper, -5.592, 0.532, 6.647, 0, 45, 0, 55 [SEP] 2, CreditCard, -2.352, 0.533, 4.335, 0, 270, 0, 54 [SEP] 3, CreditCard, -0.947, 0.441, 4.524, 0, 0, 0, 37 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -5.998, 0.453, 4.547, 0, 0, 0, 49 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -2.182, 1.278, 7.045, 0, 0, 0, 53 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 11, Vase, -0.586, 0.794, 1.626, 0, 270, 0, 39 [SEP] 12, CreditCard, -0.738, 0.793, 2.127, 0, 270, 0, 39 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -2.704, 0.534, 3.856, 0, 0, 0, 54 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -2.474, 0.881, 7.173, 0, 90, 0, 45 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.899, 0.149, 4.547, 0, 0, 0, 44 [SEP] 21, Watch, -2.704, 0.533, 3.981, 0, 0, 0, 54 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -5.899, 0.156, 4.942, 0, 0, 0, 44 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,

Output: STEP 1: Go forward and turn to the left and face the brown shelves. | STEP 2: Pick the newspaper up from the shelf. | STEP 3: Turn to the right and face the small table with the lamp. | STEP 4: Turn the lamp on. | END


Input: Put the rinsed soap bar on the bottom shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 90, 0,  [SEP] 1, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 29 [SEP] 3, SoapBar, -0.166, 0.609, 1.696, 0, 45, 0, 23 [SEP] 4, SoapBar, 0.536, 0.043, 0.839, 0, 0, 0, 30 [SEP] 5, SoapBar, -2.343, 1.046, -0.736, 0, 0, 0, 36 [SEP] 6, Candle, -0.250, 0.650, 1.658, 0, 45, 0, 23 [SEP] 7, SprayBottle, -0.653, 0.289, 2.187, 0, 0, 0, 27 [SEP] 8, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 34 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 10, Candle, -1.308, 0.330, 2.187, 0, 0, 0, 27 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 36 [SEP] 14, ToiletPaper, -1.308, 1.066, 2.097, 0, 0, 0, 31 [SEP] 15, SoapBottle, -1.666, 0.083, -0.549, 0, 270, 0, 24 [SEP] 16, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 31 [SEP] 17, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.144, 0.285, 2.097, 0, 0, 0, 27 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.471, 1.774, 2.217, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the bathtub | STEP 2: Pick up the soap bar from the left side of the bathtub | STEP 3: Turn right and walk over to the sink | STEP 4: Wash the soap bar under the water in the sink and remove it | STEP 5: Turn around and walk over to the white wall shelf | STEP 6: Put the soap bar on the bottom shelf | END


Input: Place a rinsed 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, -1.5, 0.903, 1.75, 0, 90, 0,  [SEP] 1, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 29 [SEP] 3, SoapBar, -0.166, 0.609, 1.696, 0, 45, 0, 23 [SEP] 4, SoapBar, 0.536, 0.043, 0.839, 0, 0, 0, 30 [SEP] 5, SoapBar, -2.343, 1.046, -0.736, 0, 0, 0, 36 [SEP] 6, Candle, -0.250, 0.650, 1.658, 0, 45, 0, 23 [SEP] 7, SprayBottle, -0.653, 0.289, 2.187, 0, 0, 0, 27 [SEP] 8, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 34 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 10, Candle, -1.308, 0.330, 2.187, 0, 0, 0, 27 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 36 [SEP] 14, ToiletPaper, -1.308, 1.066, 2.097, 0, 0, 0, 31 [SEP] 15, SoapBottle, -1.666, 0.083, -0.549, 0, 270, 0, 24 [SEP] 16, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 31 [SEP] 17, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.144, 0.285, 2.097, 0, 0, 0, 27 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.471, 1.774, 2.217, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip. | STEP 3: Turn right and walk to the sink. | STEP 4: Rinse the soap in the sink. | STEP 5: Turn around and walk to the shelves. | STEP 6: Place the soap on the bottom shelf to the right of the empty toilet paper roll. | END


Input: Put two purple bottles on a toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 0.5, 0, 180, 0,  [SEP] 1, TissueBox, -1.471, 1.070, 2.127, 0, 0, 0, 30 [SEP] 2, Cloth, -0.817, 1.777, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.289, 0.048, 1.067, 0, 0, 0, 29 [SEP] 4, Candle, -0.334, 0.650, -0.259, 0, 0, 0, 22 [SEP] 5, Candle, -1.308, 0.330, 2.187, 0, 0, 0, 26 [SEP] 6, SprayBottle, -1.687, 0.082, -0.655, 0, 270, 0, 33 [SEP] 7, SprayBottle, -1.308, 0.289, 2.097, 0, 0, 0, 26 [SEP] 8, SoapBottle, -2.080, 1.049, -0.797, 0, 0, 0, 35 [SEP] 9, Candle, -0.319, 0.650, 0.338, 0, 0, 0, 22 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.949, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -0.161, 0.606, 1.609, 0, 45, 0, 22 [SEP] 14, SoapBottle, -2.212, 1.049, -0.736, 0, 0, 0, 35 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.156, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -2.343, 1.043, -0.736, 0, 0, 0, 35 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 33 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 4: Put the bottle on the right side on the toilet tank. | STEP 5: Turn left, go back to in front of the sink. | STEP 6: Take the purple spray bottle from the trash bin. | STEP 7: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 8: Put the bottle on the left of the first purple bottle on the toilet tank. | END


Input: Put the pump bottle on the bottom shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 0, 0,  [SEP] 1, Cloth, -2.212, 1.052, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -1.707, 0.081, -0.549, 0, 270, 0, 30 [SEP] 3, SoapBar, -1.129, 0.852, -0.580, 0, 0, 0, 24 [SEP] 4, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 19 [SEP] 5, Candle, -0.817, 1.814, 2.187, 0, 0, 0, 27 [SEP] 6, Candle, -1.308, 0.330, 2.097, 0, 0, 0, 23 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -1.392, 1.010, -0.348, 0, 227.756, 0, 20 [SEP] 10, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 22 [SEP] 11, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 30 [SEP] 12, TissueBox, -0.817, 1.070, 2.097, 0, 0, 0, 27 [SEP] 13, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.949, 1.043, -0.674, 0, 0, 0, 32 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.471, 1.071, 2.127, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk up to the trash bin by the sink | STEP 2: Pick up the pump bottle from the trash bin | STEP 3: Turn around and walk across to the white shelves | STEP 4: Put the pump bottle on the bottom shelf | END


Input: put 2 lap tops 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, 0.909, -3.0, 0, 180, 0,  [SEP] 1, Mug, -0.657, 0.801, -4.354, 0, 0, 0, 39 [SEP] 2, Mug, -3.760, 0.979, -3.472, 0, 0, 0, 42 [SEP] 3, CD, -0.657, 0.799, -4.029, 0, 0, 0, 39 [SEP] 4, CD, -0.453, 0.799, -4.354, 0, 0, 0, 39 [SEP] 5, CellPhone, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 6, CellPhone, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 7, Pen, -0.657, 0.805, -4.246, 0, 0, 0, 39 [SEP] 8, KeyChain, -0.240, 0.543, -3.749, 0, 0, 0, 33 [SEP] 9, KeyChain, -0.502, 0.189, -3.876, 0, 0, 0, 34 [SEP] 10, Laptop, -3.613, 0.977, -3.070, 0, 0, 0, 42 [SEP] 11, Book, -3.191, 0.620, -1.506, 0, 0, 0, 24 [SEP] 12, CellPhone, -3.613, 0.981, -3.271, 0, 0, 0, 42 [SEP] 13, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 39 [SEP] 14, CreditCard, -0.426, 0.030, -3.811, 0, 0, 0, 34 [SEP] 15, AlarmClock, -3.539, 0.979, -3.673, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.249, 0.804, -4.137, 0, 90, 0, 39 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.685, 0.546, -3.713, 0, 0, 0, 33 [SEP] 20, Pillow, -2.770, 0.722, -0.931, 0, 0, 0, 24 [SEP] 21, CD, -1.827, 0.063, -3.905, 0, 279.990, 0, 28 [SEP] 22, Pen, -0.418, 0.548, -3.731, 0, 0, 0, 33 [SEP] 23, Mug, -1.270, 0.801, -4.029, 0, 0, 0, 39 [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 to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed | STEP 4: put the lap top on top of the bed | STEP 5: turn to the right go right towards the white table | STEP 6: close the lap top that is on the table  | STEP 7: pick up the lap top turn to the right go forward turn to the right towards the bed | STEP 8: put the lap top next to the other lap top | END


Input: Place two eggs in a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.25, 0, 90, 0,  [SEP] 1, Potato, -0.260, 1.100, -1.612, 0, 0, 0, 50 [SEP] 2, Potato, 0.065, 1.096, 0.091, 0, 0, 0, 52 [SEP] 3, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 53 [SEP] 4, Kettle, 0.960, 1.566, -1.463, 0, 0, 0, 54 [SEP] 5, Pot, -1.105, 0.204, -1.555, 0, 90, 0, 58 [SEP] 6, Fork, -0.775, 1.047, -1.289, 0, 270, 0, 50 [SEP] 7, Fork, 1.155, 1.047, -1.397, 0, 0, 0, 50 [SEP] 8, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 50 [SEP] 9, Egg, -0.517, 1.101, -1.397, 0, 0, 0, 50 [SEP] 10, Egg, -1.250, 2.002, 1.885, 0, 90, 0, 65 [SEP] 11, Plate, 1.512, 1.032, -1.484, 0, 0, 0, 56 [SEP] 12, Plate, -1.184, 2.041, -1.337, 0, 0, 0, 57 [SEP] 13, Knife, 0.065, 1.069, 0.522, 0, 90, 0, 52 [SEP] 14, Knife, -0.603, 1.072, -1.181, 0, 0, 0, 50 [SEP] 15, Tomato, 0.823, 1.097, -1.181, 0, 0, 0, 50 [SEP] 16, SoapBottle, 0.936, 1.054, 0.181, 0, 90, 0, 48 [SEP] 17, SoapBottle, 0.446, 1.044, 0.738, 0, 0, 0, 52 [SEP] 18, SaltShaker, 1.068, 0.194, -1.412, 0, 90, 0, 61 [SEP] 19, SaltShaker, 0.160, 1.038, 0.307, 0, 0, 0, 52 [SEP] 20, PepperShaker, -0.432, 1.041, -1.181, 0, 0, 0, 50 [SEP] 21, Lettuce, -0.030, 1.103, 0.522, 0, 0, 0, 52 [SEP] 22, Mug, -1.029, 2.023, -1.555, 0, 0, 0, 57 [SEP] 23, Mug, -1.096, 1.711, -1.300, 0, 0, 0, 64 [SEP] 24, SoapBottle, 1.036, 1.565, -1.614, 0, 0, 0, 54 [SEP] 25, Apple, 1.612, 1.086, 0.415, 0, 0, 0, 52 [SEP] 26, Potato, 1.347, 1.096, 0.632, 0, 0, 0, 52 [SEP] 27, Fork, -0.689, 1.047, -1.289, 0, 270, 0, 50 [SEP] 28, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 62 [SEP] 29, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 50 [SEP] 30, Tomato, -1.095, 1.014, 2.242, 0, 90, 0, 65 [SEP] 31, SaltShaker, -1.339, 0.197, -1.338, 0, 0, 0, 58 [SEP] 32, Egg, 0.740, 1.101, -1.289, 0, 0, 0, 50 [SEP] 33, Cup, -1.303, 1.489, 2.063, 0, 90, 0, 65 [SEP] 34, Spatula, 1.701, 1.058, 0.738, 0, 0, 0, 52 [SEP] 35, Knife, 0.518, 1.072, -1.097, 0, 180, 0, 50 [SEP] 36, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 52 [SEP] 37, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 52 [SEP] 38, PepperShaker, -0.346, 1.041, -1.505, 0, 0, 0, 50 [SEP] 39, DishSponge, -0.517, 1.046, -1.289, 0, 0, 0, 50 [SEP] 40, Plate, -1.169, 1.241, 1.885, 0, 90, 0, 65 [SEP] 41, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, -0.432, 1.048, -1.397, 0, 0, 0, 50 [SEP] 43, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 51 [SEP] 44, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 68 [SEP] 45, Bowl, -0.398, 1.563, -1.619, 0, 0, 0, 55 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave | STEP 4: Place the egg in the microwave | STEP 5: Go to the counter right of the stove | STEP 6: Pick up an egg from the counter | STEP 7: Go to the microwave | STEP 8: Place the egg in the microwave | END


Input: Move a watering can to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 7.0, 0, 0, 0,  [SEP] 1, Bowl, -2.811, 0.535, 4.044, 0, 0, 0, 56 [SEP] 2, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 39 [SEP] 3, CreditCard, -0.484, 0.793, 6.357, 0, 270, 0, 40 [SEP] 4, RemoteControl, -0.868, 0.442, 3.306, 0, 0, 0, 39 [SEP] 5, Laptop, -0.868, 0.437, 3.002, 0, 0, 0, 39 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 55 [SEP] 9, Vase, -0.687, 0.802, 6.357, 0, 270, 0, 40 [SEP] 10, Newspaper, -5.293, 0.532, 6.796, 0, 45, 0, 57 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -3.265, 0.147, 7.276, 0, 90, 0, 50 [SEP] 14, CreditCard, -0.433, 0.793, 5.600, 0, 270, 0, 40 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.789, 0.367, 3.306, 0, 0, 0, 39 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.424, 0.535, 6.815, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -5.745, 0.536, 6.569, 0, 135, 0, 57 [SEP] 23, Watch, -5.313, 0.533, 6.927, 0, 45, 0, 57 [SEP] 24, Statue, -2.422, 0.540, 4.335, 0, 270, 0, 56 [SEP] 25, Statue, -2.561, 0.535, 3.752, 0, 270, 0, 56 [SEP] 26, Statue, -2.87, 0.156, 7.122, 0, 90, 0, 50 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: Walk over to the black table against the wall on your left. | STEP 2: Pick up the white watering can off of the bottom shelf below the table. | STEP 3: Turn left and walk towards the television, then hang a left and walk over to the side of the coffee table. | STEP 4: Put the watering can on the coffee table. | END


Input: place a cardboard box with a credit card inside 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, 0.75, 0.900, -1.5, 0, 180, 0,  [SEP] 1, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 31 [SEP] 2, Newspaper, 1.826, 0.758, 0.516, 0, 90, 0, 38 [SEP] 3, KeyChain, -0.453, 0.202, -0.185, 0, 270, 0, 29 [SEP] 4, CreditCard, 1.808, 0.870, 0.008, 0, 90, 0, 37 [SEP] 5, CreditCard, -1.163, 0.551, -0.537, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.561, 0.551, -0.192, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.680, 0.279, -0.435, 0, 0, 0, 39 [SEP] 9, Watch, -0.260, 0.552, -0.623, 0, 270, 0, 31 [SEP] 10, Newspaper, -2.612, 0.049, 0.739, 0, 90, 0, 17 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.411, 0.551, -0.537, 0, 270, 0, 31 [SEP] 13, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 31 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.365, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall | STEP 4: place the cardboard box on top of the couch | STEP 5: turn around and face the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn around and face the cardboard box on the couch | STEP 8: place the credit card inside of the cardboard box on the couch and close the box | END


Input: Place a box with a credit card in it on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -1.5, 0, 180, 0,  [SEP] 1, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 31 [SEP] 2, Newspaper, 1.826, 0.758, 0.516, 0, 90, 0, 38 [SEP] 3, KeyChain, -0.453, 0.202, -0.185, 0, 270, 0, 29 [SEP] 4, CreditCard, 1.808, 0.870, 0.008, 0, 90, 0, 37 [SEP] 5, CreditCard, -1.163, 0.551, -0.537, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.561, 0.551, -0.192, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.680, 0.279, -0.435, 0, 0, 0, 39 [SEP] 9, Watch, -0.260, 0.552, -0.623, 0, 270, 0, 31 [SEP] 10, Newspaper, -2.612, 0.049, 0.739, 0, 90, 0, 17 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.411, 0.551, -0.537, 0, 270, 0, 31 [SEP] 13, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 31 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.365, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. | STEP 4: Place the box on the rightmost couch cushion. | STEP 5: Turn around and take a step right, facing the coffee table. | STEP 6: Pick up the credit card on the table. | STEP 7: Turn around and walk back to the box on the couch. | STEP 8: Place the credit card in the box on the couch. | END


Input: To move a knife and a cup to the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 2, ButterKnife, -0.990, 0.820, -1.328, 0, 90, 0, 102 [SEP] 3, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 78 [SEP] 4, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 54 [SEP] 5, Fork, -1.056, 0.821, -1.206, 0, 270, 0, 102 [SEP] 6, Spatula, 1.955, 0.926, 1.383, 0, 0, 0, 78 [SEP] 7, Spatula, -0.766, 0.835, -1.155, 0, 0, 0, 102 [SEP] 8, Cup, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 9, Cup, 2.838, 1.561, -0.775, 0, 0, 0, 98 [SEP] 10, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 98 [SEP] 11, Knife, -0.198, 0.944, 1.214, 0, 180, 0, 54 [SEP] 12, Bowl, 2.715, 0.724, -0.504, 0, 0, 0, 98 [SEP] 13, Bowl, 1.484, 1.653, -0.771, 0, 180, 0, 65 [SEP] 14, PepperShaker, 1.141, 0.908, -0.345, 0, 0, 0, 43 [SEP] 15, PepperShaker, -0.621, 0.817, -1.411, 0, 90, 0, 102 [SEP] 16, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 43 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 43 [SEP] 18, Mug, -0.157, 0.760, -0.651, 0, 90, 0, 100 [SEP] 19, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 102 [SEP] 20, SoapBottle, 1.141, 0.917, -0.684, 0, 0, 0, 43 [SEP] 21, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 43 [SEP] 22, Fork, 1.688, 0.912, 1.044, 0, 0, 0, 78 [SEP] 23, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 58 [SEP] 24, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 25, Egg, -1.962, 0.461, 1.290, 0, 270, 0, 96 [SEP] 26, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 27, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 102 [SEP] 28, Cup, 0.466, 1.782, 1.391, 0, 180, 0, 101 [SEP] 29, Spatula, -0.621, 0.835, -1.360, 0, 90, 0, 102 [SEP] 30, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 100 [SEP] 31, Pan, 2.777, 1.563, -0.578, 0, 0, 0, 98 [SEP] 32, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 78 [SEP] 33, SaltShaker, -0.694, 0.817, -1.103, 0, 90, 0, 102 [SEP] 34, Knife, 2.488, 0.944, 1.214, 0, 0, 0, 78 [SEP] 35, Potato, 2.900, 1.323, -0.512, 0, 0, 0, 98 [SEP] 36, PepperShaker, 0.888, 0.908, -0.430, 0, 0, 0, 43 [SEP] 37, ButterKnife, 1.955, 0.911, 1.299, 0, 90, 0, 78 [SEP] 38, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 78 [SEP] 39, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 96 [SEP] 40, Spoon, -0.007, 0.912, 1.299, 0, 90, 0, 54 [SEP] 41, Mug, -0.246, 0.906, 1.214, 0, 0, 0, 54 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the counter to the left of the stove.  | STEP 2: Pick up the knife on the edge of the counter.  | STEP 3: Move to the front of the stove and look up at the microwave.  | STEP 4: Open the microwave door, place the knife in the cup in the microwave.  | STEP 5: Take the cup out of the microwave and shut the door.  | STEP 6: Walk to the table to the left of the room.  | STEP 7: Place the cup down on the table in front of the apple.  | END


Input: Put a warmed slice of bread 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, -1.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pan, 1.688, 0.911, 1.468, 0, 0, 0, 76 [SEP] 2, Potato, -0.017, 0.800, -0.541, 0, 0, 0, 98 [SEP] 3, Potato, 1.155, 0.946, 1.553, 0, 0, 0, 76 [SEP] 4, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 52 [SEP] 5, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 94 [SEP] 6, Fork, 1.831, 0.771, 1.198, 0, 270, 0, 74 [SEP] 7, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 96 [SEP] 8, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 99 [SEP] 9, Cup, 1.155, 0.909, 1.383, 0, 0, 0, 76 [SEP] 10, Egg, -0.734, 0.858, -1.473, 0, 0, 0, 100 [SEP] 11, Knife, 0.888, 0.944, -0.769, 0, 0, 0, 41 [SEP] 12, Tomato, 1.141, 0.942, -0.515, 0, 0, 0, 41 [SEP] 13, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 76 [SEP] 14, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 41 [SEP] 15, Mug, 1.955, 0.906, 1.129, 0, 0, 0, 76 [SEP] 16, Mug, -0.210, 1.649, -0.734, 0, 180, 0, 83 [SEP] 17, Apple, -1.962, 0.492, 1.332, 0, 270, 0, 94 [SEP] 18, SoapBottle, 2.488, 0.917, 1.299, 0, 0, 0, 76 [SEP] 19, Plate, 2.838, 1.566, -0.578, 0, 0, 0, 96 [SEP] 20, Fork, 2.774, 0.771, 1.122, 0, 90, 0, 85 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 96 [SEP] 23, Egg, 0.363, 1.822, 1.520, 0, 180, 0, 99 [SEP] 24, Kettle, -0.086, 0.116, 1.117, 0, 0, 0, 69 [SEP] 25, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 96 [SEP] 26, Cup, 0.053, 0.763, -0.651, 0, 0, 0, 98 [SEP] 27, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 100 [SEP] 28, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 100 [SEP] 29, Pan, 0.707, 2.153, 1.468, 0, 0, 0, 50 [SEP] 30, Lettuce, -0.103, 0.992, 1.129, 0, 90, 0, 52 [SEP] 31, SaltShaker, -0.151, 0.908, 1.383, 0, 0, 0, 52 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, -0.055, 0.946, 1.383, 0, 0, 0, 52 [SEP] 34, PepperShaker, 1.634, 1.650, 1.508, 0, 0, 0, 64 [SEP] 35, ButterKnife, -0.836, 0.820, -1.255, 0, 0, 0, 100 [SEP] 36, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 41 [SEP] 37, DishSponge, 0.123, 0.765, -0.541, 0, 0, 0, 98 [SEP] 38, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 98 [SEP] 39, Mug, 1.213, 0.110, 1.077, 0, 0, 0, 48 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and head to the microwave above the stove. | STEP 10: Warm the bread in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin. | STEP 12: Put the slice of bread in the recycling bin. | END


Input: Put bowl with sponge on counter in front of lettuce.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Potato, -1.056, 0.855, -1.411, 0, 90, 0, 103 [SEP] 3, Potato, 1.422, 0.946, 1.468, 0, 0, 0, 79 [SEP] 4, Fork, -0.057, 0.771, 1.198, 0, 270, 0, 49 [SEP] 5, Fork, -0.766, 0.821, -1.206, 0, 270, 0, 103 [SEP] 6, Cup, 2.962, 1.016, -0.709, 0, 0, 0, 99 [SEP] 7, Cup, 1.422, 0.909, 1.299, 0, 0, 0, 79 [SEP] 8, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 97 [SEP] 9, SoapBottle, 2.487, 1.661, 1.546, 0, 0, 0, 69 [SEP] 10, Tomato, -0.246, 0.942, 1.468, 0, 0, 0, 55 [SEP] 11, Tomato, 2.962, 1.320, -0.447, 0, 0, 0, 99 [SEP] 12, Bowl, -0.175, 1.652, -0.734, 0, 180, 0, 86 [SEP] 13, Bowl, 2.777, 1.286, -0.512, 0, 0, 0, 99 [SEP] 14, Bowl, 1.872, 1.652, -0.811, 0, 180, 0, 81 [SEP] 15, SaltShaker, 1.413, 1.650, 1.585, 0, 0, 0, 67 [SEP] 16, SaltShaker, 1.141, 1.651, 1.390, 0, 0, 0, 71 [SEP] 17, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 44 [SEP] 18, Mug, 1.909, 0.109, -0.458, 0, 180, 0, 90 [SEP] 19, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 103 [SEP] 20, Apple, 1.688, 0.980, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, 1.597, 1.661, -0.732, 0, 180, 0, 66 [SEP] 22, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, -0.887, 0.821, -1.473, 0, 180, 0, 103 [SEP] 24, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 59 [SEP] 25, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 99 [SEP] 26, Egg, 2.591, 1.056, -0.447, 0, 0, 0, 99 [SEP] 27, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 28, Tomato, 2.715, 0.758, -0.565, 0, 0, 0, 99 [SEP] 29, Cup, 2.715, 1.286, -0.840, 0, 0, 0, 99 [SEP] 30, Spatula, -0.087, 0.780, -0.762, 0, 90, 0, 101 [SEP] 31, Apple, -0.939, 0.889, -1.328, 0, 0, 0, 103 [SEP] 32, Pan, 2.488, 0.911, 1.468, 0, 0, 0, 79 [SEP] 33, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 55 [SEP] 34, SaltShaker, 1.522, 0.111, -0.578, 0, 180, 0, 61 [SEP] 35, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 44 [SEP] 36, Potato, -0.103, 0.946, 1.383, 0, 0, 0, 55 [SEP] 37, PepperShaker, 1.484, 1.651, -0.732, 0, 180, 0, 66 [SEP] 38, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 44 [SEP] 39, Bowl, 0.363, 1.782, 1.455, 0, 180, 0, 102 [SEP] 40, DishSponge, 1.171, 1.654, -0.849, 0, 180, 0, 54 [SEP] 41, Spoon, 2.868, 0.773, 1.198, 0, 0, 0, 88 [SEP] 42, Mug, -0.164, 1.649, 1.470, 0, 0, 0, 102 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Move to the counter near the coffee machine.  | STEP 2: Take the sponge out of the cabinet above the lettuce.  | STEP 3: Spring the sponge to the next cabinet on the left.  | STEP 4: Put the sponge in the bowl in the cabinet.  | STEP 5: Pick up the bowl from the cabinet.  | STEP 6: Bring the bowl to the coffee machine. | STEP 7: Put the bowl down on the counter in front of the lettuce.  | END


Input: Place a soap bottle in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.0, 0, 270, 0,  [SEP] 1, TissueBox, -1.561, 0.069, 3.693, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.284, 0.994, 2.923, 0, 0, 0, 27 [SEP] 3, Cloth, -1.439, 0.067, 3.276, 0, 0, 0, 26 [SEP] 4, Candle, -1.322, 0.068, 3.592, 0, 0, 0, 28 [SEP] 5, Candle, -1.560, 0.067, 2.290, 0, 0, 0, 22 [SEP] 6, SprayBottle, -1.501, 0.069, 2.908, 0, 0, 0, 26 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.319, 0.067, 2.492, 0, 0, 0, 22 [SEP] 10, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.481, 0.994, 3.782, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.350, 0.994, 2.148, 0, 0, 0, 27 [SEP] 14, SoapBottle, -1.416, 0.993, 2.269, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.481, 0.991, 3.933, 0, 0, 0, 27 [SEP] 16, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 33 [SEP] 17, Cloth, -1.547, 0.994, 3.041, 0, 90, 0, 27 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Walk ahead to the sink, then walk left around the counter to the left side. | STEP 2: Pick up the bottle of soap on the counter. | STEP 3: Walk right and then veer left to the green bin in the corner of the room. | STEP 4: Place the soap bottle in the bin. | END


Input: move the remote from the table to the chair 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, 0.0, 0, 0, 0,  [SEP] 1, Watch, 1.849, 0.871, 0.220, 0, 90, 0, 40 [SEP] 2, Watch, -0.582, 0.358, -0.120, 0, 270, 0, 43 [SEP] 3, Newspaper, -1.100, 0.358, -0.544, 0, 270, 0, 33 [SEP] 4, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 34 [SEP] 5, KeyChain, -0.077, 0.324, -1.844, 0, 180, 0, 36 [SEP] 6, KeyChain, -1.133, 0.295, -1.771, 0, 0, 0, 36 [SEP] 7, CreditCard, -0.711, 0.332, -1.771, 0, 0, 0, 36 [SEP] 8, RemoteControl, 1.849, 0.872, 0.431, 0, 90, 0, 40 [SEP] 9, RemoteControl, -0.712, 0.553, -0.537, 0, 270, 0, 34 [SEP] 10, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 42 [SEP] 11, KeyChain, -0.862, 0.553, -0.192, 0, 180, 0, 34 [SEP] 12, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 33 [SEP] 13, Newspaper, -0.453, 0.199, -0.544, 0, 90, 0, 35 [SEP] 14, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 36 [SEP] 15, CreditCard, 1.766, 0.869, 0.326, 0, 90, 0, 40 [SEP] 16, RemoteControl, -0.411, 0.553, -0.451, 0, 270, 0, 34 [SEP] 17, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 34 [SEP] 18, Statue, -0.260, 0.562, -0.537, 0, 270, 0, 34 [SEP] 19, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 34 [SEP] 20, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 21, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 22, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 23, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 24, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 25, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 26, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 27, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 28, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 29, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 32, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 33, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 34, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 35, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 36, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 37, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 38, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 39, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 40, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 41, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 42, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 43, , , , , , , ,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table | STEP 2: pick up the remote off of the table | STEP 3: turn right then turn left then turn right again towards the chair | STEP 4: put the remote down on the chair | END


Input: Place a bowl and a potato slice in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 78 [SEP] 2, Potato, -0.836, 0.855, -1.255, 0, 0, 0, 102 [SEP] 3, Potato, 2.591, 1.053, -0.775, 0, 0, 0, 98 [SEP] 4, DishSponge, 1.880, 1.655, 1.429, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.983, 0.820, -1.257, 0, 90, 0, 102 [SEP] 6, ButterKnife, -0.836, 0.820, -1.473, 0, 0, 0, 102 [SEP] 7, Fork, -0.023, 0.771, 1.122, 0, 90, 0, 48 [SEP] 8, Spatula, 0.634, 0.926, -0.684, 0, 0, 0, 43 [SEP] 9, Spatula, 2.156, 0.926, -0.345, 0, 0, 0, 43 [SEP] 10, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 78 [SEP] 11, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 78 [SEP] 12, Egg, -1.056, 0.858, -1.308, 0, 90, 0, 102 [SEP] 13, Egg, 1.155, 0.949, 1.468, 0, 0, 0, 78 [SEP] 14, SoapBottle, 1.141, 0.917, -0.854, 0, 0, 0, 43 [SEP] 15, SoapBottle, 2.487, 1.661, 1.429, 0, 0, 0, 68 [SEP] 16, Tomato, 2.591, 1.594, -0.447, 0, 0, 0, 98 [SEP] 17, Bowl, -0.939, 0.818, -1.400, 0, 0, 0, 102 [SEP] 18, Bowl, 1.155, 0.909, 1.129, 0, 0, 0, 78 [SEP] 19, SaltShaker, 1.558, 0.111, -0.578, 0, 180, 0, 60 [SEP] 20, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 102 [SEP] 21, Plate, -0.151, 0.914, 1.299, 0, 0, 0, 54 [SEP] 22, Fork, 1.955, 0.912, 1.129, 0, 0, 0, 78 [SEP] 23, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 24, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -1.962, 0.461, 1.417, 0, 270, 0, 96 [SEP] 26, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 78 [SEP] 27, Tomato, -0.198, 0.942, 1.044, 0, 0, 0, 54 [SEP] 28, Cup, 0.570, 1.782, 1.391, 0, 180, 0, 101 [SEP] 29, Spatula, 0.054, 0.926, -0.316, 0, 0, 0, 43 [SEP] 30, Apple, 2.777, 1.087, -0.644, 0, 0, 0, 98 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 98 [SEP] 33, SaltShaker, 2.802, 0.110, 1.156, 0, 0, 0, 75 [SEP] 34, Knife, 0.634, 0.944, -0.345, 0, 0, 0, 43 [SEP] 35, Potato, -0.694, 0.855, -1.155, 0, 90, 0, 102 [SEP] 36, PepperShaker, -0.007, 0.908, 1.129, 0, 0, 0, 54 [SEP] 37, ButterKnife, 1.422, 0.911, 1.468, 0, 0, 0, 78 [SEP] 38, Bowl, 0.178, 2.154, 1.467, 0, 0, 0, 77 [SEP] 39, DishSponge, 1.490, 0.771, 1.160, 0, 0, 0, 61 [SEP] 40, Spoon, 2.488, 0.912, 1.383, 0, 0, 0, 78 [SEP] 41, Mug, 0.193, 0.760, -0.596, 0, 0, 0, 100 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove. | STEP 8: Place the bowl inside of the microwave. | STEP 9: Turn left and head back to the table. | STEP 10: Grab a potato slice. | STEP 11: Turn around again and head right to the microwave. | STEP 12: Place the potato slice in the microwave. | END


Input: Put a chilled cup on the island.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.931, 1.25, 0, 0, 0,  [SEP] 1, Pan, -1.029, 2.027, -1.482, 0, 90, 0, 55 [SEP] 2, DishSponge, 0.065, 1.042, 0.415, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.446, 1.043, 0.199, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 5, Pot, -1.169, 1.229, 1.885, 0, 180, 0, 63 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Egg, 1.271, 0.947, 0.304, 0, 90, 0, 45 [SEP] 8, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 50 [SEP] 9, Cup, 0.351, 1.043, 0.415, 0, 0, 0, 50 [SEP] 10, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 52 [SEP] 11, Tomato, -1.419, 1.540, 1.885, 0, 90, 0, 63 [SEP] 12, Tomato, 1.015, 1.094, 0.720, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.238, 1.047, -1.181, 0, 0, 0, 48 [SEP] 14, SoapBottle, 0.801, 0.200, -1.195, 0, 0, 0, 59 [SEP] 15, Bowl, 1.072, 1.045, -1.397, 0, 0, 0, 48 [SEP] 16, Bowl, -1.342, 1.488, 2.063, 0, 90, 0, 63 [SEP] 17, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 58 [SEP] 18, PepperShaker, 1.247, 0.194, -1.267, 0, 0, 0, 59 [SEP] 19, Mug, -1.303, 1.484, 1.796, 0, 90, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 21, Apple, -0.775, 1.090, -1.289, 0, 0, 0, 48 [SEP] 22, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 46 [SEP] 23, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 24, Potato, -1.423, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 1.238, 1.047, -1.612, 0, 90, 0, 48 [SEP] 26, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.259, 1.529, 2.228, 358.684, 0, 0, 63 [SEP] 29, SaltShaker, -0.491, 0.198, -1.265, 0, 0, 0, 57 [SEP] 30, Egg, -1.145, 1.770, -1.331, 0, 0, 0, 62 [SEP] 31, Cup, -0.774, 1.565, -1.545, 0, 0, 0, 53 [SEP] 32, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 50 [SEP] 33, Knife, 0.936, 1.079, 0.181, 0, 90, 0, 46 [SEP] 34, Lettuce, 0.823, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.522, 0, 0, 0, 50 [SEP] 37, DishSponge, 0.848, 1.042, 0.676, 0, 0, 0, 50 [SEP] 38, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 57 [SEP] 39, Bread, -0.517, 1.120, -1.397, 0, 0, 0, 48 [SEP] 40, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 45 [SEP] 41, Pot, 1.158, 0.201, -1.484, 0, 90, 0, 59 [SEP] 42, Mug, -1.261, 2.023, -1.191, 0, 0, 0, 55 [SEP] 43, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the the center island. | STEP 2: Pick up the green cup on the right.  | STEP 3: Turn around and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Bring the cup to the island on the left. | STEP 6: Put the cup on the island.  | END


Input: Cool down one of the green cups on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.931, 1.25, 0, 0, 0,  [SEP] 1, Pan, -1.029, 2.027, -1.482, 0, 90, 0, 55 [SEP] 2, DishSponge, 0.065, 1.042, 0.415, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.446, 1.043, 0.199, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 5, Pot, -1.169, 1.229, 1.885, 0, 180, 0, 63 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Egg, 1.271, 0.947, 0.304, 0, 90, 0, 45 [SEP] 8, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 50 [SEP] 9, Cup, 0.351, 1.043, 0.415, 0, 0, 0, 50 [SEP] 10, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 52 [SEP] 11, Tomato, -1.419, 1.540, 1.885, 0, 90, 0, 63 [SEP] 12, Tomato, 1.015, 1.094, 0.720, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.238, 1.047, -1.181, 0, 0, 0, 48 [SEP] 14, SoapBottle, 0.801, 0.200, -1.195, 0, 0, 0, 59 [SEP] 15, Bowl, 1.072, 1.045, -1.397, 0, 0, 0, 48 [SEP] 16, Bowl, -1.342, 1.488, 2.063, 0, 90, 0, 63 [SEP] 17, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 58 [SEP] 18, PepperShaker, 1.247, 0.194, -1.267, 0, 0, 0, 59 [SEP] 19, Mug, -1.303, 1.484, 1.796, 0, 90, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 21, Apple, -0.775, 1.090, -1.289, 0, 0, 0, 48 [SEP] 22, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 46 [SEP] 23, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 24, Potato, -1.423, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 1.238, 1.047, -1.612, 0, 90, 0, 48 [SEP] 26, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.259, 1.529, 2.228, 358.684, 0, 0, 63 [SEP] 29, SaltShaker, -0.491, 0.198, -1.265, 0, 0, 0, 57 [SEP] 30, Egg, -1.145, 1.770, -1.331, 0, 0, 0, 62 [SEP] 31, Cup, -0.774, 1.565, -1.545, 0, 0, 0, 53 [SEP] 32, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 50 [SEP] 33, Knife, 0.936, 1.079, 0.181, 0, 90, 0, 46 [SEP] 34, Lettuce, 0.823, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.522, 0, 0, 0, 50 [SEP] 37, DishSponge, 0.848, 1.042, 0.676, 0, 0, 0, 50 [SEP] 38, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 57 [SEP] 39, Bread, -0.517, 1.120, -1.397, 0, 0, 0, 48 [SEP] 40, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 45 [SEP] 41, Pot, 1.158, 0.201, -1.484, 0, 90, 0, 59 [SEP] 42, Mug, -1.261, 2.023, -1.191, 0, 0, 0, 55 [SEP] 43, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the table. | STEP 2: Pick up the green cup closest to you. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup inside the fridge to cool it up and take it back out. | STEP 5: Turn left and face the counter to your left. | STEP 6: Place the cup back on the counter. | END


Input: Chill a glass and place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.931, 1.25, 0, 0, 0,  [SEP] 1, Pan, -1.029, 2.027, -1.482, 0, 90, 0, 55 [SEP] 2, DishSponge, 0.065, 1.042, 0.415, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.446, 1.043, 0.199, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 5, Pot, -1.169, 1.229, 1.885, 0, 180, 0, 63 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Egg, 1.271, 0.947, 0.304, 0, 90, 0, 45 [SEP] 8, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 50 [SEP] 9, Cup, 0.351, 1.043, 0.415, 0, 0, 0, 50 [SEP] 10, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 52 [SEP] 11, Tomato, -1.419, 1.540, 1.885, 0, 90, 0, 63 [SEP] 12, Tomato, 1.015, 1.094, 0.720, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.238, 1.047, -1.181, 0, 0, 0, 48 [SEP] 14, SoapBottle, 0.801, 0.200, -1.195, 0, 0, 0, 59 [SEP] 15, Bowl, 1.072, 1.045, -1.397, 0, 0, 0, 48 [SEP] 16, Bowl, -1.342, 1.488, 2.063, 0, 90, 0, 63 [SEP] 17, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 58 [SEP] 18, PepperShaker, 1.247, 0.194, -1.267, 0, 0, 0, 59 [SEP] 19, Mug, -1.303, 1.484, 1.796, 0, 90, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 21, Apple, -0.775, 1.090, -1.289, 0, 0, 0, 48 [SEP] 22, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 46 [SEP] 23, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 24, Potato, -1.423, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 1.238, 1.047, -1.612, 0, 90, 0, 48 [SEP] 26, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.259, 1.529, 2.228, 358.684, 0, 0, 63 [SEP] 29, SaltShaker, -0.491, 0.198, -1.265, 0, 0, 0, 57 [SEP] 30, Egg, -1.145, 1.770, -1.331, 0, 0, 0, 62 [SEP] 31, Cup, -0.774, 1.565, -1.545, 0, 0, 0, 53 [SEP] 32, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 50 [SEP] 33, Knife, 0.936, 1.079, 0.181, 0, 90, 0, 46 [SEP] 34, Lettuce, 0.823, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.522, 0, 0, 0, 50 [SEP] 37, DishSponge, 0.848, 1.042, 0.676, 0, 0, 0, 50 [SEP] 38, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 57 [SEP] 39, Bread, -0.517, 1.120, -1.397, 0, 0, 0, 48 [SEP] 40, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 45 [SEP] 41, Pot, 1.158, 0.201, -1.484, 0, 90, 0, 59 [SEP] 42, Mug, -1.261, 2.023, -1.191, 0, 0, 0, 55 [SEP] 43, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the counter. | STEP 2: Pick up the green glass that is in the front of the counter. | STEP 3: Take the glass and turn around and to the left to face the fridge. | STEP 4: Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and then shut the door. | STEP 5: Carry the glass and turn to the left back towards the counter. | STEP 6: Place the glass on the right side edge of the counter. | END


Input: Look at a container by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 2.75, 0, 90, 0,  [SEP] 1, Bowl, -2.631, 0.535, 4.480, 0, 270, 0, 57 [SEP] 2, Bowl, -2.277, 0.454, 7.221, 0, 90, 0, 49 [SEP] 3, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 58 [SEP] 4, Watch, -2.474, 0.146, 7.173, 0, 90, 0, 51 [SEP] 5, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.87, 0.453, 7.145, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.710, 0.365, 3.306, 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, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -5.162, 0.533, 6.777, 0, 45, 0, 58 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.687, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -3.067, 0.454, 7.183, 0, 90, 0, 49 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 51 [SEP] 24, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.283, 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 left and walk to the shelves along the wall. | STEP 2: Pick up the gray container on the right of the shelf. | STEP 3: Turn right and walk to the lamp. | STEP 4: Turn on the lamp. | END


Input: turn on a lamp while holding a bowl SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 2.75, 0, 90, 0,  [SEP] 1, Bowl, -2.631, 0.535, 4.480, 0, 270, 0, 57 [SEP] 2, Bowl, -2.277, 0.454, 7.221, 0, 90, 0, 49 [SEP] 3, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 58 [SEP] 4, Watch, -2.474, 0.146, 7.173, 0, 90, 0, 51 [SEP] 5, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.87, 0.453, 7.145, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.710, 0.365, 3.306, 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, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -5.162, 0.533, 6.777, 0, 45, 0, 58 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.687, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -3.067, 0.454, 7.183, 0, 90, 0, 49 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 51 [SEP] 24, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.283, 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 left and walk to the far end of the room with the black cabinet | STEP 2: grab a bowl off of the of the shelf of the cabinet | STEP 3: turn right and walk over to the oval shaped table against the wall | STEP 4: turn on the lamp on the table | END