Input: Using a bowl, place a piece of sliced apple into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.25, 0, 0, 0,  [SEP] 1, Potato, -0.939, 0.855, -1.473, 0, 0, 0, 105 [SEP] 2, Potato, 2.777, 0.760, -0.535, 0, 0, 0, 101 [SEP] 3, DishSponge, 0.707, 2.153, 1.390, 0, 0, 0, 55 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 5, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 81 [SEP] 6, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 46 [SEP] 7, Pot, 2.777, 1.022, -0.775, 0, 0, 0, 101 [SEP] 8, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 46 [SEP] 9, Cup, 1.595, 0.112, -0.498, 0, 180, 0, 63 [SEP] 10, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 103 [SEP] 12, SoapBottle, 0.514, 1.660, -0.849, 0, 180, 0, 85 [SEP] 13, SoapBottle, 1.792, 0.120, 1.117, 0, 0, 0, 66 [SEP] 14, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 103 [SEP] 15, Bowl, 2.715, 1.286, -0.644, 0, 0, 0, 101 [SEP] 16, Bowl, 2.900, 1.561, -0.512, 0, 0, 0, 101 [SEP] 17, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 57 [SEP] 18, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 81 [SEP] 19, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Mug, -0.090, 1.649, 1.508, 0, 0, 0, 104 [SEP] 21, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 103 [SEP] 22, Apple, 0.570, 1.853, 1.488, 0, 180, 0, 104 [SEP] 23, SoapBottle, 2.838, 1.660, 1.508, 0, 0, 0, 47 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 51 [SEP] 26, Pot, 1.141, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, 2.962, 1.601, -0.775, 0, 0, 0, 101 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, -0.151, 0.942, 1.044, 0, 0, 0, 57 [SEP] 31, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 32, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 81 [SEP] 33, Apple, -0.983, 0.889, -1.360, 0, 90, 0, 105 [SEP] 34, Pan, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 35, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 105 [SEP] 36, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 105 [SEP] 37, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 38, Potato, 2.591, 1.323, -0.512, 0, 0, 0, 101 [SEP] 39, PepperShaker, 2.221, 0.908, 1.553, 0, 0, 0, 81 [SEP] 40, ButterKnife, -0.621, 0.820, -1.308, 0, 90, 0, 105 [SEP] 41, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 81 [SEP] 42, DishSponge, 2.173, 0.771, -0.498, 0, 180, 0, 59 [SEP] 43, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 81 [SEP] 44, Mug, 2.906, 1.649, 1.394, 0, 0, 0, 47 [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: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple. | STEP 9: Move from the table to the counter that is left of the stove. | STEP 10: Place the apple section in to the bowl. | STEP 11: Pick the bowl up off of the counter. | STEP 12: Move to the right and face the microwave. | STEP 13: Place the bowl in to the microwave. | END


Input: Place a bowl with an apple 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, -1.0, 0.900, 0.25, 0, 0, 0,  [SEP] 1, Potato, -0.939, 0.855, -1.473, 0, 0, 0, 105 [SEP] 2, Potato, 2.777, 0.760, -0.535, 0, 0, 0, 101 [SEP] 3, DishSponge, 0.707, 2.153, 1.390, 0, 0, 0, 55 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 5, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 81 [SEP] 6, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 46 [SEP] 7, Pot, 2.777, 1.022, -0.775, 0, 0, 0, 101 [SEP] 8, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 46 [SEP] 9, Cup, 1.595, 0.112, -0.498, 0, 180, 0, 63 [SEP] 10, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 103 [SEP] 12, SoapBottle, 0.514, 1.660, -0.849, 0, 180, 0, 85 [SEP] 13, SoapBottle, 1.792, 0.120, 1.117, 0, 0, 0, 66 [SEP] 14, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 103 [SEP] 15, Bowl, 2.715, 1.286, -0.644, 0, 0, 0, 101 [SEP] 16, Bowl, 2.900, 1.561, -0.512, 0, 0, 0, 101 [SEP] 17, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 57 [SEP] 18, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 81 [SEP] 19, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Mug, -0.090, 1.649, 1.508, 0, 0, 0, 104 [SEP] 21, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 103 [SEP] 22, Apple, 0.570, 1.853, 1.488, 0, 180, 0, 104 [SEP] 23, SoapBottle, 2.838, 1.660, 1.508, 0, 0, 0, 47 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 51 [SEP] 26, Pot, 1.141, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, 2.962, 1.601, -0.775, 0, 0, 0, 101 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, -0.151, 0.942, 1.044, 0, 0, 0, 57 [SEP] 31, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 32, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 81 [SEP] 33, Apple, -0.983, 0.889, -1.360, 0, 90, 0, 105 [SEP] 34, Pan, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 35, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 105 [SEP] 36, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 105 [SEP] 37, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 38, Potato, 2.591, 1.323, -0.512, 0, 0, 0, 101 [SEP] 39, PepperShaker, 2.221, 0.908, 1.553, 0, 0, 0, 81 [SEP] 40, ButterKnife, -0.621, 0.820, -1.308, 0, 90, 0, 105 [SEP] 41, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 81 [SEP] 42, DishSponge, 2.173, 0.771, -0.498, 0, 180, 0, 59 [SEP] 43, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 81 [SEP] 44, Mug, 2.906, 1.649, 1.394, 0, 0, 0, 47 [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 right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you. | STEP 9: Turn left and face the counter by the stove to your left. | STEP 10: Place the apple slice in the bowl on the counter. | STEP 11: Pick up the bowl with the apple slice and knife from the counter. | STEP 12: Turn right and face the microwave above the stove. | STEP 13: Place the bowl with the apple slice in the microwave and close it. | END


Input: Inspect a laptop 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, -0.75, 0.909, -2.0, 0, 180, 0,  [SEP] 1, CellPhone, -3.687, 0.981, -3.271, 0, 0, 0, 41 [SEP] 2, Pencil, -0.418, 0.546, -3.768, 0, 0, 0, 32 [SEP] 3, CreditCard, -0.329, 0.542, -3.749, 0, 0, 0, 32 [SEP] 4, KeyChain, -0.507, 0.543, -3.713, 0, 0, 0, 32 [SEP] 5, KeyChain, -3.807, 0.615, -4.163, 0, 90, 0, 47 [SEP] 6, Book, -3.582, 0.419, -4.070, 0, 0, 0, 44 [SEP] 7, Book, -3.582, 0.615, -3.184, 0, 0, 0, 42 [SEP] 8, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 23 [SEP] 9, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 23 [SEP] 10, Book, -1.066, 0.800, -4.029, 0, 0, 0, 38 [SEP] 11, CellPhone, -3.524, 0.808, -4.070, 0, 0, 0, 39 [SEP] 12, Laptop, -3.402, 0.618, -0.931, 0, 0, 0, 23 [SEP] 13, CreditCard, -1.066, 0.800, -4.246, 0, 0, 0, 38 [SEP] 14, AlarmClock, -0.657, 0.803, -3.703, 0, 0, 0, 38 [SEP] 15, KeyChain, -1.474, 0.804, -3.811, 0, 0, 0, 38 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -0.240, 0.546, -3.749, 0, 0, 0, 32 [SEP] 19, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.979, -3.472, 0, 0, 0, 41 [SEP] 21, Pen, -0.685, 0.548, -3.731, 0, 0, 0, 32 [SEP] 22, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk over to face the foot of the bed.  | STEP 2: Close the laptop closest to you and pick it up.  | STEP 3: Turn around and head over to the white desk.  | STEP 4: Turn on the lamp that is sitting on the desk.  | END


Input: Put the phone on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.949, -0.75, 0, 90, 0,  [SEP] 1, CD, -1.037, 0.783, -0.758, 0, 0, 0, 60 [SEP] 2, CD, -1.017, 0.091, -1.147, 0, 0, 0, 25 [SEP] 3, CellPhone, -0.772, 0.785, -0.548, 0, 0, 0, 60 [SEP] 4, Pen, 1.666, 0.993, -2.125, 0, 270, 0, 39 [SEP] 5, Pencil, 2.519, 0.992, -2.125, 0, 270, 0, 39 [SEP] 6, Pencil, 3.377, 0.727, 1.488, 0, 180, 0, 64 [SEP] 7, KeyChain, 3.377, 0.725, 1.307, 0, 180, 0, 64 [SEP] 8, KeyChain, -0.740, 0.175, -0.292, 0, 0, 0, 50 [SEP] 9, Book, 2.381, 0.610, 0.549, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.350, 1.109, 3.171, 0, 180, 0, 47 [SEP] 11, Book, -0.838, 0.785, -0.128, 0, 0, 0, 60 [SEP] 12, KeyChain, -1.037, 0.785, 0.291, 0, 0, 0, 60 [SEP] 13, CreditCard, -0.812, 0.585, -0.064, 0, 0, 0, 61 [SEP] 14, Pen, 2.803, 0.990, -1.862, 0, 270, 0, 39 [SEP] 15, Pencil, -1.037, 0.788, -0.128, 0, 0, 0, 60 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, -0.838, 0.790, -0.758, 0, 0, 0, 60 [SEP] 18, AlarmClock, -1.037, 0.786, -0.338, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, 2.234, 0.985, -1.687, 0, 270, 0, 39 [SEP] 22, CD, 1.454, 0.179, -1.786, 0, 270, 0, 36 [SEP] 23, Vase, -0.068, 0.788, 3.171, 0, 180, 0, 46 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 66, NorthWall, , , , , , ,  [SEP] 67, EastWall, , , , , , ,  [SEP] 68, SouthWall, , , , , , ,  [SEP] 69, WestWall, , , , , , ,

Output: STEP 1: Go forward and stand at the dresser. | STEP 2: Pick up the phone from the dresser. | STEP 3: Turn around and go to the head of the bed. | STEP 4: Put the phone on the bed. | END


Input: Place a blue cell phone on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.949, -0.75, 0, 90, 0,  [SEP] 1, CD, -1.037, 0.783, -0.758, 0, 0, 0, 60 [SEP] 2, CD, -1.017, 0.091, -1.147, 0, 0, 0, 25 [SEP] 3, CellPhone, -0.772, 0.785, -0.548, 0, 0, 0, 60 [SEP] 4, Pen, 1.666, 0.993, -2.125, 0, 270, 0, 39 [SEP] 5, Pencil, 2.519, 0.992, -2.125, 0, 270, 0, 39 [SEP] 6, Pencil, 3.377, 0.727, 1.488, 0, 180, 0, 64 [SEP] 7, KeyChain, 3.377, 0.725, 1.307, 0, 180, 0, 64 [SEP] 8, KeyChain, -0.740, 0.175, -0.292, 0, 0, 0, 50 [SEP] 9, Book, 2.381, 0.610, 0.549, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.350, 1.109, 3.171, 0, 180, 0, 47 [SEP] 11, Book, -0.838, 0.785, -0.128, 0, 0, 0, 60 [SEP] 12, KeyChain, -1.037, 0.785, 0.291, 0, 0, 0, 60 [SEP] 13, CreditCard, -0.812, 0.585, -0.064, 0, 0, 0, 61 [SEP] 14, Pen, 2.803, 0.990, -1.862, 0, 270, 0, 39 [SEP] 15, Pencil, -1.037, 0.788, -0.128, 0, 0, 0, 60 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, -0.838, 0.790, -0.758, 0, 0, 0, 60 [SEP] 18, AlarmClock, -1.037, 0.786, -0.338, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, 2.234, 0.985, -1.687, 0, 270, 0, 39 [SEP] 22, CD, 1.454, 0.179, -1.786, 0, 270, 0, 36 [SEP] 23, Vase, -0.068, 0.788, 3.171, 0, 180, 0, 46 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 66, NorthWall, , , , , , ,  [SEP] 67, EastWall, , , , , , ,  [SEP] 68, SouthWall, , , , , , ,  [SEP] 69, WestWall, , , , , , ,

Output: STEP 1: Walk towards the blue cell phone on the dresser on the right. | STEP 2: Pick up the blue cell phone from the dresser. | STEP 3: Turn around and walk to the left side of the bed. | STEP 4: Put the cell phone on the bed, to the right of the closest pillow. | END


Input: Put a warm mug at the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, -0.766, 0.855, -1.206, 0, 90, 0, 106 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 3, ButterKnife, 1.955, 0.911, 1.299, 0, 0, 0, 82 [SEP] 4, ButterKnife, 0.053, 0.765, -0.596, 0, 0, 0, 104 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 6, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 104 [SEP] 7, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 82 [SEP] 8, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 82 [SEP] 9, Knife, 2.754, 0.944, 1.044, 0, 0, 0, 82 [SEP] 10, Knife, -0.103, 0.944, 1.214, 0, 90, 0, 58 [SEP] 11, SoapBottle, 1.558, 0.120, -0.538, 0, 180, 0, 64 [SEP] 12, Tomato, -0.621, 0.852, -1.257, 0, 90, 0, 106 [SEP] 13, Tomato, 2.488, 0.942, 1.129, 0, 0, 0, 82 [SEP] 14, Bowl, 1.908, 1.652, -0.772, 0, 180, 0, 84 [SEP] 15, SaltShaker, 2.872, 0.110, 1.193, 0, 0, 0, 79 [SEP] 16, PepperShaker, 2.754, 0.908, 1.553, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 58 [SEP] 18, Bread, -0.198, 0.969, 1.383, 0, 0, 0, 58 [SEP] 19, Mug, 3.341, 0.835, -0.514, 0, 0, 0, 102 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 47 [SEP] 21, Mug, 2.838, 1.558, -0.775, 0, 0, 0, 102 [SEP] 22, Apple, 2.777, 0.794, -0.504, 0, 0, 0, 102 [SEP] 23, Apple, 2.838, 1.087, -0.709, 0, 0, 0, 102 [SEP] 24, SoapBottle, -0.983, 0.826, -1.206, 0, 180, 0, 106 [SEP] 25, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 82 [SEP] 26, Fork, 1.209, 0.771, 1.122, 0, 90, 0, 92 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 82 [SEP] 29, Egg, 0.570, 1.822, 1.423, 0, 180, 0, 105 [SEP] 30, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 47 [SEP] 31, Tomato, 2.715, 1.050, -0.644, 0, 0, 0, 102 [SEP] 32, Cup, 1.559, 1.653, -0.771, 0, 180, 0, 84 [SEP] 33, Spatula, -0.007, 0.926, 1.214, 0, 90, 0, 58 [SEP] 34, Apple, -1.991, 0.492, 1.290, 0, 270, 0, 100 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 47 [SEP] 37, SaltShaker, 0.290, 1.651, -0.693, 0, 180, 0, 87 [SEP] 38, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 47 [SEP] 39, Potato, -0.087, 0.800, -0.541, 0, 0, 0, 104 [SEP] 40, PepperShaker, 0.349, 0.908, -0.302, 0, 0, 0, 47 [SEP] 41, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 82 [SEP] 42, Bowl, -0.839, 0.818, -1.360, 0, 90, 0, 106 [SEP] 43, DishSponge, -0.682, 0.820, -1.400, 0, 0, 0, 106 [SEP] 44, Spoon, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 45, Mug, 1.155, 0.906, 1.298, 0, 0, 0, 82 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left, go straight, then turn left at the coffee maker. | STEP 2: Get the mug from the coffee maker. | STEP 3: Go to the stove behind you. | STEP 4: Heat the mug in the microwave, above the stove. | STEP 5: Return to the coffee maker behind you, on the counter. | STEP 6: Place the mug at the coffee maker. | END


Input: Put two pencils on top of the brown drawers under the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -1.0, 0, 180, 0,  [SEP] 1, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 36 [SEP] 2, Pen, -1.066, 0.809, -4.029, 0, 0, 0, 36 [SEP] 3, Pencil, -1.878, 0.066, -3.920, 0, 9.990, 0, 25 [SEP] 4, CreditCard, -1.270, 0.800, -4.354, 0, 0, 0, 36 [SEP] 5, CreditCard, -0.657, 0.800, -3.920, 0, 0, 0, 36 [SEP] 6, Book, -1.270, 0.804, -3.811, 0, 0, 0, 36 [SEP] 7, Book, -2.559, 0.620, -1.218, 0, 0, 0, 21 [SEP] 8, Book, -3.760, 0.980, -3.472, 0, 0, 0, 39 [SEP] 9, CellPhone, -0.453, 0.800, -4.354, 0, 0, 0, 36 [SEP] 10, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.507, 0.542, -3.731, 0, 0, 0, 30 [SEP] 12, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.685, 0.543, -3.713, 0, 0, 0, 30 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.687, 0.983, -4.276, 0, 0, 0, 39 [SEP] 17, Pillow, -3.402, 0.722, -0.931, 0, 0, 0, 21 [SEP] 18, CD, -3.687, 0.979, -3.070, 0, 0, 0, 39 [SEP] 19, Pen, -3.582, 0.424, -3.185, 0, 0, 0, 47 [SEP] 20, Mug, -0.418, 0.541, -3.731, 0, 180, 0, 30 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk. | STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left. | STEP 5: Turn right for six steps, turn left for three steps, and then turn right to face the dark brown dresser. | STEP 6: Pick up the pencil on the dresser. | STEP 7: Turn right for five steps; turn right for nine steps then turn left to face the table. | STEP 8: Put the pencil above the pencil on the left, facing up and down. | END


Input: Place two alarm clocks on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.949, 1.75, 0, 90, 0,  [SEP] 1, CellPhone, 1.723, 0.610, -0.172, 0, 0, 0, 24 [SEP] 2, CellPhone, 2.803, 0.988, -1.949, 0, 270, 0, 39 [SEP] 3, Pen, -0.904, 0.790, -0.128, 0, 0, 0, 60 [SEP] 4, Pen, -0.776, 0.179, 0.120, 0, 0, 0, 53 [SEP] 5, CreditCard, 3.341, 0.416, 1.294, 0, 0, 0, 65 [SEP] 6, CreditCard, -0.772, 0.783, -0.548, 0, 0, 0, 60 [SEP] 7, Book, -0.772, 0.784, -0.128, 0, 0, 0, 60 [SEP] 8, Laptop, 2.545, 0.607, 0.308, 0, 0, 0, 24 [SEP] 9, AlarmClock, -0.772, 0.786, -0.548, 0, 0, 0, 60 [SEP] 10, AlarmClock, 2.234, 0.986, -1.774, 0, 270, 0, 39 [SEP] 11, Book, 3.012, 0.184, -1.892, 0, 270, 0, 38 [SEP] 12, KeyChain, -1.037, 0.786, -0.758, 0, 0, 0, 60 [SEP] 13, CreditCard, 1.950, 0.985, -1.687, 0, 270, 0, 39 [SEP] 14, Pen, 3.377, 0.729, 1.533, 0, 180, 0, 64 [SEP] 15, Pencil, -0.848, 0.178, -0.292, 0, 0, 0, 56 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, 1.950, 0.990, -2.037, 0, 270, 0, 39 [SEP] 18, AlarmClock, -0.904, 0.786, -0.338, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, -0.885, 0.380, 0.437, 0, 0, 0, 58 [SEP] 22, CD, 2.596, 0.885, -1.685, 0, 270, 0, 33 [SEP] 23, Vase, 2.519, 0.989, -2.037, 0, 270, 0, 39 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 66, NorthWall, , , , , , ,  [SEP] 67, EastWall, , , , , , ,  [SEP] 68, SouthWall, , , , , , ,  [SEP] 69, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves. | STEP 4: Place the alarm clock on the bottom shelf. | STEP 5: Turn around and walk back to the first dresser. | STEP 6: Pick up the other alarm clock on the dresser. | STEP 7: Turn right and walk back to the dresser with shelves. | STEP 8: Place the alarm on the shelf to the right of the first alarm clock. | END


Input: Cool down the cup 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, 1.0, 0, 180, 0,  [SEP] 1, DishSponge, -0.346, 1.046, -1.397, 0, 0, 0, 49 [SEP] 2, ButterKnife, 0.516, 1.032, 0.545, 0, 0, 0, 51 [SEP] 3, Kettle, -0.312, 0.204, -1.265, 0, 0, 0, 58 [SEP] 4, Pot, -0.624, 1.566, -1.470, 0, 270, 0, 54 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 45 [SEP] 6, Fork, 1.612, 1.043, 0.091, 0, 0, 0, 51 [SEP] 7, Spoon, -0.517, 1.048, -1.289, 0, 270, 0, 49 [SEP] 8, Spoon, 0.657, 1.048, -1.107, 0, 0, 0, 49 [SEP] 9, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 49 [SEP] 10, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 46 [SEP] 11, Egg, -1.303, 1.543, 2.242, 0, 90, 0, 64 [SEP] 12, Cup, -0.517, 1.047, -1.505, 0, 0, 0, 49 [SEP] 13, Cup, -1.268, 1.948, 2.331, 0, 90, 0, 64 [SEP] 14, Plate, -1.261, 0.215, -1.338, 0, 0, 0, 57 [SEP] 15, Tomato, -1.300, 1.279, 1.796, 0, 90, 0, 64 [SEP] 16, Tomato, 0.805, 1.104, 0.131, 0, 90, 0, 47 [SEP] 17, SoapBottle, 1.743, 1.020, -1.557, 0, 0, 0, 55 [SEP] 18, Bowl, -1.184, 2.027, -1.482, 0, 0, 0, 56 [SEP] 19, SaltShaker, 1.897, 1.014, -1.264, 0, 0, 0, 55 [SEP] 20, PepperShaker, -1.105, 0.197, -1.555, 0, 0, 0, 57 [SEP] 21, Lettuce, -1.103, 1.287, 2.063, 0, 90, 0, 64 [SEP] 22, Apple, 1.910, 0.166, 2.358, 0, 270, 0, 65 [SEP] 23, SoapBottle, -0.760, 0.204, -1.625, 0, 0, 0, 58 [SEP] 24, Apple, 0.848, 1.097, 0.381, 0, 90, 0, 47 [SEP] 25, Potato, -1.419, 1.542, 1.796, 0, 90, 0, 64 [SEP] 26, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 51 [SEP] 27, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 48 [SEP] 28, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 49 [SEP] 29, Tomato, 0.936, 1.104, 0.231, 0, 90, 0, 47 [SEP] 30, SaltShaker, -0.038, 1.041, -1.118, 0, 0, 0, 49 [SEP] 31, Egg, -1.071, 0.762, 1.974, 0, 90, 0, 64 [SEP] 32, Cup, 0.801, 0.200, -1.484, 0, 0, 0, 60 [SEP] 33, Spatula, 1.015, 1.058, 0.676, 0, 0, 0, 51 [SEP] 34, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 49 [SEP] 35, Lettuce, -0.689, 1.106, -1.289, 0, 0, 0, 49 [SEP] 36, ButterKnife, 0.065, 1.043, 0.522, 0, 0, 0, 51 [SEP] 37, PepperShaker, 0.740, 1.041, -1.181, 0, 0, 0, 49 [SEP] 38, DishSponge, 1.817, 0.204, -1.262, 0, 0, 0, 59 [SEP] 39, Plate, 1.588, 0.217, -1.335, 0, 0, 0, 59 [SEP] 40, Bread, 0.405, 1.104, 0.353, 0, 337.137, 0, 51 [SEP] 41, Spoon, -0.432, 1.048, -1.181, 0, 0, 0, 49 [SEP] 42, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 43, Mug, 1.347, 1.038, 0.632, 0, 0, 0, 51 [SEP] 44, Bowl, 1.188, 1.563, -1.689, 0, 0, 0, 53 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk towards the counter with the sink. | STEP 2: Pick up the cup near the sink. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup on the shelf above the egg in the fridge, let it cool, and take the cup back out. | STEP 5: Turn left and look at the counter to your left. | STEP 6: Place the cup on the counter. | END


Input: To move two pepper mills from the cabinets to 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, -0.25, 0, 0, 0,  [SEP] 1, Potato, -1.096, 1.769, -1.331, 0, 0, 0, 64 [SEP] 2, DishSponge, -0.603, 1.046, -1.181, 0, 0, 0, 50 [SEP] 3, DishSponge, 1.817, 0.204, -1.553, 0, 0, 0, 60 [SEP] 4, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 46 [SEP] 5, Kettle, -1.339, 0.203, -1.265, 0, 0, 0, 58 [SEP] 6, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 50 [SEP] 7, Spatula, -0.260, 1.061, -1.828, 0, 90, 0, 50 [SEP] 8, Spatula, 1.015, 1.058, 0.589, 0, 0, 0, 52 [SEP] 9, Cup, -0.949, 0.202, -1.338, 0, 0, 0, 58 [SEP] 10, Cup, 1.158, 0.200, -1.339, 0, 0, 0, 61 [SEP] 11, Plate, 1.512, 1.032, -1.264, 0, 0, 0, 56 [SEP] 12, Knife, 1.155, 1.072, -1.397, 0, 90, 0, 50 [SEP] 13, Knife, -0.346, 1.072, -1.612, 0, 90, 0, 50 [SEP] 14, SoapBottle, 1.817, 0.205, -1.335, 0, 0, 0, 60 [SEP] 15, SoapBottle, 1.512, 0.205, -1.480, 0, 0, 0, 60 [SEP] 16, Bowl, -1.169, 1.227, 2.063, 0, 90, 0, 65 [SEP] 17, SaltShaker, 0.542, 1.038, 0.091, 0, 0, 0, 52 [SEP] 18, SaltShaker, -0.775, 1.041, -1.397, 0, 0, 0, 50 [SEP] 19, PepperShaker, -1.416, 0.197, -1.482, 0, 0, 0, 58 [SEP] 20, PepperShaker, -0.222, 0.198, -1.481, 0, 90, 0, 59 [SEP] 21, PepperShaker, -1.105, 0.197, -1.410, 0, 0, 0, 58 [SEP] 22, Mug, -1.423, 1.708, 2.242, 0, 90, 0, 65 [SEP] 23, Apple, -1.312, 1.756, 2.331, 0, 90, 0, 65 [SEP] 24, SoapBottle, -0.473, 1.565, -1.619, 0, 0, 0, 55 [SEP] 25, Apple, -1.312, 1.756, 2.063, 0, 90, 0, 65 [SEP] 26, Potato, -1.126, 1.017, 1.885, 0, 90, 0, 65 [SEP] 27, Fork, 0.446, 1.043, 0.630, 0, 90, 0, 52 [SEP] 28, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 53 [SEP] 29, Pan, -1.261, 2.027, -1.482, 0, 180, 0, 57 [SEP] 30, Tomato, -1.051, 0.758, 1.974, 0, 90, 0, 65 [SEP] 31, SaltShaker, 1.436, 0.199, -1.190, 0, 0, 0, 60 [SEP] 32, Egg, 1.826, 0.177, 2.414, 0, 270, 0, 66 [SEP] 33, Cup, 1.701, 1.043, 0.738, 0, 0, 0, 52 [SEP] 34, Spatula, 1.701, 1.058, 0.307, 0, 0, 0, 52 [SEP] 35, Knife, 1.790, 1.069, 0.630, 0, 0, 0, 52 [SEP] 36, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 48 [SEP] 37, ButterKnife, 0.065, 1.043, 0.522, 0, 0, 0, 52 [SEP] 38, PepperShaker, 1.158, 0.194, -1.556, 0, 0, 0, 61 [SEP] 39, DishSponge, 1.181, 1.042, 0.676, 0, 0, 0, 52 [SEP] 40, Plate, 1.036, 1.577, -1.538, 0, 0, 0, 54 [SEP] 41, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, -0.517, 1.048, -1.289, 0, 0, 0, 50 [SEP] 43, Pot, 1.589, 1.021, -1.557, 0, 270, 0, 56 [SEP] 44, Mug, -1.312, 1.708, 1.885, 0, 90, 0, 65 [SEP] 45, Bowl, -1.342, 1.488, 1.885, 0, 90, 0, 65 [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: Turn around and walk to the counter to the right of the stove.  | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door.  | STEP 3: Face the counter in front of you with the toaster on it.  | STEP 4: Put the pepper mill down on the counter to the left of the sponge.  | STEP 5: Move to face the lower cabinet to the right.  | STEP 6: Open the cabinet door, pick up the pepper mill behind the kettle, and close the door.  | STEP 7: Turn around and walk back to the counter with the toaster on it.  | STEP 8: Place the pepper mill on the counter to the right of the sponge.  | END


Input: Put the heated apple in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.931, -0.5, 0, 180, 0,  [SEP] 1, Pan, -1.027, 0.202, -1.482, 0, 90, 0, 60 [SEP] 2, Pan, -1.300, 1.227, 2.063, 0, 180, 0, 67 [SEP] 3, Kettle, 1.820, 1.020, -1.411, 0, 0, 0, 58 [SEP] 4, Pot, 1.068, 0.201, -1.339, 0, 0, 0, 63 [SEP] 5, Fork, 0.065, 1.043, 0.307, 0, 180, 0, 54 [SEP] 6, Spoon, 0.516, 1.044, 0.720, 0, 0, 0, 54 [SEP] 7, Spatula, -0.517, 1.061, -1.397, 0, 0, 0, 52 [SEP] 8, Egg, -0.260, 1.101, -1.828, 0, 0, 0, 52 [SEP] 9, Cup, -0.222, 0.203, -1.625, 0, 0, 0, 61 [SEP] 10, Cup, 1.523, 1.043, 0.091, 0, 0, 0, 54 [SEP] 11, Plate, -0.699, 1.577, -1.767, 0, 0, 0, 57 [SEP] 12, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 54 [SEP] 13, Tomato, -1.051, 0.758, 1.885, 0, 90, 0, 67 [SEP] 14, Tomato, 0.936, 1.104, 0.131, 0, 90, 0, 50 [SEP] 15, SoapBottle, -1.184, 2.029, -1.409, 0, 0, 0, 59 [SEP] 16, SoapBottle, 1.072, 1.047, -1.181, 0, 0, 0, 52 [SEP] 17, Bowl, 1.512, 1.018, -1.337, 0, 0, 0, 58 [SEP] 18, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 61 [SEP] 19, SaltShaker, -0.760, 0.198, -1.553, 0, 0, 0, 61 [SEP] 20, SaltShaker, 0.960, 1.560, -1.614, 0, 0, 0, 56 [SEP] 21, PepperShaker, 1.263, 1.560, -1.764, 0, 0, 0, 56 [SEP] 22, PepperShaker, 1.238, 1.041, -1.612, 0, 0, 0, 52 [SEP] 23, Lettuce, -1.095, 1.023, 1.974, 0, 90, 0, 67 [SEP] 24, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 70 [SEP] 25, Mug, 0.542, 1.038, 0.091, 0, 0, 0, 54 [SEP] 26, SoapBottle, -1.416, 2.029, -1.409, 0, 0, 0, 59 [SEP] 27, Apple, 0.936, 1.097, 0.381, 0, 90, 0, 50 [SEP] 28, Potato, 0.805, 1.106, 0.131, 0, 90, 0, 50 [SEP] 29, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 54 [SEP] 30, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 53 [SEP] 31, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 52 [SEP] 32, Tomato, 1.701, 1.094, 0.630, 0, 0, 0, 54 [SEP] 33, SaltShaker, 1.238, 1.041, -1.828, 0, 90, 0, 52 [SEP] 34, Egg, -0.775, 1.101, -1.720, 0, 0, 0, 52 [SEP] 35, Cup, -1.169, 1.228, 1.796, 0, 90, 0, 67 [SEP] 36, Spatula, -0.603, 1.061, -1.181, 0, 0, 0, 52 [SEP] 37, Knife, 1.181, 1.069, 0.720, 0, 0, 0, 54 [SEP] 38, Lettuce, -0.432, 1.106, -1.397, 0, 0, 0, 52 [SEP] 39, ButterKnife, 0.717, 1.053, 0.181, 0, 90, 0, 50 [SEP] 40, PepperShaker, 0.712, 0.194, -1.267, 0, 0, 0, 63 [SEP] 41, DishSponge, 1.512, 0.204, -1.480, 0, 0, 0, 62 [SEP] 42, Plate, 1.741, 0.217, -1.408, 0, 0, 0, 62 [SEP] 43, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 54 [SEP] 44, Spoon, -0.517, 1.048, -1.181, 0, 180, 0, 52 [SEP] 45, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 55 [SEP] 46, Mug, 1.347, 1.038, 0.632, 0, 0, 0, 54 [SEP] 47, Bowl, 0.255, 1.042, 0.738, 0, 0, 0, 54 [SEP] 48, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 49, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 50, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 51, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 52, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 53, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 54, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 55, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 56, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 57, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 58, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 63, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 64, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 65, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 66, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 67, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 68, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 69, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 70, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 71, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 74, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 75, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 76, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 77, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 78, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 79, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn right and face the sink | STEP 2: Pick up the apple on the left side of the sink | STEP 3: Turn left then head to the microwave on your left | STEP 4: Open the microwave heat up the apple,take it out then close the microwave | STEP 5: Turn left and head back to the sink | STEP 6: Put the apple in the sink | END


Input: Slice, clean and put a tomato into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.75, 0, 90, 0,  [SEP] 1, Potato, 0.446, 1.096, 0.630, 0, 0, 0, 50 [SEP] 2, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 50 [SEP] 3, Pot, -1.261, 0.204, -1.265, 0, 270, 0, 56 [SEP] 4, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 46 [SEP] 5, Plate, -1.366, 1.241, 1.974, 0, 90, 0, 63 [SEP] 6, Knife, 0.379, 1.072, -1.118, 0, 0, 0, 48 [SEP] 7, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 50 [SEP] 8, Tomato, 1.238, 1.097, -1.289, 0, 0, 0, 48 [SEP] 9, Tomato, 0.936, 1.104, 0.131, 0, 90, 0, 46 [SEP] 10, SoapBottle, -0.580, 0.204, -1.409, 0, 0, 0, 57 [SEP] 11, SoapBottle, 1.854, 0.123, 2.414, 0, 270, 0, 64 [SEP] 12, Bowl, 1.741, 0.203, -1.553, 0, 0, 0, 58 [SEP] 13, Bowl, -1.349, 1.712, 2.153, 0, 90, 0, 63 [SEP] 14, SaltShaker, 1.968, 1.038, 0.738, 0, 0, 0, 50 [SEP] 15, SaltShaker, -0.398, 1.560, -1.841, 0, 0, 0, 53 [SEP] 16, PepperShaker, 0.823, 1.041, -1.181, 0, 0, 0, 48 [SEP] 17, PepperShaker, 1.523, 1.038, 0.522, 0, 0, 0, 50 [SEP] 18, Mug, 0.936, 1.048, 0.331, 0, 90, 0, 46 [SEP] 19, Mug, -0.670, 0.198, -1.553, 0, 0, 0, 57 [SEP] 20, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 50 [SEP] 21, Apple, 0.936, 1.097, 0.231, 0, 90, 0, 46 [SEP] 22, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 50 [SEP] 23, Apple, -1.303, 1.532, 1.796, 0, 90, 0, 63 [SEP] 24, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 63 [SEP] 25, Fork, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 26, Kettle, -0.401, 0.204, -1.553, 0, 0, 0, 57 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 63 [SEP] 29, SaltShaker, 1.247, 0.194, -1.484, 0, 0, 0, 59 [SEP] 30, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 62 [SEP] 31, Cup, -0.312, 0.203, -1.265, 0, 0, 0, 57 [SEP] 32, Spatula, 1.181, 1.058, 0.720, 0, 0, 0, 50 [SEP] 33, Knife, 1.612, 1.069, 0.522, 0, 180, 0, 50 [SEP] 34, Lettuce, -1.300, 1.287, 2.242, 0, 90, 0, 63 [SEP] 35, ButterKnife, -0.177, 1.046, -1.140, 0, 0, 0, 48 [SEP] 36, PepperShaker, 0.809, 1.560, -1.463, 0, 0, 0, 52 [SEP] 37, DishSponge, 1.665, 0.204, -1.190, 0, 0, 0, 58 [SEP] 38, Plate, 1.666, 1.032, -1.264, 0, 0, 0, 54 [SEP] 39, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 50 [SEP] 41, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.689, 1.045, -1.397, 0, 0, 0, 48 [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: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a slice of tomato. | STEP 7: Wash the tomato in the sink. | STEP 8: Turn to the left, walk forward then turn to the left to face the microwave. | STEP 9: Put the sliced tomato into the microwave. | END


Input: Put a washed slice of tomato in the microwave.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.75, 0, 90, 0,  [SEP] 1, Potato, 0.446, 1.096, 0.630, 0, 0, 0, 50 [SEP] 2, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 50 [SEP] 3, Pot, -1.261, 0.204, -1.265, 0, 270, 0, 56 [SEP] 4, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 46 [SEP] 5, Plate, -1.366, 1.241, 1.974, 0, 90, 0, 63 [SEP] 6, Knife, 0.379, 1.072, -1.118, 0, 0, 0, 48 [SEP] 7, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 50 [SEP] 8, Tomato, 1.238, 1.097, -1.289, 0, 0, 0, 48 [SEP] 9, Tomato, 0.936, 1.104, 0.131, 0, 90, 0, 46 [SEP] 10, SoapBottle, -0.580, 0.204, -1.409, 0, 0, 0, 57 [SEP] 11, SoapBottle, 1.854, 0.123, 2.414, 0, 270, 0, 64 [SEP] 12, Bowl, 1.741, 0.203, -1.553, 0, 0, 0, 58 [SEP] 13, Bowl, -1.349, 1.712, 2.153, 0, 90, 0, 63 [SEP] 14, SaltShaker, 1.968, 1.038, 0.738, 0, 0, 0, 50 [SEP] 15, SaltShaker, -0.398, 1.560, -1.841, 0, 0, 0, 53 [SEP] 16, PepperShaker, 0.823, 1.041, -1.181, 0, 0, 0, 48 [SEP] 17, PepperShaker, 1.523, 1.038, 0.522, 0, 0, 0, 50 [SEP] 18, Mug, 0.936, 1.048, 0.331, 0, 90, 0, 46 [SEP] 19, Mug, -0.670, 0.198, -1.553, 0, 0, 0, 57 [SEP] 20, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 50 [SEP] 21, Apple, 0.936, 1.097, 0.231, 0, 90, 0, 46 [SEP] 22, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 50 [SEP] 23, Apple, -1.303, 1.532, 1.796, 0, 90, 0, 63 [SEP] 24, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 63 [SEP] 25, Fork, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 26, Kettle, -0.401, 0.204, -1.553, 0, 0, 0, 57 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 63 [SEP] 29, SaltShaker, 1.247, 0.194, -1.484, 0, 0, 0, 59 [SEP] 30, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 62 [SEP] 31, Cup, -0.312, 0.203, -1.265, 0, 0, 0, 57 [SEP] 32, Spatula, 1.181, 1.058, 0.720, 0, 0, 0, 50 [SEP] 33, Knife, 1.612, 1.069, 0.522, 0, 180, 0, 50 [SEP] 34, Lettuce, -1.300, 1.287, 2.242, 0, 90, 0, 63 [SEP] 35, ButterKnife, -0.177, 1.046, -1.140, 0, 0, 0, 48 [SEP] 36, PepperShaker, 0.809, 1.560, -1.463, 0, 0, 0, 52 [SEP] 37, DishSponge, 1.665, 0.204, -1.190, 0, 0, 0, 58 [SEP] 38, Plate, 1.666, 1.032, -1.264, 0, 0, 0, 54 [SEP] 39, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 50 [SEP] 41, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.689, 1.045, -1.397, 0, 0, 0, 48 [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: Go to the front of the left side of the stove.  | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter.  | STEP 5: Place the knife inside the sink. | STEP 6: Pick up one slice of the tomato.  | STEP 7: Wash the slice inside the sink under running water and take it out.  | STEP 8: Turn around and go to the microwave above the oven.  | STEP 9: Place the tomato slice in the microwave.  | END


Input: place two remote controller's down on top of the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Watch, -0.712, 0.552, -0.451, 0, 270, 0, 32 [SEP] 2, Newspaper, -0.323, 0.197, -0.544, 0, 90, 0, 41 [SEP] 3, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 32 [SEP] 4, KeyChain, -1.100, 0.199, -0.544, 0, 90, 0, 33 [SEP] 5, KeyChain, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 6, CreditCard, -0.582, 0.039, -0.544, 0, 90, 0, 27 [SEP] 7, RemoteControl, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, -0.5, 0.321, -1.990, 0, 90, 0, 34 [SEP] 10, Watch, 1.766, 0.870, 0.220, 0, 90, 0, 38 [SEP] 11, Newspaper, 1.522, 0.313, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 1.933, 0.870, 0.220, 0, 90, 0, 38 [SEP] 14, RemoteControl, 1.766, 0.871, 0.431, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left | STEP 4: place the remote controller down on the sofa | STEP 5: turn left and walk over to the table in the corner of the room | STEP 6: take the second remote controller off of the table this time | STEP 7: turn around and walk over to the sofa on the left | STEP 8: place the remote controller down on top of the sofa | END


Input: Place two remotes on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Watch, -0.712, 0.552, -0.451, 0, 270, 0, 32 [SEP] 2, Newspaper, -0.323, 0.197, -0.544, 0, 90, 0, 41 [SEP] 3, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 32 [SEP] 4, KeyChain, -1.100, 0.199, -0.544, 0, 90, 0, 33 [SEP] 5, KeyChain, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 6, CreditCard, -0.582, 0.039, -0.544, 0, 90, 0, 27 [SEP] 7, RemoteControl, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, -0.5, 0.321, -1.990, 0, 90, 0, 34 [SEP] 10, Watch, 1.766, 0.870, 0.220, 0, 90, 0, 38 [SEP] 11, Newspaper, 1.522, 0.313, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 1.933, 0.870, 0.220, 0, 90, 0, 38 [SEP] 14, RemoteControl, 1.766, 0.871, 0.431, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch. | STEP 4: Place the remote on the right side of the middle couch cushion. | STEP 5: Turn around and walk back to the table where you picked up the first remote. | STEP 6: Pick up the other remote from the table. | STEP 7: Walk back to the couch. | STEP 8: Place the remote on the left side of the middle couch cushion. | END


Input: Move two bars of soap to the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.0, 0, 270, 0,  [SEP] 1, SoapBar, -1.144, 1.772, 2.127, 0, 0, 0, 25 [SEP] 2, Candle, -1.949, 1.088, -0.644, 0, 0, 0, 32 [SEP] 3, Candle, -2.343, 1.088, -0.705, 0, 0, 0, 32 [SEP] 4, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 30 [SEP] 6, Candle, -0.227, 0.650, 1.635, 0, 45, 0, 19 [SEP] 7, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 32 [SEP] 10, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 22 [SEP] 11, SoapBottle, -0.980, 1.775, 2.217, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.144, 0.289, 2.097, 0, 0, 0, 23 [SEP] 13, Cloth, -1.635, 0.293, 2.157, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [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, -2.277, 1.048, -0.674, 0, 0, 0, 32 [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 to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub. | STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf. | STEP 6: Pick up the bar of soap from the high shelf. | STEP 7: Carry the soap and turn around, and face the bath tub on the left. | STEP 8: Place the soap inside the bath tub. | END


Input: Move two bars of soap to the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.0, 0, 270, 0,  [SEP] 1, SoapBar, -1.144, 1.772, 2.127, 0, 0, 0, 25 [SEP] 2, Candle, -1.949, 1.088, -0.644, 0, 0, 0, 32 [SEP] 3, Candle, -2.343, 1.088, -0.705, 0, 0, 0, 32 [SEP] 4, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 30 [SEP] 6, Candle, -0.227, 0.650, 1.635, 0, 45, 0, 19 [SEP] 7, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 32 [SEP] 10, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 22 [SEP] 11, SoapBottle, -0.980, 1.775, 2.217, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.144, 0.289, 2.097, 0, 0, 0, 23 [SEP] 13, Cloth, -1.635, 0.293, 2.157, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [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, -2.277, 1.048, -0.674, 0, 0, 0, 32 [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 left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room. | STEP 4: Put the soap on the bottom of the bath tub. | STEP 5: Turn left and move to the front of the shelves on the wall. | STEP 6: Take the bar of soap off the third shelf from the bottom. | STEP 7: Turn right and head back to the front of the bath tub. | STEP 8: Put the second bar of soap in the bath tub on the right of the first bar. | END


Input: turn on desk lamp with pillow in hand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -1.25, 0, 180, 0,  [SEP] 1, CD, -0.862, 0.799, -3.703, 0, 0, 0, 36 [SEP] 2, CellPhone, -0.657, 0.800, -4.354, 0, 0, 0, 36 [SEP] 3, Pencil, -3.694, 0.617, -4.348, 0, 0, 0, 45 [SEP] 4, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 36 [SEP] 5, CreditCard, -3.466, 0.981, -3.271, 0, 0, 0, 39 [SEP] 6, Book, -2.770, 0.620, -1.218, 0, 0, 0, 21 [SEP] 7, Book, -0.249, 0.804, -4.029, 0, 0, 0, 36 [SEP] 8, Book, -1.066, 0.800, -4.137, 0, 0, 0, 36 [SEP] 9, CellPhone, -3.582, 0.226, -3.464, 0, 0, 0, 41 [SEP] 10, Laptop, -2.559, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -3.834, 0.981, -3.874, 0, 0, 0, 39 [SEP] 12, AlarmClock, -1.270, 0.803, -4.246, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.426, 0.190, -3.811, 0, 0, 0, 31 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.760, 0.983, -4.276, 0, 0, 0, 39 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -1.854, 0.062, -3.925, 0, 279.990, 0, 25 [SEP] 19, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 36 [SEP] 20, Mug, -0.862, 0.798, -3.920, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: walk to face right side of bed | STEP 2: pick up ornate pillow | STEP 3: walk to face right side of desk | STEP 4: turn on desk lamp | END


Input: Grab a pillow 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, -1.5, 0.909, -1.25, 0, 180, 0,  [SEP] 1, CD, -0.862, 0.799, -3.703, 0, 0, 0, 36 [SEP] 2, CellPhone, -0.657, 0.800, -4.354, 0, 0, 0, 36 [SEP] 3, Pencil, -3.694, 0.617, -4.348, 0, 0, 0, 45 [SEP] 4, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 36 [SEP] 5, CreditCard, -3.466, 0.981, -3.271, 0, 0, 0, 39 [SEP] 6, Book, -2.770, 0.620, -1.218, 0, 0, 0, 21 [SEP] 7, Book, -0.249, 0.804, -4.029, 0, 0, 0, 36 [SEP] 8, Book, -1.066, 0.800, -4.137, 0, 0, 0, 36 [SEP] 9, CellPhone, -3.582, 0.226, -3.464, 0, 0, 0, 41 [SEP] 10, Laptop, -2.559, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -3.834, 0.981, -3.874, 0, 0, 0, 39 [SEP] 12, AlarmClock, -1.270, 0.803, -4.246, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.426, 0.190, -3.811, 0, 0, 0, 31 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.760, 0.983, -4.276, 0, 0, 0, 39 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -1.854, 0.062, -3.925, 0, 279.990, 0, 25 [SEP] 19, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 36 [SEP] 20, Mug, -0.862, 0.798, -3.920, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Walk over to the bed | STEP 2: Grab the pillow | STEP 3: Walk over to the lamp | STEP 4: Turn the lamp on | END


Input: turn on table lamp while holding closed laptop SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 5.0, 0, 0, 0,  [SEP] 1, Bowl, -0.484, 0.795, 5.600, 0, 270, 0, 42 [SEP] 2, Bowl, -2.474, 0.881, 7.208, 0, 90, 0, 49 [SEP] 3, Newspaper, -0.738, 0.792, 5.726, 0, 270, 0, 42 [SEP] 4, KeyChain, -2.172, 0.534, 4.169, 0, 90, 0, 58 [SEP] 5, KeyChain, -0.947, 0.367, 3.915, 0, 0, 0, 41 [SEP] 6, CreditCard, -6.053, 0.146, 4.745, 0, 0, 0, 48 [SEP] 7, CreditCard, -2.279, 0.533, 4.106, 0, 0, 0, 58 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -2.672, 0.147, 7.225, 0, 90, 0, 52 [SEP] 11, Vase, -2.811, 0.542, 4.106, 0, 0, 0, 58 [SEP] 12, Newspaper, -5.899, 0.145, 3.954, 0, 0, 0, 48 [SEP] 13, Laptop, -0.868, 0.437, 3.002, 0, 0, 0, 41 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 15, Vase, -0.326, 0.794, 1.951, 0, 0, 0, 43 [SEP] 16, CreditCard, -5.934, 0.533, 6.531, 0, 135, 0, 59 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -5.237, 0.534, 6.852, 0, 45, 0, 59 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -3.328, 1.281, 7.108, 0, 90, 0, 57 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -2.598, 0.536, 3.981, 0, 0, 0, 58 [SEP] 25, Watch, -2.283, 0.533, 4.189, 0, 270, 0, 58 [SEP] 26, Statue, -0.636, 0.800, 6.357, 0, 270, 0, 42 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -5.536, 0.543, 6.703, 0, 45, 0, 59 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,

Output: STEP 1: walk to face couch with laptop | STEP 2: close and pick up laptop from couch | STEP 3: walk to face table lamp | STEP 4: turn on table lamp | END


Input: Place two tv remotes next to the box 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, 0.25, 0.900, -1.0, 0, 90, 0,  [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the coffee table. | STEP 2: Pick  up the tv remote from the table. | STEP 3: Turn left towards the couch and  turn right towards the box on the couch. | STEP 4: Place the remote to the left of the box. | STEP 5: Turn left towards the end of the couch, turn left to towards the end of the table, and turn right to find the desk in front of you. | STEP 6: Pick up the remote on the desk. | STEP 7: Turn around, walk towards the table, and then turn left towards the couch. | STEP 8: Place the remote to the left of the box on the couch. | END


Input: Move the remote controls from the tables to the couch.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 90, 0,  [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

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


Input: Move two remote controls to a sofa. 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, -1.0, 0, 90, 0,  [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa. | STEP 4: Put the remote control along the left edge of the center seat, near the front. | STEP 5: Turn left and go between the coffee table and brown chair, to face the small desk beyond the brown chair. | STEP 6: Pick up the remote control from the desk. | STEP 7: Go back between the coffee table and brown chair, to the sofa, then face the cardboard box near the right end again. | STEP 8: Put the remote control near the center back of the seat to the left of the box, with the blue end toward you. | END


Input: Put two remote controls 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, 0.25, 0.900, -1.0, 0, 90, 0,  [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 4: Put the remote control on the middle cushion of the couch. | STEP 5: Turn left, go to the end of the couch, turn left, go the wall, turn right, and go to the desk. | STEP 6: Take the remote control from the desk. | STEP 7: Turn around, go to the brown table, turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 8: Put the remote control on the middle cushion of the couch. | END


Input: Move a spray bottle from a cabinet to a counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 90, 0,  [SEP] 1, TissueBox, -1.379, 0.068, 2.341, 0, 0, 0, 22 [SEP] 2, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.284, 0.994, 3.933, 0, 0, 0, 27 [SEP] 4, Candle, -1.382, 0.068, 2.857, 0, 0, 0, 20 [SEP] 5, SprayBottle, -1.561, 0.069, 3.743, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.613, 0.993, 3.812, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, 0.231, 0.047, 3.838, 0, 0, 0, 30 [SEP] 10, ToiletPaper, -1.620, 0.064, 2.391, 0, 0, 0, 22 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.481, 0.994, 2.118, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.379, 0.068, 3.276, 0, 0, 0, 26 [SEP] 14, SoapBottle, -1.219, 0.993, 3.842, 0, 0, 0, 27 [SEP] 15, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 16, SprayBottle, -1.501, 0.069, 2.757, 0, 0, 0, 22 [SEP] 17, Cloth, -1.382, 0.068, 3.743, 0, 0, 0, 28 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the sink on the left. | STEP 2: Take out the spray bottle from the cabinet on the right below the sink. | STEP 3: Walk to the left side of the counter near the candle. | STEP 4: Put the spray bottle in front of the candle on the counter. | END