Input: Look at a CD by the light of a lit lamp. 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, -2.5, 0, 0, 0,  [SEP] 1, Mug, -3.834, 0.977, -4.075, 0, 0, 0, 45 [SEP] 2, CD, -1.474, 0.803, -4.137, 0, 0, 0, 42 [SEP] 3, CD, -0.453, 0.799, -3.811, 0, 0, 0, 42 [SEP] 4, CD, -1.869, 0.062, -3.873, 0, 279.990, 0, 31 [SEP] 5, Pen, -1.066, 0.805, -4.137, 0, 0, 0, 42 [SEP] 6, Pen, -3.539, 0.986, -3.673, 0, 0, 0, 45 [SEP] 7, Pencil, -3.524, 0.048, -3.465, 0, 0, 0, 44 [SEP] 8, Pencil, -1.270, 0.803, -3.811, 0, 0, 0, 42 [SEP] 9, CreditCard, -3.834, 0.981, -3.472, 0, 0, 0, 45 [SEP] 10, KeyChain, -0.596, 0.543, -3.694, 0, 0, 0, 36 [SEP] 11, Book, -3.687, 0.980, -3.673, 0, 0, 0, 45 [SEP] 12, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 45 [SEP] 13, AlarmClock, -0.862, 0.803, -4.354, 0, 0, 0, 42 [SEP] 14, Book, -3.694, 0.614, -3.978, 0, 0, 0, 51 [SEP] 15, CellPhone, -3.834, 0.979, -3.271, 0, 0, 0, 45 [SEP] 16, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 27 [SEP] 17, CreditCard, -0.240, 0.542, -3.749, 0, 0, 0, 36 [SEP] 18, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 42 [SEP] 19, KeyChain, -0.418, 0.543, -3.694, 0, 0, 0, 36 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.066, 0.807, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 27 [SEP] 24, CD, -0.862, 0.803, -4.137, 0, 0, 0, 42 [SEP] 25, Pen, -0.657, 0.805, -3.811, 0, 0, 0, 42 [SEP] 26, Mug, -3.466, 0.977, -4.075, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 54, NorthWall, , , , , , ,  [SEP] 55, EastWall, , , , , , ,  [SEP] 56, SouthWall, , , , , , ,  [SEP] 57, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the white desk with three CDs on it. | STEP 2: Turn on the lamp on the desk. | STEP 3: Pick up the CD closest to the lamp. | END


Input: Put a cleaned spoon on 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, 0.25, 0.931, -0.25, 0, 90, 0,  [SEP] 1, DishSponge, 1.666, 1.019, -1.557, 0, 0, 0, 51 [SEP] 2, DishSponge, -0.760, 0.203, -1.337, 0, 0, 0, 54 [SEP] 3, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 44 [SEP] 4, Kettle, 1.347, 1.044, 0.632, 0, 0, 0, 47 [SEP] 5, Pot, -0.473, 1.566, -1.470, 0, 90, 0, 50 [SEP] 6, Fork, -0.517, 1.047, -1.397, 0, 0, 0, 45 [SEP] 7, Fork, 1.015, 1.043, 0.807, 0, 0, 0, 47 [SEP] 8, Spatula, 1.238, 1.061, -1.289, 0, 0, 0, 45 [SEP] 9, Cup, -1.106, 2.028, -1.409, 0, 0, 0, 52 [SEP] 10, Cup, 1.897, 1.020, -1.411, 0, 0, 0, 51 [SEP] 11, Knife, 0.257, 1.038, 0.343, 90, 3.660, 0, 47 [SEP] 12, Knife, -0.603, 1.072, -1.181, 0, 0, 0, 45 [SEP] 13, Tomato, -1.264, 1.540, 2.063, 0, 90, 0, 60 [SEP] 14, Tomato, -1.169, 1.279, 1.974, 0, 90, 0, 60 [SEP] 15, SoapBottle, -0.473, 1.565, -1.767, 0, 0, 0, 50 [SEP] 16, Mug, 1.188, 1.560, -1.388, 0, 270, 0, 49 [SEP] 17, Apple, -1.305, 1.991, 1.796, 0, 90, 0, 60 [SEP] 18, Apple, -1.431, 1.271, 2.242, 0, 90, 0, 60 [SEP] 19, SoapBottle, -0.346, 1.047, -1.505, 0, 0, 0, 45 [SEP] 20, Apple, -1.145, 1.759, -1.331, 0, 0, 0, 59 [SEP] 21, Potato, -1.342, 1.542, 2.242, 0, 90, 0, 60 [SEP] 22, Fork, 0.823, 1.047, -1.397, 0, 0, 0, 45 [SEP] 23, Kettle, -1.339, 2.029, -1.482, 0, 0, 0, 52 [SEP] 24, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 25, Tomato, 1.826, 0.173, 2.358, 0, 270, 0, 61 [SEP] 26, SaltShaker, 1.743, 1.014, -1.191, 0, 0, 0, 51 [SEP] 27, Egg, -1.071, 0.762, 2.153, 0, 90, 0, 60 [SEP] 28, Cup, -1.095, 0.964, 2.153, 0, 90, 0, 60 [SEP] 29, Spatula, 1.701, 1.058, 0.522, 0, 0, 0, 47 [SEP] 30, Knife, 0.518, 1.072, -1.107, 0, 180, 0, 45 [SEP] 31, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 43 [SEP] 32, ButterKnife, 1.701, 1.043, 0.630, 0, 90, 0, 47 [SEP] 33, PepperShaker, 0.890, 0.194, -1.267, 0, 0, 0, 56 [SEP] 34, DishSponge, 1.514, 1.042, 0.763, 0, 0, 0, 47 [SEP] 35, Plate, 1.188, 1.577, -1.614, 0, 0, 0, 49 [SEP] 36, Bread, 0.455, 1.108, 0.338, 0, 337.205, 356.790, 47 [SEP] 37, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 47 [SEP] 38, Pot, 1.512, 0.206, -1.262, 0, 270, 0, 55 [SEP] 39, Mug, -1.027, 0.197, -1.627, 0, 0, 0, 53 [SEP] 40, Bowl, 1.072, 1.045, -1.720, 0, 0, 0, 45 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Walk forward and turn left towards the sink. | STEP 2: Pick up the spoon on the counter which is closest to you. | STEP 3: Bend down towards the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it back out. | STEP 5: Turn left and walk to the end of the counter, then turn left towards the other counter. | STEP 6: Put the spoon on the counter, to the left of the large knife. | END


Input: Put a soap bottle on the toilet tank lid.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.25, 0, 180, 0,  [SEP] 1, Cloth, -1.500, 0.067, 3.276, 0, 0, 0, 26 [SEP] 2, SoapBar, -1.219, 0.994, 3.812, 0, 0, 0, 27 [SEP] 3, Candle, -1.561, 0.068, 2.958, 0, 0, 0, 20 [SEP] 4, Candle, -1.620, 0.068, 2.857, 0, 0, 0, 20 [SEP] 5, SoapBottle, -1.620, 0.068, 3.642, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.416, 0.993, 3.933, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.284, 0.994, 3.933, 0, 0, 0, 27 [SEP] 10, ToiletPaper, -1.350, 0.991, 2.863, 0, 0, 0, 27 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.547, 0.994, 3.041, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.439, 0.068, 2.290, 0, 0, 0, 22 [SEP] 14, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 30 [SEP] 15, ToiletPaper, -1.350, 0.991, 2.148, 0, 0, 0, 27 [SEP] 16, SprayBottle, -1.620, 0.068, 2.441, 0, 0, 0, 22 [SEP] 17, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [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, move to the right sink on the left. | STEP 2: Pick up the soap bottle on the counter, right of the sink.  | STEP 3: Turn around, bring the soap bottle to the toilet. | STEP 4: Put the soap bottle on the toilet tank lid.  | END


Input: Put an egg in the sink with a tomato.  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, 0.5, 0, 270, 0,  [SEP] 1, Potato, -1.034, 1.017, 1.885, 0, 180, 0, 60 [SEP] 2, DishSponge, -0.401, 0.203, -1.553, 0, 0, 0, 54 [SEP] 3, ButterKnife, 1.181, 1.043, 0.676, 0, 0, 0, 47 [SEP] 4, ButterKnife, 0.351, 1.043, 0.738, 0, 0, 0, 47 [SEP] 5, Kettle, 0.960, 1.566, -1.463, 0, 0, 0, 49 [SEP] 6, Pot, 1.514, 1.044, 0.676, 0, 90, 0, 47 [SEP] 7, Pot, 1.589, 1.021, -1.557, 0, 270, 0, 51 [SEP] 8, Fork, 0.823, 1.047, -1.181, 0, 0, 0, 45 [SEP] 9, Spatula, 0.542, 1.058, 0.738, 0, 0, 0, 47 [SEP] 10, Cup, -1.419, 1.489, 2.331, 0, 90, 0, 60 [SEP] 11, Cup, 1.588, 0.205, -1.553, 0, 0, 0, 55 [SEP] 12, Plate, -1.300, 1.241, 2.242, 0, 90, 0, 60 [SEP] 13, SoapBottle, -1.184, 2.029, -1.555, 0, 0, 0, 52 [SEP] 14, Bowl, 1.512, 0.203, -1.262, 0, 0, 0, 55 [SEP] 15, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 54 [SEP] 16, PepperShaker, 1.015, 1.038, 0.676, 0, 0, 0, 47 [SEP] 17, Apple, -0.260, 1.090, -1.828, 0, 0, 0, 45 [SEP] 18, Apple, 1.211, 0.943, 0.231, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.936, 1.054, 0.281, 0, 90, 0, 43 [SEP] 20, Apple, -1.038, 1.271, 2.153, 0, 90, 0, 60 [SEP] 21, Potato, -1.300, 1.281, 1.885, 0, 90, 0, 60 [SEP] 22, Fork, -0.517, 1.047, -1.181, 0, 0, 0, 45 [SEP] 23, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 24, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 56 [SEP] 25, Tomato, -1.312, 1.764, 2.063, 0, 90, 0, 60 [SEP] 26, SaltShaker, -0.346, 1.041, -1.612, 0, 0, 0, 45 [SEP] 27, Egg, 0.740, 1.101, -1.505, 0, 0, 0, 45 [SEP] 28, Cup, -0.323, 1.565, -1.767, 0, 0, 0, 50 [SEP] 29, Spatula, 0.848, 1.058, 0.807, 0, 180, 0, 47 [SEP] 30, Knife, 0.518, 1.072, -1.097, 0, 180, 0, 45 [SEP] 31, Lettuce, 0.989, 1.106, -1.612, 0, 0, 0, 45 [SEP] 32, ButterKnife, 1.347, 1.043, 0.720, 0, 0, 0, 47 [SEP] 33, PepperShaker, 1.701, 1.038, 0.522, 0, 0, 0, 47 [SEP] 34, DishSponge, 0.516, 1.042, 0.676, 0, 0, 0, 47 [SEP] 35, Plate, 0.960, 1.577, -1.764, 0, 0, 0, 49 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.612, 1.044, 0.199, 0, 0, 0, 47 [SEP] 38, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 57 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, -0.624, 1.563, -1.545, 0, 0, 0, 50 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the counter by the stove.  | STEP 2: Pick up the egg on the counter to the left of the stove.  | STEP 3: Turn around and walk to the microwave.  | STEP 4: Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave.  | STEP 5: Turn to your left and walk to the sink.  | STEP 6: Put the egg in the sink next to the tomato. | END


Input: Take the book from the bed, put it in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.75, 0.949, -1.0, 0, 0, 0,  [SEP] 1, Vase, 2.803, 0.993, -1.949, 0, 270, 0, 41 [SEP] 2, CD, 2.393, 0.885, -1.726, 0, 270, 0, 35 [SEP] 3, CD, 2.952, 0.183, -1.835, 0, 270, 0, 40 [SEP] 4, CellPhone, -0.776, 0.585, 0.529, 0, 0, 0, 56 [SEP] 5, CellPhone, 3.087, 0.988, -2.037, 0, 270, 0, 41 [SEP] 6, Pencil, -0.904, 0.789, 0.501, 0, 0, 0, 62 [SEP] 7, Pencil, -0.970, 0.789, -0.548, 0, 0, 0, 62 [SEP] 8, CreditCard, 3.455, 0.723, 1.262, 0, 180, 0, 66 [SEP] 9, CreditCard, 1.950, 0.985, -1.774, 0, 270, 0, 41 [SEP] 10, KeyChain, -0.740, 0.381, -0.430, 0, 90, 0, 58 [SEP] 11, Book, 1.950, 0.985, -2.125, 0, 270, 0, 41 [SEP] 12, Book, 2.235, 0.988, -1.95, 0, 270, 0, 41 [SEP] 13, Book, 2.217, 0.610, 0.068, 0, 0, 0, 26 [SEP] 14, KeyChain, -0.163, 1.109, 3.171, 0, 180, 0, 49 [SEP] 15, CreditCard, -0.350, 1.107, 3.171, 0, 180, 0, 49 [SEP] 16, Pen, 3.300, 0.729, 1.307, 0, 180, 0, 66 [SEP] 17, Pencil, -0.904, 0.789, -0.128, 0, 0, 0, 62 [SEP] 18, Laptop, 1.888, 0.607, 0.549, 0, 0, 0, 26 [SEP] 19, Vase, 2.519, 0.990, -1.774, 0, 270, 0, 41 [SEP] 20, AlarmClock, -0.772, 0.785, 0.081, 0, 0, 0, 62 [SEP] 21, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 26 [SEP] 22, Pillow, 2.545, 0.674, 0.068, 0, 0, 0, 26 [SEP] 23, CellPhone, -0.904, 0.785, 0.291, 0, 0, 0, 62 [SEP] 24, CD, 3.377, 0.723, 1.488, 0, 180, 0, 66 [SEP] 25, Vase, 1.515, 0.184, -1.786, 0, 270, 0, 38 [SEP] 26, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 27, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 28, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 29, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 30, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 31, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 32, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 33, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 34, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 35, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 42, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 43, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 44, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 46, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 47, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 48, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 49, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 50, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 51, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 62, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 63, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 64, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 65, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 66, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 67, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 68, NorthWall, , , , , , ,  [SEP] 69, EastWall, , , , , , ,  [SEP] 70, SouthWall, , , , , , ,  [SEP] 71, WestWall, , , , , , ,

Output: STEP 1: Turn left, head to the foot of the bed | STEP 2: Take the book from the bed | STEP 3: Turn around, open the door to the cabinet | STEP 4: Put the book in the cabinet, close the door | END


Input: Move a set of keys to a chair.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -1.25, 0, 270, 0,  [SEP] 1, Watch, -0.582, 0.040, -0.249, 0, 270, 0, 29 [SEP] 2, Newspaper, -0.711, 0.036, -0.185, 0, 270, 0, 40 [SEP] 3, CreditCard, 0.133, 0.293, -1.697, 0, 0, 0, 33 [SEP] 4, CreditCard, 1.724, 0.870, 0.325, 0, 90, 0, 37 [SEP] 5, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 37 [SEP] 6, RemoteControl, -0.323, 0.360, -0.544, 0, 90, 0, 30 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, -0.260, 0.553, -0.278, 0, 270, 0, 31 [SEP] 9, Watch, 1.807, 0.870, 0.326, 0, 90, 0, 37 [SEP] 10, Newspaper, 1.601, 0.276, -0.435, 0, 0, 0, 39 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.711, 0.551, -0.278, 0, 270, 0, 31 [SEP] 13, RemoteControl, 1.285, 0.279, -0.742, 0, 0, 0, 39 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 37 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 40, , , , , , , ,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table.  | STEP 2: Pick up the keys that are sitting on the coffee table.  | STEP 3: Turn left and walk over to the brown chair.  | STEP 4: Sit the keys down on the seat of the brown chair. | END


Input: Put a clean kettle on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0,  [SEP] 1, DishSponge, 1.955, 0.911, 1.129, 0, 0, 0, 83 [SEP] 2, DishSponge, 1.522, 0.114, -0.538, 0, 180, 0, 65 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Pot, 1.155, 0.915, 1.214, 0, 0, 0, 83 [SEP] 5, Spoon, 1.209, 0.772, 1.122, 0, 0, 0, 93 [SEP] 6, Fork, 1.804, 0.771, -0.422, 0, 270, 0, 62 [SEP] 7, Fork, 2.303, 0.772, -0.460, 0, 270, 0, 61 [SEP] 8, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 83 [SEP] 9, Cup, -0.090, 1.652, 1.394, 0, 0, 0, 74 [SEP] 10, Cup, 1.792, 0.112, 1.156, 0, 0, 0, 77 [SEP] 11, Knife, -0.983, 0.853, -1.257, 0, 90, 0, 107 [SEP] 12, Knife, -0.103, 0.944, 1.129, 0, 0, 0, 59 [SEP] 13, SoapBottle, 1.525, 0.120, 1.231, 0, 0, 0, 77 [SEP] 14, Bowl, 1.880, 1.653, 1.468, 0, 0, 0, 60 [SEP] 15, Bowl, 1.955, 0.909, 1.299, 0, 0, 0, 83 [SEP] 16, PepperShaker, -0.621, 0.817, -1.155, 0, 90, 0, 107 [SEP] 17, PepperShaker, -0.294, 0.908, 1.468, 0, 0, 0, 59 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 83 [SEP] 19, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 83 [SEP] 20, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 107 [SEP] 21, Mug, 2.653, 1.558, -0.840, 0, 0, 0, 103 [SEP] 22, Mug, 3.341, 0.835, -0.514, 0, 0, 0, 103 [SEP] 23, Apple, 2.653, 1.087, -0.775, 0, 0, 0, 103 [SEP] 24, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 107 [SEP] 25, SoapBottle, 1.102, 0.120, 1.236, 0, 0, 0, 55 [SEP] 26, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 27, Fork, 2.481, 0.772, 1.198, 0, 270, 0, 64 [SEP] 28, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 83 [SEP] 29, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 59 [SEP] 30, Egg, 2.900, 1.601, -0.644, 0, 0, 0, 103 [SEP] 31, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 83 [SEP] 32, Tomato, 2.838, 0.756, -0.473, 0, 0, 0, 103 [SEP] 33, Cup, 0.518, 1.782, 1.391, 0, 180, 0, 106 [SEP] 34, Spatula, 2.488, 0.926, 1.468, 0, 0, 0, 83 [SEP] 35, Apple, 2.653, 0.794, -0.535, 0, 0, 0, 103 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 48 [SEP] 38, SaltShaker, -0.887, 0.817, -1.110, 0, 0, 0, 107 [SEP] 39, Knife, 2.221, 0.944, 1.383, 0, 0, 0, 83 [SEP] 40, Potato, -1.933, 0.458, 1.417, 0, 270, 0, 101 [SEP] 41, PepperShaker, -0.055, 0.908, 1.383, 0, 0, 0, 59 [SEP] 42, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 0.215, 1.653, -0.771, 0, 180, 0, 88 [SEP] 44, DishSponge, -1.056, 0.820, -1.360, 0, 90, 0, 107 [SEP] 45, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 83 [SEP] 46, Mug, -0.151, 0.906, 1.468, 0, 270, 0, 59 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. | STEP 2: Pick up the kettle off of the back left burner of the stove. | STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink. | STEP 4: Put the kettle in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean kettle. | STEP 5: Walk back over to the stove. | STEP 6: Put the clean kettle on the back left burner of the stove. | END


Input: Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.75, 0, 180, 0,  [SEP] 1, Cloth, -1.439, 0.067, 3.327, 0, 0, 0, 24 [SEP] 2, SoapBar, -1.547, 0.994, 3.219, 0, 0, 0, 25 [SEP] 3, SprayBottle, -1.501, 0.069, 3.844, 0, 0, 0, 26 [SEP] 4, ToiletPaper, -1.284, 0.991, 2.148, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.416, 0.994, 2.178, 0, 0, 0, 25 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.481, 0.994, 3.812, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, -1.219, 0.993, 3.873, 0, 0, 0, 25 [SEP] 13, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 28 [SEP] 14, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 28 [SEP] 15, Cloth, -1.416, 0.994, 2.923, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the sinks. | STEP 2: Pick up the bottle of lotion on the right of the sinks. | STEP 3: Turn left to walk to the toilet. | STEP 4: Set the bottle of lotion down on the lid of the toilet tank. | END


Input: place dog statue on table in front of couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 0, 0,  [SEP] 1, KeyChain, -0.711, 0.334, -1.771, 0, 0, 0, 28 [SEP] 2, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 34 [SEP] 3, KeyChain, 1.807, 0.871, 0.643, 0, 90, 0, 32 [SEP] 4, Watch, -0.711, 0.360, -0.152, 0, 270, 0, 23 [SEP] 5, Newspaper, 1.724, 0.868, 0.431, 0, 90, 0, 32 [SEP] 6, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 28 [SEP] 7, CreditCard, -0.323, 0.037, -0.152, 0, 270, 0, Floor|+00.00| [SEP] 8, RemoteControl, -0.561, 0.553, -0.192, 0, 270, 0, 26 [SEP] 9, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 26 [SEP] 10, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 32 [SEP] 11, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 26 [SEP] 12, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 13, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 14, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 15, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 16, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 17, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 18, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 19, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 20, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 21, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 22, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 23, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 26, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 27, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 28, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 29, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 30, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 31, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 32, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 33, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 34, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 35, NorthWall, , , , , , ,  [SEP] 36, EastWall, , , , , , ,  [SEP] 37, SouthWall, , , , , , ,  [SEP] 38, WestWall, , , , , , ,

Output: STEP 1: turn right, walk towards table | STEP 2: pick up dog statue on table behind newspaper | STEP 3: turn around, turn left and walk towards couch across from, turn right walk to the end of the couch and turn right | STEP 4: place dog statue on table in front of plant | END


Input: Move a pencil from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -3.25, 0, 180, 0,  [SEP] 1, CD, -0.774, 0.542, -3.713, 0, 0, 0, 29 [SEP] 2, CellPhone, -3.466, 0.979, -4.276, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 30 [SEP] 4, Laptop, -3.402, 0.618, -0.931, 0, 0, 0, 20 [SEP] 5, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 35 [SEP] 6, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 35 [SEP] 7, Book, -3.539, 0.980, -3.673, 0, 0, 0, 38 [SEP] 8, CellPhone, -0.350, 0.348, -3.779, 0, 0, 0, 28 [SEP] 9, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 35 [SEP] 10, CreditCard, -3.613, 0.979, -3.271, 0, 0, 0, 38 [SEP] 11, AlarmClock, -0.657, 0.800, -3.920, 0, 0, 0, 35 [SEP] 12, KeyChain, -3.638, 0.420, -3.000, 0, 0, 0, 46 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -0.657, 0.807, -3.703, 0, 0, 0, 35 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.750, 0.044, -2.997, 0, 0, 0, 37 [SEP] 18, Pen, -0.578, 0.194, -3.779, 0, 90, 0, 27 [SEP] 19, Mug, -0.507, 0.541, -3.713, 0, 0, 0, 29 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Walk to the front of the computer desk. | STEP 2: Grab a pencil from the desk. | STEP 3: Walk to the dresser on your right. | STEP 4: Place the pencil on the dresser. | END


Input: Move a pencil from the desk to the dresser.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -3.25, 0, 180, 0,  [SEP] 1, CD, -0.774, 0.542, -3.713, 0, 0, 0, 29 [SEP] 2, CellPhone, -3.466, 0.979, -4.276, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 30 [SEP] 4, Laptop, -3.402, 0.618, -0.931, 0, 0, 0, 20 [SEP] 5, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 35 [SEP] 6, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 35 [SEP] 7, Book, -3.539, 0.980, -3.673, 0, 0, 0, 38 [SEP] 8, CellPhone, -0.350, 0.348, -3.779, 0, 0, 0, 28 [SEP] 9, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 35 [SEP] 10, CreditCard, -3.613, 0.979, -3.271, 0, 0, 0, 38 [SEP] 11, AlarmClock, -0.657, 0.800, -3.920, 0, 0, 0, 35 [SEP] 12, KeyChain, -3.638, 0.420, -3.000, 0, 0, 0, 46 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -0.657, 0.807, -3.703, 0, 0, 0, 35 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.750, 0.044, -2.997, 0, 0, 0, 37 [SEP] 18, Pen, -0.578, 0.194, -3.779, 0, 90, 0, 27 [SEP] 19, Mug, -0.507, 0.541, -3.713, 0, 0, 0, 29 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the desk. | STEP 2: Pick a pencil on the desk. | STEP 3: Turn and go to the dresser. | STEP 4: Put the pencil on the dresser. | END


Input: Bring a box to the couch with a credit card that is closed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.0, 0, 270, 0,  [SEP] 1, Newspaper, -0.561, 0.550, -0.537, 0, 270, 0, 28 [SEP] 2, KeyChain, -0.561, 0.553, -0.278, 0, 90, 0, 28 [SEP] 3, KeyChain, -0.711, 0.295, -1.990, 0, 0, 0, 30 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.288, 0.295, -1.697, 0, 0, 0, 30 [SEP] 6, Watch, -0.411, 0.552, -0.106, 0, 270, 0, 28 [SEP] 7, Newspaper, 1.724, 0.868, 0.114, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.561, 0.551, -0.365, 0, 270, 0, 28 [SEP] 10, RemoteControl, -0.260, 0.553, -0.278, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place | STEP 4: Place box on top of couch | STEP 5: Move to other side of coffee table behind you | STEP 6: Pick up credit card from coffee table | STEP 7: Move to other side of coffee table where box was placed | STEP 8: Place box in card, close box | END


Input: place a box down on the couch with a credit card inside SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.0, 0, 270, 0,  [SEP] 1, Newspaper, -0.561, 0.550, -0.537, 0, 270, 0, 28 [SEP] 2, KeyChain, -0.561, 0.553, -0.278, 0, 90, 0, 28 [SEP] 3, KeyChain, -0.711, 0.295, -1.990, 0, 0, 0, 30 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.288, 0.295, -1.697, 0, 0, 0, 30 [SEP] 6, Watch, -0.411, 0.552, -0.106, 0, 270, 0, 28 [SEP] 7, Newspaper, 1.724, 0.868, 0.114, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.561, 0.551, -0.365, 0, 270, 0, 28 [SEP] 10, RemoteControl, -0.260, 0.553, -0.278, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left | STEP 4: place the box down on the couch there | STEP 5: turn left and walk around to the other side of the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn left and walk around to the other side of the coffee table, then face the couch | STEP 8: place the card inside the box and close the box | END


Input: Place a section of apple into a container, place the container 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, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple. | STEP 9: Turn left, move to in front of the sink. | STEP 10: Place the apple section into the blue container. | STEP 11: Pick up the blue container with the apple and knife on it. | STEP 12: Turn left, move to in front of the stove. | STEP 13: Place the blue container in to the microwave. | END


Input: Put a bowl with an apple slice and butter knife in it into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go to the sink. | STEP 10: Put the apple slice in the bowl with the butter knife. | STEP 11: Pick up the bowl with the apple and butter knife in it. | STEP 12: Go to the microwave. | STEP 13: Put the bowl with the apple and butter knife in the microwave. | END


Input: To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn around and walk around the counter to the right to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with the apple piece in it. | STEP 12: Turn around and walk forward to face the microwave. | STEP 13: Place the bowl with apple piece in it into the microwave. | END


Input: To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with an apple in it. | STEP 12: Turn around and walk over to the stove. | STEP 13: Place the bowl in the microwave and close the door. | END


Input: Put the clean spoon in the drawer left of the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.75, 0, 90, 0,  [SEP] 1, Potato, 0.570, 1.819, 1.391, 0, 180, 0, 99 [SEP] 2, Potato, 2.591, 1.053, -0.709, 0, 0, 0, 96 [SEP] 3, Kettle, 1.561, 1.655, 1.470, 0, 0, 0, 64 [SEP] 4, ButterKnife, 2.754, 0.911, 1.214, 0, 0, 0, 76 [SEP] 5, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 85 [SEP] 6, Spoon, -0.151, 0.912, 1.129, 0, 0, 0, 52 [SEP] 7, Fork, -0.023, 0.772, 1.198, 0, 270, 0, 46 [SEP] 8, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 96 [SEP] 9, Cup, 2.488, 0.909, 1.383, 0, 0, 0, 76 [SEP] 10, Cup, -0.621, 0.818, -1.257, 0, 90, 0, 100 [SEP] 11, Tomato, 2.754, 0.942, 1.553, 0, 0, 0, 76 [SEP] 12, Bowl, 2.198, 0.112, -0.458, 0, 180, 0, 82 [SEP] 13, SaltShaker, 1.955, 0.908, 1.129, 0, 0, 0, 76 [SEP] 14, PepperShaker, 1.835, 1.650, -0.887, 0, 180, 0, 78 [SEP] 15, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 76 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 17, Apple, -0.734, 0.889, -1.400, 0, 0, 0, 100 [SEP] 18, SoapBottle, -0.839, 0.826, -1.257, 0, 90, 0, 100 [SEP] 19, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 52 [SEP] 21, Pot, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 22, Bread, -0.151, 0.969, 1.468, 0, 0, 0, 52 [SEP] 23, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 98 [SEP] 24, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 25, Tomato, -1.991, 0.455, 1.417, 0, 270, 0, 94 [SEP] 26, Cup, -0.017, 0.763, -0.596, 0, 0, 0, 98 [SEP] 27, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 98 [SEP] 28, Apple, 3.381, 0.909, -0.485, 0, 0, 0, 96 [SEP] 29, Pan, 1.422, 0.911, 1.214, 0, 0, 0, 76 [SEP] 30, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 76 [SEP] 31, SaltShaker, -0.983, 0.817, -1.206, 0, 90, 0, 100 [SEP] 32, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 100 [SEP] 33, Potato, 2.591, 0.761, -0.442, 0, 90, 0, 96 [SEP] 34, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 100 [SEP] 35, ButterKnife, -0.983, 0.820, -1.257, 0, 90, 0, 100 [SEP] 36, Bowl, 2.802, 0.112, 1.193, 0, 0, 0, 73 [SEP] 37, DishSponge, 2.156, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, 2.743, 0.773, 1.122, 0, 90, 0, 85 [SEP] 39, Mug, 1.872, 0.109, -0.383, 0, 180, 0, 87 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Move over to the counter left of the stove.  | STEP 2: Pick up the spoon from the counter.  | STEP 3: Bring the spoon to the sink. | STEP 4: Wash the spoon in the sink.  | STEP 5: Bring the spoon back to the counter left of the stove. | STEP 6: Put the spoon in the drawer to the left of the stove.  | END


Input: Put the plunger in the cabinet under the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 2.0, 0, 180, 0,  [SEP] 1, SoapBar, -1.259, 0.067, 3.427, 0, 0, 0, 24 [SEP] 2, Candle, -1.620, 0.067, 3.276, 0, 0, 0, 24 [SEP] 3, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 31 [SEP] 4, SprayBottle, -1.350, 0.995, 2.148, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, 0.231, 0.047, 3.782, 0, 0, 0, 28 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.439, 0.067, 2.492, 0, 0, 0, 20 [SEP] 11, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 12, SoapBottle, -1.262, 0.068, 2.857, 0, 0, 0, 24 [SEP] 13, ToiletPaper, -1.613, 0.991, 2.209, 0, 0, 0, 25 [SEP] 14, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 28 [SEP] 15, Cloth, -1.441, 0.068, 2.757, 0, 0, 0, 18 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Move to the toilet. | STEP 2: Pick up the plunger from the floor. | STEP 3: Bring the plunger to the sink. | STEP 4: Put the plunger in the cabinet under the sink.  | END


Input: Move the box to the right side 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, -1.0, 0.900, -1.25, 0, 90, 0,  [SEP] 1, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 28 [SEP] 2, Watch, -0.260, 0.552, -0.365, 0, 270, 0, 28 [SEP] 3, KeyChain, -0.077, 0.323, -1.917, 0, 180, 0, 30 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.453, 0.199, -0.609, 0, 90, 0, 29 [SEP] 6, Watch, -0.561, 0.552, -0.192, 0, 270, 0, 28 [SEP] 7, Newspaper, 1.766, 0.868, 0.537, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.077, 0.323, -1.771, 0, 0, 0, 30 [SEP] 10, RemoteControl, -0.260, 0.553, -0.623, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, 1.724, 0.880, 0.114, 0, 90, 0, 34 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Move to the wooden end table to the left of the sofa | STEP 2: Pick up the empty box under the end table on the floor | STEP 3: Carry the open box over to the large brown leather sofa | STEP 4: Place the box on top of the sofa on the far right side | END


Input: Put a cooked egg in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, -0.5, 0, 90, 0,  [SEP] 1, ButterKnife, 0.980, 1.053, 0.281, 0, 90, 0, 47 [SEP] 2, ButterKnife, 1.015, 1.043, 0.676, 0, 0, 0, 51 [SEP] 3, Kettle, 0.065, 1.044, 0.522, 0, 0, 0, 51 [SEP] 4, Pot, -0.473, 1.566, -1.693, 0, 90, 0, 54 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 45 [SEP] 6, Fork, 1.072, 1.047, -1.181, 0, 0, 0, 49 [SEP] 7, Fork, 0.823, 1.047, -1.289, 0, 0, 0, 49 [SEP] 8, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 49 [SEP] 9, Egg, 1.910, 0.177, 2.358, 0, 270, 0, 65 [SEP] 10, Egg, -1.268, 2.002, 1.974, 0, 90, 0, 64 [SEP] 11, Egg, 1.211, 0.955, 0.231, 0, 90, 0, 46 [SEP] 12, Cup, -0.432, 1.047, -1.505, 0, 0, 0, 49 [SEP] 13, Cup, -1.064, 0.964, 2.331, 0, 90, 0, 64 [SEP] 14, Plate, 1.068, 0.212, -1.267, 0, 0, 0, 60 [SEP] 15, Knife, 1.155, 1.072, -1.397, 0, 90, 0, 49 [SEP] 16, SoapBottle, 1.435, 1.020, -1.264, 0, 0, 0, 55 [SEP] 17, Bowl, 1.036, 1.563, -1.614, 0, 0, 0, 53 [SEP] 18, Bowl, -1.105, 0.201, -1.482, 0, 0, 0, 57 [SEP] 19, PepperShaker, 1.666, 1.014, -1.630, 0, 0, 0, 55 [SEP] 20, PepperShaker, 1.112, 1.560, -1.388, 0, 0, 0, 53 [SEP] 21, Mug, 1.188, 1.560, -1.839, 0, 90, 0, 53 [SEP] 22, Apple, 0.980, 1.097, 0.331, 0, 90, 0, 47 [SEP] 23, SoapBottle, 1.826, 0.123, 2.358, 0, 270, 0, 65 [SEP] 24, Apple, -1.095, 1.007, 1.796, 0, 90, 0, 64 [SEP] 25, Potato, -1.126, 1.017, 2.153, 0, 90, 0, 64 [SEP] 26, Fork, 1.514, 1.043, 0.589, 0, 0, 0, 51 [SEP] 27, Kettle, -1.339, 0.203, -1.410, 0, 0, 0, 57 [SEP] 28, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 49 [SEP] 29, Tomato, 0.065, 1.094, 0.091, 0, 0, 0, 51 [SEP] 30, SaltShaker, 1.155, 1.041, -1.828, 0, 0, 0, 49 [SEP] 31, Egg, 1.241, 0.947, 0.304, 0, 90, 0, 46 [SEP] 32, Cup, 1.897, 1.020, -1.484, 0, 0, 0, 55 [SEP] 33, Spatula, 0.980, 1.068, 0.181, 0, 90, 0, 47 [SEP] 34, Knife, -0.346, 1.072, -1.720, 0, 90, 0, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.848, 1.043, 0.676, 0, 0, 0, 51 [SEP] 37, PepperShaker, 0.740, 1.041, -1.828, 0, 0, 0, 49 [SEP] 38, DishSponge, -0.670, 0.203, -1.553, 0, 0, 0, 58 [SEP] 39, Plate, 0.351, 1.056, 0.630, 0, 0, 0, 51 [SEP] 40, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 49 [SEP] 41, Spoon, 1.072, 1.048, -1.289, 0, 270, 0, 49 [SEP] 42, Pot, -1.349, 1.714, 2.242, 0, 0, 0, 64 [SEP] 43, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 44, Bowl, -1.184, 2.027, -1.337, 0, 0, 0, 56 [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: Go forward, turn left at the sink, go to the sink. | STEP 2: Take the left egg from the sink. | STEP 3: Turn left, go to the wall, turn left, go to the oven.  | STEP 4: Cook the egg in the microwave above the egg. Take the egg from the microwave. | STEP 5: Turn left, go forward, turn left at the sink, go to the sink. | STEP 6: Put the egg to the left of the other egg in the sink. | END


Input: move the box from the floor to the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 0.75, 0, 90, 0,  [SEP] 1, Bowl, -2.474, 0.148, 7.070, 0, 90, 0, 48 [SEP] 2, KeyChain, -0.789, 0.433, 4.524, 0, 90, 0, 37 [SEP] 3, KeyChain, -0.636, 0.794, 1.751, 0, 270, 0, 39 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -0.585, 0.794, 2.377, 0, 270, 0, 39 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -0.631, 0.365, 3.915, 0, 90, 0, 37 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 11, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 47 [SEP] 12, CreditCard, -5.536, 0.533, 6.703, 0, 45, 0, 55 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.710, 0.415, 3.611, 0, 180, 0, 37 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -0.636, 0.795, 5.726, 0, 270, 0, 38 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.859, 0.536, 6.456, 0, 135, 0, 55 [SEP] 21, Watch, -0.326, 0.793, 2.154, 0, 0, 0, 39 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -2.277, 0.454, 7.259, 0, 180, 0, 46 [SEP] 24, Statue, -2.422, 0.543, 4.480, 0, 270, 0, 54 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,

Output: STEP 1: turn left, walk to the box on the left | STEP 2: grab the box on the ground, | STEP 3: turn left, walk to the sofa | STEP 4: put the box on the sofa | END


Input: Put a clean bar of soap in a 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, 1.25, 0, 90, 0,  [SEP] 1, Cloth, 0.453, 0.048, -0.071, 0, 0, 0, 29 [SEP] 2, Cloth, -1.144, 0.293, 2.157, 0, 0, 0, 26 [SEP] 3, SoapBar, -0.836, 1.010, -0.352, 0, 306.598, 0, 23 [SEP] 4, SoapBar, -2.343, 1.046, -0.766, 0, 0, 0, 35 [SEP] 5, SoapBar, 0.041, 0.043, 1.295, 0, 0, 0, 29 [SEP] 6, Candle, -1.471, 1.814, 2.247, 0, 0, 0, 28 [SEP] 7, SoapBottle, -0.247, 0.611, -0.406, 0, 315, 0, 22 [SEP] 8, ToiletPaper, -2.015, 1.043, -0.766, 0, 0, 0, 35 [SEP] 9, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 22 [SEP] 10, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.415, 1.010, -0.352, 0, 227.756, 0, 23 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 14, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 33 [SEP] 15, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 30 [SEP] 16, Cloth, 0.124, 0.048, 0.839, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -2.277, 1.043, -0.705, 0, 0, 0, 35 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -2.146, 1.048, -0.705, 0, 0, 0, 35 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Go to the right and face the right side of the sink. | STEP 2: Pick the soap up from the counter. | STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up. | STEP 4: Turn to the left and face the tub. | STEP 5: Put the soap in the tub. | END


Input: Put a clean wet bar of soap in 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, 1.25, 0, 90, 0,  [SEP] 1, Cloth, 0.453, 0.048, -0.071, 0, 0, 0, 29 [SEP] 2, Cloth, -1.144, 0.293, 2.157, 0, 0, 0, 26 [SEP] 3, SoapBar, -0.836, 1.010, -0.352, 0, 306.598, 0, 23 [SEP] 4, SoapBar, -2.343, 1.046, -0.766, 0, 0, 0, 35 [SEP] 5, SoapBar, 0.041, 0.043, 1.295, 0, 0, 0, 29 [SEP] 6, Candle, -1.471, 1.814, 2.247, 0, 0, 0, 28 [SEP] 7, SoapBottle, -0.247, 0.611, -0.406, 0, 315, 0, 22 [SEP] 8, ToiletPaper, -2.015, 1.043, -0.766, 0, 0, 0, 35 [SEP] 9, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 22 [SEP] 10, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.415, 1.010, -0.352, 0, 227.756, 0, 23 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 14, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 33 [SEP] 15, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 30 [SEP] 16, Cloth, 0.124, 0.048, 0.839, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -2.277, 1.043, -0.705, 0, 0, 0, 35 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -2.146, 1.048, -0.705, 0, 0, 0, 35 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the sink | STEP 2: Pick up the bar of soap from the edge of the sink | STEP 3: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap | STEP 4: Turn around, then turn right and go to the bath tub | STEP 5: Put the bar of soap in the bath tub | END