Input: Put an egg in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0,  [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the closest corner where the counter bends. Look on the right hand counter. | STEP 2: Pick the egg up off the counter. | STEP 3: Turn around and walk to the fridge. | STEP 4: Put the egg in the fridge. | END


Input: Plan an egg inside the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0,  [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn right and make your way to the dishwasher so you face it and then turn to your right. | STEP 2: Pick the egg up off of the counter. | STEP 3: Walk to the refrigerator and face it. | STEP 4: Open the fridge and place the egg on the top shelf before closing the door. | END


Input: To put s pen in a bowl and move the bowl to the night stand.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.5, 0, 180, 0,  [SEP] 1, CD, 1.016, 0.728, 1.066, 0, 0, 0, 38 [SEP] 2, Pen, 1.356, 0.734, 1.066, 0, 270, 0, 38 [SEP] 3, Pencil, 1.102, 0.080, 0.588, 0, 0, 0, 28 [SEP] 4, KeyChain, 1.084, 0.729, 0.901, 0, 0, 0, 38 [SEP] 5, KeyChain, -0.094, 0.099, -1.593, 0, 270, 0, 41 [SEP] 6, AlarmClock, 1.220, 0.729, 0.901, 0, 0, 0, 38 [SEP] 7, Book, 1.205, 0.780, -0.714, 0, 0, 0, 27 [SEP] 8, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 9, CellPhone, 1.205, 0.782, 0.107, 0, 0, 0, 27 [SEP] 10, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 11, Bowl, 1.288, 0.729, 1.396, 0, 0, 0, 38 [SEP] 12, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 13, Laptop, 0.829, 0.776, -0.988, 0, 0, 0, 27 [SEP] 14, CreditCard, 1.016, 0.728, 1.231, 0, 0, 0, 38 [SEP] 15, KeyChain, 0.021, 0.694, -1.838, 0, 0, 0, 40 [SEP] 16, AlarmClock, 1.342, 1.131, 0.960, 0, 270, 0, 35 [SEP] 17, Pencil, 1.211, 0.555, 1.595, 0, 0, 0, 37 [SEP] 18, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 27 [SEP] 19, CD, 1.356, 0.728, 1.727, 0, 0, 0, 38 [SEP] 20, Pen, 1.310, 1.144, 1.246, 0, 270, 0, 35 [SEP] 21, Mug, 1.373, 1.136, 1.558, 0, 270, 0, 35 [SEP] 22, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 23, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 24, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 25, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 26, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 27, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 28, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 29, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 30, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 31, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 32, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 33, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 34, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 35, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 36, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 37, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 38, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 39, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 40, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 41, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 42, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the desk on the left side of the bed.  | STEP 2: Pick up the pen behind the CD.  | STEP 3: Move over to the left side of the desk.  | STEP 4: Put the pen down in the bowl on the desk.  | STEP 5: Pick up the bowl from the desk.  | STEP 6: Walk to the night stand to the right of the bed.  | STEP 7: Put the bowl down on the night stand to the left of the lamp.  | END


Input: Place the two bats from the floor on to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, -0.25, 0, 270, 0,  [SEP] 1, Mug, 3.082, 0.983, 0.439, 0, 180, 0, 37 [SEP] 2, Mug, 2.546, 0.178, 1.082, 0, 180, 0, 40 [SEP] 3, CD, -1.562, 0.356, -1.306, 0, 0, 0, 48 [SEP] 4, CD, 2.371, 0.448, -0.588, 0, 119.999, 0, 50 [SEP] 5, Pen, -1.603, 0.668, -1.405, 0, 0, 0, 47 [SEP] 6, CreditCard, 2.557, 0.985, 1.292, 0, 180, 0, 37 [SEP] 7, KeyChain, 2.820, 0.986, 0.155, 0, 0, 0, 37 [SEP] 8, KeyChain, 2.995, 0.989, 1.292, 0, 180, 0, 37 [SEP] 9, Pencil, 2.732, 0.989, 1.007, 0, 180, 0, 37 [SEP] 10, Pencil, 2.644, 0.992, 0.155, 0, 180, 0, 37 [SEP] 11, Pillow, -0.448, 0.779, 0.782, 0, 0, 0, 29 [SEP] 12, Laptop, 0.086, 0.691, -0.109, 0, 0, 0, 29 [SEP] 13, Book, 2.914, 0.981, 0.798, 0, 287.688, 0, 37 [SEP] 14, KeyChain, 2.437, 0.450, -0.737, 0, 119.999, 0, 50 [SEP] 15, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 37 [SEP] 16, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0,  [SEP] 17, CreditCard, 2.644, 0.988, 0.723, 0, 180, 0, 37 [SEP] 18, Pen, -1.558, 0.668, 1.556, 0, 0, 0, 49 [SEP] 19, Pencil, 2.820, 0.989, 0.439, 0, 180, 0, 37 [SEP] 20, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300,  [SEP] 21, AlarmClock, 2.819, 0.984, 1.292, 0, 180, 0, 37 [SEP] 22, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270,  [SEP] 23, Pillow, -0.181, 0.779, 0.336, 0, 0, 0, 29 [SEP] 24, Pillow, 0.086, 0.779, 0.782, 0, 0, 0, 29 [SEP] 25, CellPhone, 2.557, 0.988, 1.007, 0, 180, 0, 37 [SEP] 26, CD, -1.558, 0.662, -1.172, 0, 0, 0, 47 [SEP] 27, Mug, 2.547, 0.178, 0.349, 0, 180, 0, 43 [SEP] 28, Curtains, -0.020, 2.923, -1.853, 0, 0, 0,  [SEP] 29, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0,  [SEP] 30, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0,  [SEP] 31, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0,  [SEP] 32, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0,  [SEP] 33, Painting, 1.524, 1.516, -1.853, 90, 0, 0,  [SEP] 34, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0,  [SEP] 35, Mirror, 0.575, 1.351, 2.197, 0, 0, 0,  [SEP] 36, Window, -0.013, 1.687, -1.919, 90, 0, 0,  [SEP] 37, Dresser, 2.819, 0.000, 1.008, 0, 270, 0,  [SEP] 38, Drawer, 2.572, 0.901, 1.784, 0, 270, 0,  [SEP] 39, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0,  [SEP] 40, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0,  [SEP] 41, Drawer, 2.572, 0.901, 1.263, 0, 270, 0,  [SEP] 42, Drawer, 2.572, 0.901, 0.748, 0, 270, 0,  [SEP] 43, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0,  [SEP] 44, Drawer, 2.572, 0.901, 0.230, 0, 270, 0,  [SEP] 45, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0,  [SEP] 46, Drawer, -1.533, 0.459, 1.478, 0, 90, 0,  [SEP] 47, SideTable, -1.599, 0.001, -1.249, 0, 90, 0,  [SEP] 48, Drawer, -1.533, 0.459, -1.250, 0, 90, 0,  [SEP] 49, SideTable, -1.599, 0.001, 1.479, 0, 90, 0,  [SEP] 50, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0,  [SEP] 51, Shelf, -1.552, 0.040, -1.400, 0, 90, 0,  [SEP] 52, Shelf, -1.552, 0.040, -1.133, 0, 90, 0,  [SEP] 53, Shelf, -1.552, 0.040, 1.328, 0, 90, 0,  [SEP] 54, Shelf, -1.552, 0.040, 1.595, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn left towards the blue bin and then turn left towards the baseball bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around and head towards the bed. | STEP 4: Place the bat behind the laptop lid on the bed. | STEP 5: Turn right towards the mirror and look down to find a baseball bat. | STEP 6: Pick up the baseball bat on the ground. | STEP 7: Turn around and head towards the bed. | STEP 8: Place the bat beside the pillow closest to the lap top. | END


Input: Put two bats on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, -0.25, 0, 270, 0,  [SEP] 1, Mug, 3.082, 0.983, 0.439, 0, 180, 0, 37 [SEP] 2, Mug, 2.546, 0.178, 1.082, 0, 180, 0, 40 [SEP] 3, CD, -1.562, 0.356, -1.306, 0, 0, 0, 48 [SEP] 4, CD, 2.371, 0.448, -0.588, 0, 119.999, 0, 50 [SEP] 5, Pen, -1.603, 0.668, -1.405, 0, 0, 0, 47 [SEP] 6, CreditCard, 2.557, 0.985, 1.292, 0, 180, 0, 37 [SEP] 7, KeyChain, 2.820, 0.986, 0.155, 0, 0, 0, 37 [SEP] 8, KeyChain, 2.995, 0.989, 1.292, 0, 180, 0, 37 [SEP] 9, Pencil, 2.732, 0.989, 1.007, 0, 180, 0, 37 [SEP] 10, Pencil, 2.644, 0.992, 0.155, 0, 180, 0, 37 [SEP] 11, Pillow, -0.448, 0.779, 0.782, 0, 0, 0, 29 [SEP] 12, Laptop, 0.086, 0.691, -0.109, 0, 0, 0, 29 [SEP] 13, Book, 2.914, 0.981, 0.798, 0, 287.688, 0, 37 [SEP] 14, KeyChain, 2.437, 0.450, -0.737, 0, 119.999, 0, 50 [SEP] 15, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 37 [SEP] 16, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0,  [SEP] 17, CreditCard, 2.644, 0.988, 0.723, 0, 180, 0, 37 [SEP] 18, Pen, -1.558, 0.668, 1.556, 0, 0, 0, 49 [SEP] 19, Pencil, 2.820, 0.989, 0.439, 0, 180, 0, 37 [SEP] 20, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300,  [SEP] 21, AlarmClock, 2.819, 0.984, 1.292, 0, 180, 0, 37 [SEP] 22, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270,  [SEP] 23, Pillow, -0.181, 0.779, 0.336, 0, 0, 0, 29 [SEP] 24, Pillow, 0.086, 0.779, 0.782, 0, 0, 0, 29 [SEP] 25, CellPhone, 2.557, 0.988, 1.007, 0, 180, 0, 37 [SEP] 26, CD, -1.558, 0.662, -1.172, 0, 0, 0, 47 [SEP] 27, Mug, 2.547, 0.178, 0.349, 0, 180, 0, 43 [SEP] 28, Curtains, -0.020, 2.923, -1.853, 0, 0, 0,  [SEP] 29, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0,  [SEP] 30, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0,  [SEP] 31, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0,  [SEP] 32, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0,  [SEP] 33, Painting, 1.524, 1.516, -1.853, 90, 0, 0,  [SEP] 34, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0,  [SEP] 35, Mirror, 0.575, 1.351, 2.197, 0, 0, 0,  [SEP] 36, Window, -0.013, 1.687, -1.919, 90, 0, 0,  [SEP] 37, Dresser, 2.819, 0.000, 1.008, 0, 270, 0,  [SEP] 38, Drawer, 2.572, 0.901, 1.784, 0, 270, 0,  [SEP] 39, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0,  [SEP] 40, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0,  [SEP] 41, Drawer, 2.572, 0.901, 1.263, 0, 270, 0,  [SEP] 42, Drawer, 2.572, 0.901, 0.748, 0, 270, 0,  [SEP] 43, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0,  [SEP] 44, Drawer, 2.572, 0.901, 0.230, 0, 270, 0,  [SEP] 45, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0,  [SEP] 46, Drawer, -1.533, 0.459, 1.478, 0, 90, 0,  [SEP] 47, SideTable, -1.599, 0.001, -1.249, 0, 90, 0,  [SEP] 48, Drawer, -1.533, 0.459, -1.250, 0, 90, 0,  [SEP] 49, SideTable, -1.599, 0.001, 1.479, 0, 90, 0,  [SEP] 50, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0,  [SEP] 51, Shelf, -1.552, 0.040, -1.400, 0, 90, 0,  [SEP] 52, Shelf, -1.552, 0.040, -1.133, 0, 90, 0,  [SEP] 53, Shelf, -1.552, 0.040, 1.328, 0, 90, 0,  [SEP] 54, Shelf, -1.552, 0.040, 1.595, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Go to the corner behind the chair. | STEP 2: Pick up the bat in the corner. | STEP 3: Go across the room to the bed. | STEP 4: Put the bat on the bed to the left of the laptop. | STEP 5: Go to the mirror with a bat under it. | STEP 6: Pick up the bat on the floor. | STEP 7: Go back to the bed. | STEP 8: Set the bat on the bed to the right of the laptop. | END


Input: Place two baseball bats on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, -0.25, 0, 270, 0,  [SEP] 1, Mug, 3.082, 0.983, 0.439, 0, 180, 0, 37 [SEP] 2, Mug, 2.546, 0.178, 1.082, 0, 180, 0, 40 [SEP] 3, CD, -1.562, 0.356, -1.306, 0, 0, 0, 48 [SEP] 4, CD, 2.371, 0.448, -0.588, 0, 119.999, 0, 50 [SEP] 5, Pen, -1.603, 0.668, -1.405, 0, 0, 0, 47 [SEP] 6, CreditCard, 2.557, 0.985, 1.292, 0, 180, 0, 37 [SEP] 7, KeyChain, 2.820, 0.986, 0.155, 0, 0, 0, 37 [SEP] 8, KeyChain, 2.995, 0.989, 1.292, 0, 180, 0, 37 [SEP] 9, Pencil, 2.732, 0.989, 1.007, 0, 180, 0, 37 [SEP] 10, Pencil, 2.644, 0.992, 0.155, 0, 180, 0, 37 [SEP] 11, Pillow, -0.448, 0.779, 0.782, 0, 0, 0, 29 [SEP] 12, Laptop, 0.086, 0.691, -0.109, 0, 0, 0, 29 [SEP] 13, Book, 2.914, 0.981, 0.798, 0, 287.688, 0, 37 [SEP] 14, KeyChain, 2.437, 0.450, -0.737, 0, 119.999, 0, 50 [SEP] 15, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 37 [SEP] 16, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0,  [SEP] 17, CreditCard, 2.644, 0.988, 0.723, 0, 180, 0, 37 [SEP] 18, Pen, -1.558, 0.668, 1.556, 0, 0, 0, 49 [SEP] 19, Pencil, 2.820, 0.989, 0.439, 0, 180, 0, 37 [SEP] 20, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300,  [SEP] 21, AlarmClock, 2.819, 0.984, 1.292, 0, 180, 0, 37 [SEP] 22, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270,  [SEP] 23, Pillow, -0.181, 0.779, 0.336, 0, 0, 0, 29 [SEP] 24, Pillow, 0.086, 0.779, 0.782, 0, 0, 0, 29 [SEP] 25, CellPhone, 2.557, 0.988, 1.007, 0, 180, 0, 37 [SEP] 26, CD, -1.558, 0.662, -1.172, 0, 0, 0, 47 [SEP] 27, Mug, 2.547, 0.178, 0.349, 0, 180, 0, 43 [SEP] 28, Curtains, -0.020, 2.923, -1.853, 0, 0, 0,  [SEP] 29, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0,  [SEP] 30, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0,  [SEP] 31, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0,  [SEP] 32, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0,  [SEP] 33, Painting, 1.524, 1.516, -1.853, 90, 0, 0,  [SEP] 34, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0,  [SEP] 35, Mirror, 0.575, 1.351, 2.197, 0, 0, 0,  [SEP] 36, Window, -0.013, 1.687, -1.919, 90, 0, 0,  [SEP] 37, Dresser, 2.819, 0.000, 1.008, 0, 270, 0,  [SEP] 38, Drawer, 2.572, 0.901, 1.784, 0, 270, 0,  [SEP] 39, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0,  [SEP] 40, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0,  [SEP] 41, Drawer, 2.572, 0.901, 1.263, 0, 270, 0,  [SEP] 42, Drawer, 2.572, 0.901, 0.748, 0, 270, 0,  [SEP] 43, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0,  [SEP] 44, Drawer, 2.572, 0.901, 0.230, 0, 270, 0,  [SEP] 45, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0,  [SEP] 46, Drawer, -1.533, 0.459, 1.478, 0, 90, 0,  [SEP] 47, SideTable, -1.599, 0.001, -1.249, 0, 90, 0,  [SEP] 48, Drawer, -1.533, 0.459, -1.250, 0, 90, 0,  [SEP] 49, SideTable, -1.599, 0.001, 1.479, 0, 90, 0,  [SEP] 50, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0,  [SEP] 51, Shelf, -1.552, 0.040, -1.400, 0, 90, 0,  [SEP] 52, Shelf, -1.552, 0.040, -1.133, 0, 90, 0,  [SEP] 53, Shelf, -1.552, 0.040, 1.328, 0, 90, 0,  [SEP] 54, Shelf, -1.552, 0.040, 1.595, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: turn left, cross the room to the trashcan, then turn left, and move into the nearest corner | STEP 2: take the baseball bat from the corner | STEP 3: cross the room to the center of the foot of the bed | STEP 4: precariously balance the bat on the bed to the left of the laptop, in defiance of physics | STEP 5: turn right and cross the room the mirror, then look down at the floor | STEP 6: take the baseball bat from the floor | STEP 7: turn around, and return to the center of the foot of the bed, then turn to face the bed | STEP 8: place the bat on the bed in front of the pillow closest to the center of the bed | END


Input: Put a cleaned knife on the table next to the microwave.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 1.124, -1.0, 0, 0, 0,  [SEP] 1, Pan, 1.021, 1.524, 1.601, 0, 180, 0, 66 [SEP] 2, Potato, -1.826, 1.372, -0.911, 0, 0, 0, 60 [SEP] 3, Potato, -1.698, 1.090, -0.587, 0, 0, 0, 71 [SEP] 4, DishSponge, -2.049, 1.322, -3.241, 0, 0, 0, 53 [SEP] 5, WineBottle, -1.345, 1.323, -0.801, 0, 0, 0, 53 [SEP] 6, Kettle, -2.049, 1.324, -1.681, 0, 0, 0, 53 [SEP] 7, Kettle, 0.900, 0.346, -2.164, 0, 180, 0, 52 [SEP] 8, Fork, 0.944, 1.208, 1.206, 0, 0, 0, 78 [SEP] 9, Fork, 0.896, 1.323, -0.942, 0, 0, 0, 53 [SEP] 10, Spatula, -1.826, 1.078, -0.496, 0, 180, 0, 71 [SEP] 11, Pot, -0.125, 1.332, -2.973, 0, 0, 0, 61 [SEP] 12, Pot, -0.239, 1.331, -3.301, 0, 180, 0, 48 [SEP] 13, Cup, -1.530, 1.320, 0.770, 0, 0, 0, 53 [SEP] 14, Tomato, -2.004, 1.370, -1.255, 0, 0, 0, 60 [SEP] 15, Tomato, -1.915, 1.369, -1.117, 0, 0, 0, 60 [SEP] 16, SaltShaker, -1.789, 0.338, -2.362, 0, 0, 0, 49 [SEP] 17, SaltShaker, -1.920, 1.318, -3.241, 0, 0, 0, 53 [SEP] 18, PepperShaker, -1.750, 0.338, 1.110, 0, 0, 0, 54 [SEP] 19, PepperShaker, 0.420, 1.318, -2.900, 0, 0, 0, 53 [SEP] 20, Bread, -2.049, 1.397, -2.721, 0, 0, 0, 53 [SEP] 21, Lettuce, 1.017, 1.833, 2.053, 0, 270, 0, 66 [SEP] 22, Mug, -1.790, 1.318, -2.721, 0, 0, 0, 53 [SEP] 23, Mug, -1.237, 1.318, -3.425, 0, 0, 0, 53 [SEP] 24, Apple, -1.451, 1.371, -2.981, 0, 0, 0, 53 [SEP] 25, Bread, -2.049, 1.397, 2.069, 0, 0, 0, 53 [SEP] 26, Pot, 0.824, 0.351, -1.854, 0, 180, 0, 52 [SEP] 27, Knife, -1.737, 1.358, -1.186, 0, 180, 0, 60 [SEP] 28, Bowl, -2.093, 1.332, -1.117, 0, 0, 0, 60 [SEP] 29, Potato, 0.634, 1.362, -3.121, 0, 0, 0, 53 [SEP] 30, SoapBottle, 0.634, 1.323, -2.678, 0, 0, 0, 53 [SEP] 31, Fork, 0.563, 1.323, -3.232, 0, 0, 0, 53 [SEP] 32, Cup, 1.148, 1.307, 0.810, 0, 270, 0, 78 [SEP] 33, Kettle, -0.749, 1.332, -2.973, 0, 0, 0, 56 [SEP] 34, Egg, 0.933, 1.986, 1.553, 0, 270, 0, 66 [SEP] 35, Pan, -1.749, 0.343, 0.412, 0, 180, 0, 51 [SEP] 36, SaltShaker, -1.451, 1.318, -3.425, 0, 0, 0, 53 [SEP] 37, WineBottle, 1.053, 0.345, -2.061, 0, 180, 0, 52 [SEP] 38, Lettuce, -1.920, 1.399, -2.201, 0, 0, 0, 53 [SEP] 39, Spatula, -1.954, 1.066, -0.587, 0, 90, 0, 71 [SEP] 40, PaperTowelRoll, -1.345, 1.427, -0.332, 0, 0, 0, 53 [SEP] 41, Tomato, 1.017, 1.709, 1.663, 0, 270, 0, 66 [SEP] 42, Plate, -1.660, 1.323, -3.241, 0, 0, 0, 53 [SEP] 43, PepperShaker, -1.750, 0.338, 1.523, 0, 0, 0, 54 [SEP] 44, DishSponge, -1.634, 0.279, 2.193, 0, 270, 0, 68 [SEP] 45, Spoon, -1.603, 0.421, -0.430, 0, 0, 0, 57 [SEP] 46, Apple, -1.790, 1.371, -1.681, 0, 0, 0, 53 [SEP] 47, Mug, -1.817, 0.338, 0.311, 0, 0, 0, 51 [SEP] 48, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 49, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 50, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 51, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 52, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 53, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 54, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 55, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 56, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 57, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 58, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 59, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 60, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 61, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 62, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 63, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 64, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 65, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 66, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 67, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 68, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 69, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 70, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 71, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 72, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 73, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 74, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 75, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 76, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 77, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 78, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 79, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 80, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 81, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 82, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Go to the counter left of the sink. | STEP 2: Pick up the knife from the counter.  | STEP 3: Bring the knife to the sink. | STEP 4: Wash the knife in the sink.  | STEP 5: Bring the knife to the table with the microwave.  | STEP 6: Stand the knife on the table.  | END


Input: To wash a piece of apple and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Glassbottle, -2.210, 0.924, -2.345, 0, 0, 0, 79 [SEP] 2, Pencil, -0.361, 0.747, -3.297, 0, 270, 0, 65 [SEP] 3, Pen, -2.324, 0.926, -1.884, 0, 0, 0, 79 [SEP] 4, Pen, -0.743, 0.918, -3.555, 0, 0, 0, 54 [SEP] 5, DishSponge, -2.552, 0.923, -0.963, 0, 0, 0, 79 [SEP] 6, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 79 [SEP] 7, WineBottle, -2.096, 0.924, -2.345, 0, 0, 0, 79 [SEP] 8, WineBottle, -0.260, 1.531, -3.603, 0, 45, 0, 62 [SEP] 9, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 51 [SEP] 10, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 52 [SEP] 11, Fork, -2.324, 0.924, -2.115, 0, 270, 0, 79 [SEP] 12, Spoon, -2.324, 0.924, -1.423, 0, 0, 0, 79 [SEP] 13, Knife, -2.780, 0.946, -1.423, 0, 270, 0, 79 [SEP] 14, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 79 [SEP] 15, Plate, -0.460, 0.083, -1.849, 0, 0, 0, 49 [SEP] 16, Plate, -2.438, 0.925, -1.193, 0, 0, 0, 79 [SEP] 17, Cup, -0.422, 0.080, -2.201, 0, 0, 0, 59 [SEP] 18, Cup, -1.549, 1.968, -3.773, 0, 0, 0, 63 [SEP] 19, Tomato, -1.912, 0.090, -3.763, 0, 0, 0, 70 [SEP] 20, SaltShaker, -0.460, 0.077, -3.267, 0, 0, 0, 60 [SEP] 21, SaltShaker, -0.343, 1.527, -3.795, 0, 45, 0, 62 [SEP] 22, PepperShaker, -0.211, 1.524, -2.914, 0, 0, 0, 66 [SEP] 23, PepperShaker, -0.747, 0.078, -3.662, 0, 0, 0, 58 [SEP] 24, Apple, -1.151, 1.703, -3.837, 0, 0, 0, 67 [SEP] 25, Lettuce, -2.096, 1.016, -2.115, 0, 0, 0, 79 [SEP] 26, Glassbottle, -0.743, 0.916, -3.626, 0, 0, 0, 54 [SEP] 27, Egg, -0.447, 0.830, -1.934, 0, 270, 0, 72 [SEP] 28, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 79 [SEP] 29, Fork, -2.438, 0.924, -0.963, 0, 90, 0, 79 [SEP] 30, SoapBottle, -2.552, 0.922, -1.654, 0, 0, 0, 79 [SEP] 31, Pencil, -0.720, 0.747, -3.586, 0, 270, 0, 53 [SEP] 32, WineBottle, -0.211, 1.528, -2.598, 0, 0, 0, 66 [SEP] 33, Spatula, -0.350, 0.812, -1.860, 0, 270, 0, 72 [SEP] 34, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 54 [SEP] 35, Tomato, -2.096, 0.987, -1.423, 0, 0, 0, 79 [SEP] 36, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 79 [SEP] 37, Cup, -2.666, 0.922, -2.115, 0, 0, 0, 79 [SEP] 38, Pot, -0.343, 1.098, -0.560, 0, 270, 0, 71 [SEP] 39, SaltShaker, -0.671, 0.912, -3.839, 0, 0, 0, 54 [SEP] 40, Potato, -0.081, 0.947, -1.700, 0, 0, 0, 72 [SEP] 41, PepperShaker, -0.436, 0.912, -2.563, 0, 0, 0, 54 [SEP] 42, ButterKnife, -2.438, 0.923, -2.115, 0, 0, 0, 79 [SEP] 43, DishSponge, -0.778, 0.081, -3.506, 0, 0, 0, 58 [SEP] 44, Spoon, -2.438, 0.924, -1.884, 0, 0, 0, 79 [SEP] 45, Plate, -0.343, 1.101, -0.979, 0, 270, 0, 71 [SEP] 46, Knife, -2.438, 0.946, -2.345, 0, 0, 0, 79 [SEP] 47, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 68 [SEP] 48, Bowl, -1.100, 1.968, -3.851, 0, 0, 0, 55 [SEP] 49, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 50, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 51, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 52, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 53, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 54, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 55, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 56, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 57, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 58, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 59, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 61, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 62, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 63, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 64, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 65, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 66, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 67, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 68, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 69, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 70, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 71, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 72, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 73, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 74, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 75, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 76, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 77, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 78, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 79, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 80, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 81, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 82, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 83, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 84, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 85, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn left to face the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn left and cross the room to face the microwave. | STEP 4: Cut the apple in the microwave into three pieces. | STEP 5: Look up to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Look up to face the microwave. | STEP 8: Pick up an apple piece in the microwave. | STEP 9: Turn left and step forward to face the sink. | STEP 10: Wash the apple piece in the sink and remove it. | STEP 11: Take a step to the left to face the fridge. | STEP 12: Place the piece of apple in the fridge. | END


Input: Put a clean slice of apple in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Glassbottle, -2.210, 0.924, -2.345, 0, 0, 0, 79 [SEP] 2, Pencil, -0.361, 0.747, -3.297, 0, 270, 0, 65 [SEP] 3, Pen, -2.324, 0.926, -1.884, 0, 0, 0, 79 [SEP] 4, Pen, -0.743, 0.918, -3.555, 0, 0, 0, 54 [SEP] 5, DishSponge, -2.552, 0.923, -0.963, 0, 0, 0, 79 [SEP] 6, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 79 [SEP] 7, WineBottle, -2.096, 0.924, -2.345, 0, 0, 0, 79 [SEP] 8, WineBottle, -0.260, 1.531, -3.603, 0, 45, 0, 62 [SEP] 9, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 51 [SEP] 10, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 52 [SEP] 11, Fork, -2.324, 0.924, -2.115, 0, 270, 0, 79 [SEP] 12, Spoon, -2.324, 0.924, -1.423, 0, 0, 0, 79 [SEP] 13, Knife, -2.780, 0.946, -1.423, 0, 270, 0, 79 [SEP] 14, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 79 [SEP] 15, Plate, -0.460, 0.083, -1.849, 0, 0, 0, 49 [SEP] 16, Plate, -2.438, 0.925, -1.193, 0, 0, 0, 79 [SEP] 17, Cup, -0.422, 0.080, -2.201, 0, 0, 0, 59 [SEP] 18, Cup, -1.549, 1.968, -3.773, 0, 0, 0, 63 [SEP] 19, Tomato, -1.912, 0.090, -3.763, 0, 0, 0, 70 [SEP] 20, SaltShaker, -0.460, 0.077, -3.267, 0, 0, 0, 60 [SEP] 21, SaltShaker, -0.343, 1.527, -3.795, 0, 45, 0, 62 [SEP] 22, PepperShaker, -0.211, 1.524, -2.914, 0, 0, 0, 66 [SEP] 23, PepperShaker, -0.747, 0.078, -3.662, 0, 0, 0, 58 [SEP] 24, Apple, -1.151, 1.703, -3.837, 0, 0, 0, 67 [SEP] 25, Lettuce, -2.096, 1.016, -2.115, 0, 0, 0, 79 [SEP] 26, Glassbottle, -0.743, 0.916, -3.626, 0, 0, 0, 54 [SEP] 27, Egg, -0.447, 0.830, -1.934, 0, 270, 0, 72 [SEP] 28, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 79 [SEP] 29, Fork, -2.438, 0.924, -0.963, 0, 90, 0, 79 [SEP] 30, SoapBottle, -2.552, 0.922, -1.654, 0, 0, 0, 79 [SEP] 31, Pencil, -0.720, 0.747, -3.586, 0, 270, 0, 53 [SEP] 32, WineBottle, -0.211, 1.528, -2.598, 0, 0, 0, 66 [SEP] 33, Spatula, -0.350, 0.812, -1.860, 0, 270, 0, 72 [SEP] 34, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 54 [SEP] 35, Tomato, -2.096, 0.987, -1.423, 0, 0, 0, 79 [SEP] 36, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 79 [SEP] 37, Cup, -2.666, 0.922, -2.115, 0, 0, 0, 79 [SEP] 38, Pot, -0.343, 1.098, -0.560, 0, 270, 0, 71 [SEP] 39, SaltShaker, -0.671, 0.912, -3.839, 0, 0, 0, 54 [SEP] 40, Potato, -0.081, 0.947, -1.700, 0, 0, 0, 72 [SEP] 41, PepperShaker, -0.436, 0.912, -2.563, 0, 0, 0, 54 [SEP] 42, ButterKnife, -2.438, 0.923, -2.115, 0, 0, 0, 79 [SEP] 43, DishSponge, -0.778, 0.081, -3.506, 0, 0, 0, 58 [SEP] 44, Spoon, -2.438, 0.924, -1.884, 0, 0, 0, 79 [SEP] 45, Plate, -0.343, 1.101, -0.979, 0, 270, 0, 71 [SEP] 46, Knife, -2.438, 0.946, -2.345, 0, 0, 0, 79 [SEP] 47, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 68 [SEP] 48, Bowl, -1.100, 1.968, -3.851, 0, 0, 0, 55 [SEP] 49, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 50, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 51, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 52, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 53, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 54, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 55, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 56, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 57, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 58, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 59, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 61, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 62, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 63, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 64, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 65, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 66, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 67, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 68, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 69, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 70, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 71, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 72, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 73, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 74, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 75, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 76, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 77, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 78, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 79, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 80, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 81, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 82, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 83, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 84, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 85, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Go to the left side of the island behind you. | STEP 2: Pick up the knife to the right of the lettuce. | STEP 3: Go to the microwave above the stove. | STEP 4: Slice the apple in the microwave. | STEP 5: Look at the stove and then back to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Look at the stove and then back to the microwave. | STEP 8: Pick up a slice of apple in the microwave. | STEP 9: Go to the sink. | STEP 10: Rinse the apple in the sink. | STEP 11: Go to the fridge. | STEP 12: Put the washed apple slice in the fridge. | END


Input: Pick up a remote and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.998, -2.75, 0, 0, 0,  [SEP] 1, Vase, -3.207, 0.883, -1.385, 0, 0, 0, 32 [SEP] 2, Vase, -0.030, 0.977, -2.493, 0, 90, 0, 41 [SEP] 3, Pen, -1.846, 0.183, -2.981, 0, 225, 0, 24 [SEP] 4, Pen, 0.254, 0.866, -2.408, 0, 180, 0, 40 [SEP] 5, KeyChain, -3.872, 0.878, -1.287, 0, 0, 0, 32 [SEP] 6, KeyChain, -0.126, 0.861, -2.433, 0, 270, 0, 40 [SEP] 7, RemoteControl, -1.254, 0.526, 0.897, 0, 0, 0, 37 [SEP] 8, Laptop, -1.222, 0.452, -0.578, 0, 0, 0, 33 [SEP] 9, Box, -2.863, 1.03, -0.958, 0, 0, 0, 32 [SEP] 10, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 29 [SEP] 11, CreditCard, -3.650, 0.881, -0.992, 0, 0, 0, 32 [SEP] 12, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 32 [SEP] 13, Laptop, -1.222, 0.452, -0.897, 0, 0, 0, 33 [SEP] 14, RemoteControl, -1.080, 0.526, 0.897, 0, 0, 0, 37 [SEP] 15, Vase, -0.827, 0.459, -0.658, 0, 0, 0, 33 [SEP] 16, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 41 [SEP] 17, KeyChain, -0.316, 0.860, -2.506, 0, 90, 0, 40 [SEP] 18, Pen, -3.429, 0.884, -0.992, 0, 0, 0, 32 [SEP] 19, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 20, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 21, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 22, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 23, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 24, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 25, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 26, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 27, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 28, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 29, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 30, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 31, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 32, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 33, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 34, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 35, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 36, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 37, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 38, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 39, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 40, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 41, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn right and then left to face the couch with two remote controls on it. | STEP 2: Pick the remote on the left up from the couch | STEP 3: Move to the left to face the lamp. | STEP 4: Turn the lamp on. | END


Input: Put a clean tea kettle on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.5, 0.900, 1.0, 0, 270, 0,  [SEP] 1, Vase, -2.584, 0.875, 3.728, 0, 0, 0, 60 [SEP] 2, Book, -2.050, 0.116, -1.580, 0, 0, 0, 59 [SEP] 3, Book, 0.599, 0.715, -1.410, 0, 0, 0, 75 [SEP] 4, DishSponge, -1.616, 0.719, -0.859, 0, 0, 0, 73 [SEP] 5, DishSponge, -1.576, 0.119, -0.916, 0, 0, 0, 63 [SEP] 6, ButterKnife, -3.165, 0.874, 3.296, 0, 270, 0, 60 [SEP] 7, WineBottle, -2.458, 0.879, 2.706, 0, 135, 0, 60 [SEP] 8, Spatula, -2.659, 0.889, 3.559, 0, 180, 0, 60 [SEP] 9, Spatula, -2.152, 0.893, 3.370, 0, 270, 0, 60 [SEP] 10, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 57 [SEP] 11, Fork, -2.584, 0.879, 2.884, 0, 90, 0, 60 [SEP] 12, Spoon, -2.554, 0.879, 3.116, 0, 225, 0, 60 [SEP] 13, Egg, -0.035, 0.414, 2.083, 0, 180, 0, 83 [SEP] 14, Egg, -0.377, 0.414, 1.996, 0, 180, 0, 83 [SEP] 15, Cup, -2.659, 0.876, 2.999, 0, 270, 0, 60 [SEP] 16, Knife, -2.248, 0.900, 2.916, 0, 135, 0, 60 [SEP] 17, Knife, -2.584, 0.896, 3.390, 0, 0, 0, 60 [SEP] 18, SoapBottle, -2.315, 0.875, 3.355, 0, 135, 0, 60 [SEP] 19, SoapBottle, -0.871, 0.193, 2.058, 0, 90, 0, 88 [SEP] 20, Tomato, -0.377, 0.850, 2.194, 0, 180, 0, 83 [SEP] 21, PepperShaker, 1.578, 0.906, -1.255, 0, 0, 0, 78 [SEP] 22, Bread, -2.964, 0.961, 2.811, 0, 225, 0, 60 [SEP] 23, Lettuce, -2.881, 0.939, 3.559, 0, 0, 0, 60 [SEP] 24, Lettuce, 0.079, 1.637, 2.100, 0, 180, 0, 83 [SEP] 25, Apple, -0.871, 0.247, 2.174, 0, 90, 0, 88 [SEP] 26, Book, 0.663, 0.908, -1.369, 0, 0, 0, 58 [SEP] 27, Fork, -2.996, 0.879, 3.296, 0, 270, 0, 60 [SEP] 28, Tomato, -3.122, 0.925, 3.475, 0, 135, 0, 60 [SEP] 29, Egg, -0.377, 1.169, 2.206, 0, 180, 0, 83 [SEP] 30, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 58 [SEP] 31, Vase, -1.331, 1.658, -1.747, 0, 0, 0, 71 [SEP] 32, Cup, -1.649, 0.117, -1.066, 0, 0, 0, 63 [SEP] 33, WineBottle, -1.269, 0.913, -1.267, 0, 0, 0, 58 [SEP] 34, Plate, -2.321, 0.882, 3.147, 0, 270, 0, 60 [SEP] 35, Spatula, -1.627, 0.927, -0.614, 0, 0, 0, 58 [SEP] 36, Potato, 1.210, 1.798, -1.663, 0, 0, 0, 82 [SEP] 37, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 61 [SEP] 38, Knife, -2.828, 0.900, 3.370, 0, 270, 0, 60 [SEP] 39, SaltShaker, -2.898, 0.874, 2.983, 0, 225, 0, 60 [SEP] 40, PepperShaker, -0.181, 0.118, -1.413, 0, 0, 0, 67 [SEP] 41, Lettuce, -2.248, 0.943, 3.527, 0, 225, 0, 60 [SEP] 42, ButterKnife, -1.738, 0.912, -0.939, 0, 0, 0, 58 [SEP] 43, Bread, -2.183, 0.995, 0.037, 0, 0, 0, 58 [SEP] 44, Vase, -0.943, 1.655, -1.674, 0, 0, 0, 70 [SEP] 45, DishSponge, -0.348, 0.121, -1.452, 0, 0, 0, 67 [SEP] 46, Apple, -0.377, 1.627, 2.219, 0, 180, 0, 83 [SEP] 47, Pan, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 48, Spoon, -1.616, 0.720, -1.073, 0, 0, 0, 73 [SEP] 49, SoapBottle, -2.697, 0.879, 3.498, 0, 315, 0, 60 [SEP] 50, Mug, -2.510, 0.869, 2.884, 0, 90, 0, 60 [SEP] 51, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 81 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, 0.150, 0.112, -1.415, 0, 0, 0, 66 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Go forward and then left to stand to the right of the sink. | STEP 2: Pick the tea kettle up from the counter. | STEP 3: Move to the left and face the sink. | STEP 4: Put the tea kettle in the sink, turn the water on and then off and pick the tea kettle up out of the sink. | STEP 5: Cross the room and turn to face the brown shelves. | STEP 6: Put the tea kettle on the shelf. | END


Input: Place a slice of cooked potato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 5.5, 0, 180, 0,  [SEP] 1, Pencil, -3.494, 0.923, 5.566, 0, 90, 0, 65 [SEP] 2, Pencil, -2.109, 0.923, 1.875, 0, 0, 0, 63 [SEP] 3, Potato, -0.104, 0.958, 4.944, 0, 0, 0, 50 [SEP] 4, DishSponge, -4.086, 0.084, 2.726, 0, 0, 0, 57 [SEP] 5, WineBottle, -3.639, 0.069, 6.292, 0, 270, 0, 91 [SEP] 6, Fork, -4.233, 0.791, 3.097, 0, 180, 0, 97 [SEP] 7, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 50 [SEP] 8, Spatula, -4.517, 0.938, 2.965, 0, 90, 0, 65 [SEP] 9, Cup, -3.733, 0.922, 5.412, 0, 90, 0, 65 [SEP] 10, Knife, -4.031, 0.953, 1.951, 0, 0, 0, 65 [SEP] 11, Tomato, -3.340, 0.980, 2.026, 0, 0, 0, 65 [SEP] 12, Tomato, -0.301, 1.742, 3.733, 0, 270, 0, 98 [SEP] 13, Bowl, -0.181, 0.922, 4.615, 0, 0, 0, 50 [SEP] 14, PepperShaker, -0.473, 0.742, 6.567, 0, 270, 0, 76 [SEP] 15, Egg, -2.688, 1.582, 1.731, 0, 0, 0, 95 [SEP] 16, Apple, -3.639, 0.122, 6.457, 0, 270, 0, 91 [SEP] 17, Knife, -3.494, 0.953, 5.336, 0, 90, 0, 65 [SEP] 18, Potato, -4.312, 0.956, 2.766, 0, 0, 0, 65 [SEP] 19, Fork, -1.860, 0.924, 1.648, 0, 0, 0, 47 [SEP] 20, Bowl, -1.693, 0.920, 1.648, 0, 0, 0, 47 [SEP] 21, Plate, -4.171, 0.078, 2.286, 0, 0, 0, 75 [SEP] 22, Lettuce, -0.454, 1.165, 3.231, 0, 270, 0, 98 [SEP] 23, Bread, -4.234, 0.990, 3.985, 0, 0, 0, 65 [SEP] 24, Tomato, -4.121, 0.848, 3.347, 0, 270, 0, 97 [SEP] 25, WineBottle, -3.784, 0.069, 6.333, 0, 270, 0, 91 [SEP] 26, Spatula, -0.411, 0.940, 4.944, 0, 0, 0, 50 [SEP] 27, PaperTowelRoll, -4.478, 1.027, 3.548, 0, 0, 0, 65 [SEP] 28, Cup, -0.342, 1.579, 3.228, 0, 270, 0, 98 [SEP] 29, Pencil, -3.712, 0.068, 6.457, 0, 270, 0, 91 [SEP] 30, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 80 [SEP] 31, Pot, -0.396, 0.912, 5.933, 0, 0, 0, 50 [SEP] 32, SaltShaker, -3.739, 0.743, 1.985, 0, 0, 0, 42 [SEP] 33, SoapBottle, -3.539, 0.082, 5.152, 0, 90, 0, 83 [SEP] 34, PepperShaker, -3.251, 0.741, 1.986, 0, 0, 0, 71 [SEP] 35, ButterKnife, -0.334, 0.925, 5.603, 0, 0, 0, 50 [SEP] 36, DishSponge, -3.827, 0.745, 1.985, 0, 0, 0, 42 [SEP] 37, Spoon, -0.181, 0.926, 5.273, 0, 0, 0, 50 [SEP] 38, Mug, -0.218, 1.680, 3.975, 0, 270, 0, 98 [SEP] 39, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 40, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 41, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 42, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 43, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 44, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 45, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 46, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 47, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 48, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 49, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 50, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 51, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 52, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 53, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 54, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 55, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 56, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 57, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 58, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 59, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 60, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 61, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 62, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 63, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 64, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 65, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 66, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 67, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 68, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 69, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 70, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 71, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 72, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 73, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 74, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 75, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 76, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 77, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 78, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 79, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 80, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 81, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 82, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 83, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 84, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 85, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 86, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 87, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 88, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 89, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 90, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 91, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 92, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 93, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 94, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 95, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 96, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 97, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 98, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the counter opposite the stove. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right, move to the counter left of the refrigerator. | STEP 4: Slice the potato on the counter. | STEP 5: Turn right, move to the counter, right of the dishwasher. | STEP 6: Put the knife on the counter. | STEP 7: Turn left, move to the counter left of the refrigerator. | STEP 8: Pick up a slice of potato. | STEP 9: Turn right, move to in front of the stove. | STEP 10: Put the potato slice into the microwave, cook it, pick it back up. | STEP 11: Turn right, move to the counter, right of the dishwasher. | STEP 12: Put the potato slice on the counter, right of the knife. | END


Input: Place a knife and a cooked potato slice on a countertop SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 5.5, 0, 180, 0,  [SEP] 1, Pencil, -3.494, 0.923, 5.566, 0, 90, 0, 65 [SEP] 2, Pencil, -2.109, 0.923, 1.875, 0, 0, 0, 63 [SEP] 3, Potato, -0.104, 0.958, 4.944, 0, 0, 0, 50 [SEP] 4, DishSponge, -4.086, 0.084, 2.726, 0, 0, 0, 57 [SEP] 5, WineBottle, -3.639, 0.069, 6.292, 0, 270, 0, 91 [SEP] 6, Fork, -4.233, 0.791, 3.097, 0, 180, 0, 97 [SEP] 7, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 50 [SEP] 8, Spatula, -4.517, 0.938, 2.965, 0, 90, 0, 65 [SEP] 9, Cup, -3.733, 0.922, 5.412, 0, 90, 0, 65 [SEP] 10, Knife, -4.031, 0.953, 1.951, 0, 0, 0, 65 [SEP] 11, Tomato, -3.340, 0.980, 2.026, 0, 0, 0, 65 [SEP] 12, Tomato, -0.301, 1.742, 3.733, 0, 270, 0, 98 [SEP] 13, Bowl, -0.181, 0.922, 4.615, 0, 0, 0, 50 [SEP] 14, PepperShaker, -0.473, 0.742, 6.567, 0, 270, 0, 76 [SEP] 15, Egg, -2.688, 1.582, 1.731, 0, 0, 0, 95 [SEP] 16, Apple, -3.639, 0.122, 6.457, 0, 270, 0, 91 [SEP] 17, Knife, -3.494, 0.953, 5.336, 0, 90, 0, 65 [SEP] 18, Potato, -4.312, 0.956, 2.766, 0, 0, 0, 65 [SEP] 19, Fork, -1.860, 0.924, 1.648, 0, 0, 0, 47 [SEP] 20, Bowl, -1.693, 0.920, 1.648, 0, 0, 0, 47 [SEP] 21, Plate, -4.171, 0.078, 2.286, 0, 0, 0, 75 [SEP] 22, Lettuce, -0.454, 1.165, 3.231, 0, 270, 0, 98 [SEP] 23, Bread, -4.234, 0.990, 3.985, 0, 0, 0, 65 [SEP] 24, Tomato, -4.121, 0.848, 3.347, 0, 270, 0, 97 [SEP] 25, WineBottle, -3.784, 0.069, 6.333, 0, 270, 0, 91 [SEP] 26, Spatula, -0.411, 0.940, 4.944, 0, 0, 0, 50 [SEP] 27, PaperTowelRoll, -4.478, 1.027, 3.548, 0, 0, 0, 65 [SEP] 28, Cup, -0.342, 1.579, 3.228, 0, 270, 0, 98 [SEP] 29, Pencil, -3.712, 0.068, 6.457, 0, 270, 0, 91 [SEP] 30, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 80 [SEP] 31, Pot, -0.396, 0.912, 5.933, 0, 0, 0, 50 [SEP] 32, SaltShaker, -3.739, 0.743, 1.985, 0, 0, 0, 42 [SEP] 33, SoapBottle, -3.539, 0.082, 5.152, 0, 90, 0, 83 [SEP] 34, PepperShaker, -3.251, 0.741, 1.986, 0, 0, 0, 71 [SEP] 35, ButterKnife, -0.334, 0.925, 5.603, 0, 0, 0, 50 [SEP] 36, DishSponge, -3.827, 0.745, 1.985, 0, 0, 0, 42 [SEP] 37, Spoon, -0.181, 0.926, 5.273, 0, 0, 0, 50 [SEP] 38, Mug, -0.218, 1.680, 3.975, 0, 270, 0, 98 [SEP] 39, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 40, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 41, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 42, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 43, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 44, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 45, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 46, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 47, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 48, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 49, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 50, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 51, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 52, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 53, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 54, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 55, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 56, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 57, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 58, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 59, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 60, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 61, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 62, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 63, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 64, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 65, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 66, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 67, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 68, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 69, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 70, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 71, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 72, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 73, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 74, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 75, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 76, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 77, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 78, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 79, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 80, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 81, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 82, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 83, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 84, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 85, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 86, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 87, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 88, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 89, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 90, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 91, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 92, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 93, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 94, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 95, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 96, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 97, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 98, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: Go to the end of the counter | STEP 2: Pick up the knife | STEP 3: Go to the counter left of the fridge | STEP 4: Cut the potato on the counter | STEP 5: Go to the counter right of the dishwasher | STEP 6: Put the knife down | STEP 7: Go to the sliced potato | STEP 8: Take a potato slice | STEP 9: Go to the microwave | STEP 10: Heat the potato slice | STEP 11: Go to the counter right of the dishwasher | STEP 12: Put the potato slice down | END


Input: Put a pot with a spoon in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.75, 0, 0, 0,  [SEP] 1, Potato, -1.180, 0.822, 0.226, 0, 0, 0, 67 [SEP] 2, DishSponge, -1.878, 0.661, 0.519, 0, 0, 0, 52 [SEP] 3, DishSponge, -2.815, 0.053, 0.284, 0, 26.101, 0, 63 [SEP] 4, Spatula, -2.583, 0.915, 2.045, 0, 90, 0, 70 [SEP] 5, Spatula, -0.272, 0.677, 0.519, 0, 270, 0, 38 [SEP] 6, Fork, -2.583, 0.901, 1.913, 0, 0, 0, 70 [SEP] 7, Egg, -0.244, 1.056, 0.140, 0, 0, 0, 68 [SEP] 8, Egg, -0.572, 0.933, 3.133, 0, 0, 0, 72 [SEP] 9, Cup, -2.764, 1.186, 4.278, 0, 90, 0, 66 [SEP] 10, Cup, -1.007, 0.795, 0.447, 0, 0, 0, 67 [SEP] 11, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 56 [SEP] 12, Knife, -0.164, 0.688, 0.464, 0, 270, 0, 38 [SEP] 13, Tomato, -0.314, 0.964, 3.334, 0, 0, 0, 72 [SEP] 14, Tomato, -2.831, 0.362, 4.352, 0, 90, 0, 66 [SEP] 15, PepperShaker, -0.486, 0.896, 2.329, 0, 0, 0, 72 [SEP] 16, Lettuce, -2.377, 0.980, 2.441, 0, 0, 0, 70 [SEP] 17, Egg, -2.722, 0.665, 4.427, 0, 90, 0, 66 [SEP] 18, Plate, -1.691, 1.777, 0.160, 0, 0, 0, 44 [SEP] 19, Fork, -2.037, 0.928, 0.433, 0, 0, 0, 49 [SEP] 20, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 70 [SEP] 21, Apple, -0.350, 1.079, 0.140, 0, 0, 0, 68 [SEP] 22, Lettuce, -0.572, 0.980, 2.530, 0, 0, 0, 72 [SEP] 23, Spatula, -0.486, 0.915, 3.133, 0, 90, 0, 72 [SEP] 24, Knife, -0.486, 0.926, 2.329, 0, 180, 0, 72 [SEP] 25, Potato, -0.350, 1.044, 0.267, 0, 0, 0, 68 [SEP] 26, Tomato, -2.878, 0.362, 4.501, 0, 90, 0, 66 [SEP] 27, Cup, -0.657, 0.900, 2.932, 0, 0, 0, 72 [SEP] 28, SaltShaker, -1.716, 0.658, 0.245, 0, 0, 0, 52 [SEP] 29, PepperShaker, -2.583, 0.896, 2.309, 0, 0, 0, 70 [SEP] 30, ButterKnife, -2.583, 0.900, 2.706, 0, 0, 0, 70 [SEP] 31, SoapBottle, -0.314, 0.900, 3.133, 0, 0, 0, 72 [SEP] 32, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 51 [SEP] 33, DishSponge, -2.785, 0.935, 3.302, 0, 0, 0, 56 [SEP] 34, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 53 [SEP] 35, Spoon, -1.353, 0.798, 0.281, 0, 90, 0, 67 [SEP] 36, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 69 [SEP] 37, Bowl, -2.764, 1.182, 4.501, 0, 90, 0, 66 [SEP] 38, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 39, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 40, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 41, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 42, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 43, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 44, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 45, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 46, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 47, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 48, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 49, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 50, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 51, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 52, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 53, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 54, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 55, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 56, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 57, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 58, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 59, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 60, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 61, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 62, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 63, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 64, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 65, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 66, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 67, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 68, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 69, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 70, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 71, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 72, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Go right and the right again to face the sink. | STEP 2: Pick the spoon up from the sink. | STEP 3: Cross the room and turn to face the stove. | STEP 4: Put the spoon in the pot. | STEP 5: Pick the pot up from the stove. | STEP 6: Cross the room and turn left to face the white table. | STEP 7: Put the pot down on the table. | END


Input: drop a pot on the table with a spoon in it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.75, 0, 0, 0,  [SEP] 1, Potato, -1.180, 0.822, 0.226, 0, 0, 0, 67 [SEP] 2, DishSponge, -1.878, 0.661, 0.519, 0, 0, 0, 52 [SEP] 3, DishSponge, -2.815, 0.053, 0.284, 0, 26.101, 0, 63 [SEP] 4, Spatula, -2.583, 0.915, 2.045, 0, 90, 0, 70 [SEP] 5, Spatula, -0.272, 0.677, 0.519, 0, 270, 0, 38 [SEP] 6, Fork, -2.583, 0.901, 1.913, 0, 0, 0, 70 [SEP] 7, Egg, -0.244, 1.056, 0.140, 0, 0, 0, 68 [SEP] 8, Egg, -0.572, 0.933, 3.133, 0, 0, 0, 72 [SEP] 9, Cup, -2.764, 1.186, 4.278, 0, 90, 0, 66 [SEP] 10, Cup, -1.007, 0.795, 0.447, 0, 0, 0, 67 [SEP] 11, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 56 [SEP] 12, Knife, -0.164, 0.688, 0.464, 0, 270, 0, 38 [SEP] 13, Tomato, -0.314, 0.964, 3.334, 0, 0, 0, 72 [SEP] 14, Tomato, -2.831, 0.362, 4.352, 0, 90, 0, 66 [SEP] 15, PepperShaker, -0.486, 0.896, 2.329, 0, 0, 0, 72 [SEP] 16, Lettuce, -2.377, 0.980, 2.441, 0, 0, 0, 70 [SEP] 17, Egg, -2.722, 0.665, 4.427, 0, 90, 0, 66 [SEP] 18, Plate, -1.691, 1.777, 0.160, 0, 0, 0, 44 [SEP] 19, Fork, -2.037, 0.928, 0.433, 0, 0, 0, 49 [SEP] 20, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 70 [SEP] 21, Apple, -0.350, 1.079, 0.140, 0, 0, 0, 68 [SEP] 22, Lettuce, -0.572, 0.980, 2.530, 0, 0, 0, 72 [SEP] 23, Spatula, -0.486, 0.915, 3.133, 0, 90, 0, 72 [SEP] 24, Knife, -0.486, 0.926, 2.329, 0, 180, 0, 72 [SEP] 25, Potato, -0.350, 1.044, 0.267, 0, 0, 0, 68 [SEP] 26, Tomato, -2.878, 0.362, 4.501, 0, 90, 0, 66 [SEP] 27, Cup, -0.657, 0.900, 2.932, 0, 0, 0, 72 [SEP] 28, SaltShaker, -1.716, 0.658, 0.245, 0, 0, 0, 52 [SEP] 29, PepperShaker, -2.583, 0.896, 2.309, 0, 0, 0, 70 [SEP] 30, ButterKnife, -2.583, 0.900, 2.706, 0, 0, 0, 70 [SEP] 31, SoapBottle, -0.314, 0.900, 3.133, 0, 0, 0, 72 [SEP] 32, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 51 [SEP] 33, DishSponge, -2.785, 0.935, 3.302, 0, 0, 0, 56 [SEP] 34, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 53 [SEP] 35, Spoon, -1.353, 0.798, 0.281, 0, 90, 0, 67 [SEP] 36, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 69 [SEP] 37, Bowl, -2.764, 1.182, 4.501, 0, 90, 0, 66 [SEP] 38, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 39, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 40, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 41, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 42, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 43, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 44, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 45, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 46, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 47, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 48, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 49, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 50, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 51, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 52, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 53, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 54, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 55, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 56, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 57, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 58, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 59, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 60, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 61, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 62, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 63, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 64, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 65, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 66, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 67, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 68, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 69, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 70, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 71, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 72, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: turn around and head towards the sink | STEP 2: pick up the table spoon from the sink | STEP 3: turn around and head towards the gas | STEP 4: drop the spoon in the pot on the gas | STEP 5: pick up the pot | STEP 6: turn right towards the table  | STEP 7: drop the pot on the table | END


Input: Examine a phone by the light of a tall lamp.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.907, 0.75, 0, 180, 0,  [SEP] 1, Newspaper, -1.554, 0.456, 2.086, 0, 0, 0, 53 [SEP] 2, Newspaper, -3.747, 0.761, -0.502, 0, 0, 0, 49 [SEP] 3, Watch, 0.258, 0.037, 2.734, 0, 180, 0, 40 [SEP] 4, Pencil, -3.747, 0.758, -0.255, 0, 0, 0, 52 [SEP] 5, Pencil, -4.842, 0.758, -0.749, 0, 0, 0, 52 [SEP] 6, KeyChain, 0.193, 0.360, 2.863, 0, 180, 0, 39 [SEP] 7, KeyChain, 0.233, 0.552, 2.153, 0, 0, 0, 37 [SEP] 8, CellPhone, 0.628, 0.432, 4.787, 0, 0, 0, 45 [SEP] 9, CreditCard, 0.732, 0.431, 4.883, 0, 0, 0, 45 [SEP] 10, RemoteControl, -1.087, 0.452, 2.086, 0, 0, 0, 53 [SEP] 11, Book, 0.319, 0.552, 2.755, 0, 0, 0, 37 [SEP] 12, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 45 [SEP] 13, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 45 [SEP] 14, Bowl, -1.132, 0.880, 0.140, 0, 90, 0, 54 [SEP] 15, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0,  [SEP] 16, TissueBox, -4.477, 0.756, -0.379, 0, 0, 0, 52 [SEP] 17, Newspaper, 0.492, 0.558, 2.304, 0, 0, 0, 37 [SEP] 18, CreditCard, -0.970, 0.449, 2.086, 0, 0, 0, 53 [SEP] 19, KeyChain, -4.112, 0.755, -0.626, 0, 0, 0, 52 [SEP] 20, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0,  [SEP] 21, Pencil, 0.585, 0.360, 2.993, 0, 0, 0, 43 [SEP] 22, Laptop, -1.087, 0.451, 1.849, 0, 0, 0, 53 [SEP] 23, Vase, -4.477, 0.757, -0.749, 0, 0, 0, 50 [SEP] 24, RemoteControl, -4.842, 0.757, -0.008, 0, 0, 0, 46 [SEP] 25, Watch, 0.405, 0.552, 3.056, 0, 0, 0, 37 [SEP] 26, CellPhone, -0.970, 0.453, 3.031, 0, 0, 0, 53 [SEP] 27, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 51 [SEP] 28, Painting, -6.5, 1.759, -0.341, 0, 0, 0,  [SEP] 29, Painting, 0.704, 1.778, 0.782, 0, 0, 0,  [SEP] 30, Television, 1.5, 1.690, 2.562, 0, 270, 0,  [SEP] 31, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0,  [SEP] 32, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0,  [SEP] 33, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0,  [SEP] 34, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0,  [SEP] 35, Window, 1.496, 1.712, 4.454, 90, 90, 0,  [SEP] 36, Window, -4.210, 1.577, -1.980, 90, 180, 0,  [SEP] 37, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0,  [SEP] 38, Drawer, 0.597, 0.234, 2.604, 0, 270, 0,  [SEP] 39, Drawer, 0.214, 0.393, 2.604, 0, 270, 0,  [SEP] 40, Drawer, 0.214, 0.234, 2.609, 0, 270, 0,  [SEP] 41, Drawer, 0.214, 0.075, 2.604, 0, 270, 0,  [SEP] 42, Drawer, 0.597, 0.075, 2.604, 0, 270, 0,  [SEP] 43, Drawer, 0.597, 0.393, 2.604, 0, 270, 0,  [SEP] 44, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0,  [SEP] 45, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0,  [SEP] 46, Chair, -4.664, 0.008, 0.164, 0, 180, 0,  [SEP] 47, Chair, -3.424, 0.008, -0.321, 0, 270, 0,  [SEP] 48, Chair, -4.988, 0.008, -0.401, 0, 90, 0,  [SEP] 49, Chair, -3.904, 0.008, -0.827, 0, 0, 0,  [SEP] 50, Chair, -4.570, 0.008, -0.831, 0, 0, 0,  [SEP] 51, Chair, -3.996, 0.008, 0.091, 0, 180, 0,  [SEP] 52, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0,  [SEP] 53, Sofa, -1.527, 0.013, 2.559, 0, 90, 0,  [SEP] 54, SideTable, -1.030, 0.006, 0.160, 0, 0, 0,  [SEP] 55, Drawer, -1.030, 0.780, 0.225, 0, 0, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Turn left, head past the coffee table to the purple chair.  | STEP 2: Pick up the phone on the purple chair.  | STEP 3: Turn left, bring the phone around to the the back of the chair, near the tall lamp on the floor.  | STEP 4: Turn on the lamp on the floor.  | END


Input: Chill a tomato slice in the fridge to put in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.899, 2.5, 0, 270, 0,  [SEP] 1, Pencil, -3.613, 0.923, 5.489, 0, 90, 0, 70 [SEP] 2, DishSponge, -4.438, 0.923, 3.082, 0, 0, 0, 70 [SEP] 3, WineBottle, -3.784, 0.069, 6.333, 0, 270, 0, 96 [SEP] 4, Fork, -0.411, 0.925, 5.603, 0, 0, 0, 55 [SEP] 5, Spoon, -4.196, 0.792, 3.347, 0, 0, 0, 102 [SEP] 6, Spatula, -1.860, 0.938, 2.026, 0, 180, 0, 52 [SEP] 7, Cup, -3.135, 0.922, 5.259, 0, 90, 0, 70 [SEP] 8, Plate, -4.184, 0.924, 5.418, 0, 90, 0, 70 [SEP] 9, Knife, -0.411, 0.954, 5.273, 0, 0, 0, 55 [SEP] 10, Bowl, -0.295, 1.067, 3.602, 0, 270, 0, 103 [SEP] 11, SaltShaker, -1.776, 0.078, 1.813, 0, 0, 0, 86 [SEP] 12, PepperShaker, -1.610, 0.919, 1.573, 0, 0, 0, 52 [SEP] 13, PepperShaker, -0.181, 0.921, 5.603, 0, 0, 0, 55 [SEP] 14, Lettuce, -0.181, 1.020, 5.273, 0, 0, 0, 55 [SEP] 15, Lettuce, -0.301, 1.431, 3.231, 0, 270, 0, 103 [SEP] 16, Bread, -1.777, 1.003, 1.648, 0, 0, 0, 52 [SEP] 17, Bread, -0.181, 1.004, 4.944, 0, 0, 0, 55 [SEP] 18, Apple, -4.159, 0.844, 3.285, 0, 270, 0, 102 [SEP] 19, Apple, -2.740, 1.599, 1.601, 0, 0, 0, 100 [SEP] 20, Egg, -0.218, 1.616, 3.289, 0, 270, 0, 103 [SEP] 21, Apple, -1.693, 0.976, 1.8, 0, 0, 0, 52 [SEP] 22, Knife, -0.565, 0.954, 4.615, 0, 90, 0, 55 [SEP] 23, Potato, -0.383, 1.719, 3.915, 0, 270, 0, 103 [SEP] 24, Fork, -1.610, 0.924, 1.951, 0, 90, 0, 52 [SEP] 25, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 55 [SEP] 26, Plate, -4.163, 0.085, 2.625, 0, 0, 0, 62 [SEP] 27, Lettuce, -0.301, 1.431, 3.974, 0, 270, 0, 103 [SEP] 28, Bread, -1.943, 1.003, 1.951, 0, 0, 0, 52 [SEP] 29, Tomato, -4.108, 0.980, 4.122, 0, 90, 0, 70 [SEP] 30, WineBottle, -3.675, 0.069, 6.375, 0, 270, 0, 96 [SEP] 31, Spatula, -0.258, 0.940, 4.944, 0, 0, 0, 55 [SEP] 32, PaperTowelRoll, -3.639, 0.172, 6.498, 0, 270, 0, 96 [SEP] 33, Cup, -2.688, 1.545, 1.731, 0, 0, 0, 100 [SEP] 34, Pencil, -1.693, 0.923, 1.648, 0, 0, 0, 68 [SEP] 35, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 53 [SEP] 36, Pot, -4.335, 0.924, 4.900, 0, 180, 0, 70 [SEP] 37, SaltShaker, -3.859, 0.741, 5.162, 0, 180, 0, 73 [SEP] 38, SoapBottle, -4.031, 0.923, 2.026, 0, 0, 0, 70 [SEP] 39, PepperShaker, -0.258, 0.921, 5.603, 0, 0, 0, 55 [SEP] 40, ButterKnife, -1.777, 0.923, 1.951, 0, 0, 0, 52 [SEP] 41, DishSponge, -0.227, 2.133, 4.066, 0, 180, 0, 79 [SEP] 42, Spoon, -4.517, 0.924, 3.548, 0, 90, 0, 70 [SEP] 43, Mug, -3.277, 0.074, 5.155, 0, 90, 0, 48 [SEP] 44, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 45, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 46, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 47, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 48, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 49, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 50, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 51, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 52, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 53, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 54, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 55, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 56, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 57, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 58, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 59, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 60, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 61, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 62, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 63, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 64, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 65, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 66, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 67, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 68, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 69, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 70, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 71, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 72, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 73, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 74, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 75, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 76, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 77, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 78, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 79, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 80, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 81, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 82, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 83, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 84, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 85, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 86, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 87, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 88, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 89, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 90, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 91, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 92, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 93, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 94, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 96, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 97, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 98, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 99, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 100, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 101, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 102, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 103, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around to walk across the room to the counter to the left of the fridge. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to walk to the dishwasher. | STEP 4: Slice the tomato on the counter above the dishwasher. | STEP 5: Turn around to walk to the fridge. | STEP 6: Set the knife down in the fridge. | STEP 7: Turn around to walk to the tomato on the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the tomato slice in the fridge, removing it afterwards. | STEP 11: Turn around to walk to the microwave. | STEP 12: Set the tomato slice down in the microwave. | END


Input: Move a hand towel to the bath tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.25, 0, 0, 0,  [SEP] 1, Cloth, -3.449, 0.219, 0.941, 0, 0, 0, 42 [SEP] 2, Cloth, -3.511, 0.219, 0.613, 0, 0, 0, 42 [SEP] 3, TissueBox, -2.042, 0.846, 2.236, 0, 0, 0, 25 [SEP] 4, Candle, -2.121, 1.104, 2.143, 0, 0, 0, 34 [SEP] 5, SprayBottle, -0.767, 1.655, 0.262, 0, 0, 0, 32 [SEP] 6, SprayBottle, -0.178, 0.028, 0.300, 0, 90, 0, 44 [SEP] 7, SoapBottle, -2.132, 1.586, 2.288, 0, 0, 0, 31 [SEP] 8, SoapBottle, -2.031, 0.111, 2.146, 0, 0, 0, 23 [SEP] 9, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 39 [SEP] 10, SoapBar, -0.631, 0.952, 2.749, 0, 270, 0, 41 [SEP] 11, ToiletPaper, -0.443, 0.949, 2.723, 0, 270, 0, 41 [SEP] 12, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 13, Candle, -2.208, 1.300, 2.096, 0, 0, 0, 35 [SEP] 14, TissueBox, -0.812, 1.134, 0.110, 0, 0, 0, 33 [SEP] 15, ToiletPaper, -2.075, 0.843, 2.097, 0, 0, 0, 25 [SEP] 16, SoapBottle, -0.229, 0.030, 0.179, 0, 0, 0, 44 [SEP] 17, SprayBottle, -0.858, 0.119, 0.213, 0, 0, 0, 24 [SEP] 18, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 36 [SEP] 19, Cloth, -3.574, 0.219, 1.432, 0, 0, 0, 42 [SEP] 20, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 21, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0,  [SEP] 22, Drawer, -0.813, 0.956, 0.384, 0, 270, 0,  [SEP] 23, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0,  [SEP] 24, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0,  [SEP] 25, Drawer, -2.032, 0.942, 2.190, 0, 0, 0,  [SEP] 26, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0,  [SEP] 27, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0,  [SEP] 28, Sink, -1.924, 0.772, 0.326, 0, 0, 0,  [SEP] 29, Mirror, -1.934, 1.666, 0.107, 0, 0, 0,  [SEP] 30, Faucet, -1.925, 0.958, 0.179, 0, 0, 0,  [SEP] 31, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0,  [SEP] 32, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0,  [SEP] 33, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0,  [SEP] 34, Shelf, -2.029, 1.183, 2.189, 0, 0, 0,  [SEP] 35, Shelf, -2.123, 1.393, 2.189, 0, 0, 0,  [SEP] 36, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0,  [SEP] 37, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0,  [SEP] 38, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0,  [SEP] 39, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0,  [SEP] 40, Window, -4.149, 1.717, 1.154, 90, 270, 0,  [SEP] 41, Toilet, -0.456, -0.000, 2.257, 0, 180, 0,  [SEP] 42, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0,  [SEP] 43, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0,  [SEP] 44, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0,  [SEP] 45, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0,  [SEP] 46, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,

Output: STEP 1: Move to the wall to the left of the sink | STEP 2: Pick up the hand towel that is on the towel holder | STEP 3: Carry the hand towel to the bath tub | STEP 4: Place the hand towel inside of the bath tub | END


Input: Put a cleaned mug on the coffee machine.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, 3.0, 0, 180, 0,  [SEP] 1, Potato, -0.138, 1.044, 0.267, 0, 0, 0, 72 [SEP] 2, ButterKnife, -0.400, 0.900, 2.530, 0, 0, 0, 76 [SEP] 3, Spatula, -0.486, 0.915, 3.334, 0, 0, 0, 76 [SEP] 4, Spatula, -1.007, 0.810, 0.447, 0, 270, 0, 71 [SEP] 5, Spoon, -2.377, 0.901, 2.441, 0, 90, 0, 74 [SEP] 6, Egg, -0.314, 0.933, 3.334, 0, 0, 0, 76 [SEP] 7, Cup, -0.657, 0.900, 2.932, 0, 0, 0, 76 [SEP] 8, Cup, -0.228, 0.900, 3.133, 0, 0, 0, 76 [SEP] 9, Knife, -2.686, 0.926, 1.913, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.358, 1.773, 0.297, 0, 0, 0, 50 [SEP] 11, Bowl, -2.480, 0.897, 2.573, 0, 0, 0, 74 [SEP] 12, SaltShaker, -0.228, 0.896, 2.731, 0, 0, 0, 76 [SEP] 13, SaltShaker, -2.549, 0.931, 3.673, 0, 0, 0, 60 [SEP] 14, PepperShaker, -2.628, 0.931, 3.209, 0, 0, 0, 60 [SEP] 15, PepperShaker, -2.037, 0.924, 0.433, 0, 0, 0, 53 [SEP] 16, Bread, -2.805, 1.243, 4.352, 0, 90, 0, 70 [SEP] 17, Lettuce, -2.831, 0.378, 4.575, 0, 90, 0, 70 [SEP] 18, Lettuce, -0.572, 0.980, 2.329, 0, 0, 0, 76 [SEP] 19, Mug, -2.628, 0.930, 3.488, 0, 0, 0, 60 [SEP] 20, Mug, -0.350, 1.018, 0.267, 0, 0, 0, 72 [SEP] 21, Egg, -0.138, 1.056, 0.140, 0, 0, 0, 72 [SEP] 22, Plate, -2.738, 0.303, 4.352, 0, 90, 0, 70 [SEP] 23, Fork, -0.486, 0.901, 2.731, 0, 0, 0, 76 [SEP] 24, Bread, -2.583, 0.957, 2.309, 0, 0, 0, 74 [SEP] 25, Apple, -2.628, 0.991, 3.395, 0, 90, 0, 60 [SEP] 26, Lettuce, -2.785, 1.015, 3.302, 0, 180, 0, 60 [SEP] 27, Spatula, -2.892, 0.915, 2.441, 0, 90, 0, 74 [SEP] 28, Knife, -2.431, 0.688, 0.464, 0, 270, 0, 61 [SEP] 29, Potato, -2.764, 0.658, 4.204, 0, 90, 0, 70 [SEP] 30, Tomato, -2.888, 0.696, 4.427, 0, 90, 0, 70 [SEP] 31, Cup, -0.244, 1.023, 0.267, 0, 0, 0, 72 [SEP] 32, SaltShaker, -2.377, 0.658, 0.355, 0, 0, 0, 61 [SEP] 33, PepperShaker, -2.943, 0.931, 3.302, 0, 0, 0, 60 [SEP] 34, ButterKnife, -2.789, 0.900, 2.441, 0, 0, 0, 74 [SEP] 35, SoapBottle, -2.892, 0.900, 2.309, 0, 0, 0, 74 [SEP] 36, Pan, -0.535, 0.928, 4.274, 0, 0, 0, 57 [SEP] 37, DishSponge, -2.480, 0.900, 2.045, 0, 0, 0, 74 [SEP] 38, Pot, -1.770, 0.927, 0.348, 0, 180, 0, 53 [SEP] 39, Spoon, -1.353, 0.797, 0.337, 0, 90, 0, 71 [SEP] 40, Mug, -2.722, 1.181, 4.575, 0, 90, 0, 70 [SEP] 41, Bowl, -0.359, 1.770, 0.297, 0, 90, 0, 52 [SEP] 42, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 43, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 44, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 45, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 46, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 47, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 48, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 49, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 50, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 51, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 52, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 53, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 54, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 55, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 56, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 57, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 58, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 59, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 60, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 61, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 62, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 63, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 64, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 65, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 66, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 67, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 68, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 69, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 70, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 71, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 72, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 73, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 74, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 75, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 76, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn around, move to the coffee machine on your left. | STEP 2: Pick up the dirty mug on the coffee machine.  | STEP 3: Turn left, bring the mug to the sink. | STEP 4: Wash the mug in the sink with water.  | STEP 5: Take the mug back to the coffee machine next to the fridge.  | STEP 6: Put the cleaned mug on the coffee machine.  | END


Input: put both CDs inside the safe on the ground SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 0.75, 0, 0, 0,  [SEP] 1, CD, 0.000, 0.971, -1.484, 0, 270, 0, 32 [SEP] 2, Pencil, 0.604, 0.974, -1.557, 0, 270, 0, 32 [SEP] 3, CreditCard, 0.000, 0.972, -1.926, 0, 270, 0, 32 [SEP] 4, KeyChain, 2.208, 0.470, 1.332, 0, 0, 0, 30 [SEP] 5, Pillow, 0.649, 0.477, 0.419, 0, 0, 0, 42 [SEP] 6, Box, -1.751, 0.252, 1.499, 0, 340.773, 0, Floor|+00.00| [SEP] 7, Book, 1.392, 0.417, 0.252, 0, 0, 0, 42 [SEP] 8, Cloth, -1.146, 0.000, -2.123, 0, 0, 0, Floor|+00.00| [SEP] 9, CellPhone, -0.300, 0.039, -1.542, 0, 270, 0, 33 [SEP] 10, Pencil, 0.402, 0.975, -1.631, 0, 270, 0, 32 [SEP] 11, AlarmClock, 2.153, 0.565, 1.23, 0, 213.033, 0, 30 [SEP] 12, TeddyBear, -2.236, 0.000, 1.457, 0, 319.128, 0, Floor|+00.00| [SEP] 13, CreditCard, 0.491, 0.036, -1.824, 0, 270, 0, 38 [SEP] 14, KeyChain, 1.753, 0.041, -2.074, 0, 88.075, 0, 45 [SEP] 15, Pillow, 1.640, 0.477, -0.080, 0, 0, 0, 42 [SEP] 16, Pillow, 2.15, 0.433, -0.241, 0, 282.078, 0, 42 [SEP] 17, Laptop, -0.5, 0.965, -1.715, 0, 24.156, 0, 32 [SEP] 18, Bowl, 0.471, 0.965, -1.856, 0, 0, 0, 32 [SEP] 19, Cloth, -1.288, 0.000, -1.936, 0, 357.341, 356.936, Floor|+00.00| [SEP] 20, CD, 0.675, 0.409, -1.488, 0, 270, 0, 41 [SEP] 21, Pen, 0.604, 0.976, -1.705, 0, 270, 0, 32 [SEP] 22, DeskLamp, 2.302, 0.561, 1.435, 0, 315, 0,  [SEP] 23, GarbageCan, -2.208, -0.023, -1.742, 0, 77.663, 0,  [SEP] 24, Poster, 2.439, 1.508, 0.014, 90, 270, 0,  [SEP] 25, LightSwitch, -2.457, 1.274, -0.096, 0, 90, 0,  [SEP] 26, Mirror, 2.454, 1.322, -1.414, 0, 90, 0,  [SEP] 27, Window, -1.440, 1.815, -2.354, 90, 0, 0,  [SEP] 28, Window, 1.401, 1.815, -2.354, 90, 0, 0,  [SEP] 29, Drawer, 2.251, 0.468, 1.333, 0, 270, 0,  [SEP] 30, SideTable, 2.243, -0.001, 1.331, 0, 270, 0,  [SEP] 31, Drawer, -0.385, 0.681, -1.631, 0, 0, 0,  [SEP] 32, Dresser, 0.011, 0.001, -1.676, 0, 0, 0,  [SEP] 33, Drawer, -0.385, 0.105, -1.631, 0, 0, 0,  [SEP] 34, Drawer, 0.408, 0.868, -1.632, 0, 0, 0,  [SEP] 35, Drawer, -0.385, 0.487, -1.631, 0, 0, 0,  [SEP] 36, Drawer, -0.385, 0.868, -1.632, 0, 0, 0,  [SEP] 37, Drawer, 0.408, 0.681, -1.631, 0, 0, 0,  [SEP] 38, Drawer, 0.408, 0.105, -1.631, 0, 0, 0,  [SEP] 39, Drawer, 0.408, 0.292, -1.631, 0, 0, 0,  [SEP] 40, Drawer, -0.385, 0.292, -1.631, 0, 0, 0,  [SEP] 41, Drawer, 0.408, 0.487, -1.631, 0, 0, 0,  [SEP] 42, Bed, 1.377, 0.004, 0.072, 0, 90, 0,  [SEP] 43, Blinds, 1.422, 3.115, -2.339, 0, 0, 0,  [SEP] 44, Blinds, -1.422, 3.115, -2.339, 0, 0, 0,  [SEP] 45, Safe, 1.640, 0.000, -2.040, 0, 355.244, 0,  [SEP] 46, LaundryHamper, -1.564, 0.001, -1.927, 0, 45, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: turn and walk to face the left side of the dresser drawers | STEP 2: grab a CD out of the top left drawer | STEP 3: take the CD over to the white safe on the floor | STEP 4: put the CD inside the safe on the floor | STEP 5: walk back over to the dresser drawers | STEP 6: grab the CD off the top of the dresser  | STEP 7: walk over to the white safe on the ground again | STEP 8: put the CD inside the safe | END


Input: Removed soap bottle from trash and put in cupboard under sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 90, 0,  [SEP] 1, Cloth, -1.721, 0.074, 0.718, 0, 0, 0, 21 [SEP] 2, SoapBar, -1.320, 0.073, 0.679, 0, 315, 0, 21 [SEP] 3, SoapBar, -1.791, 0.770, 3.098, 0, 0, 0, 20 [SEP] 4, Candle, 0.060, 0.617, 3.815, 0, 0, 0, 43 [SEP] 5, Candle, -1.695, 0.772, 3.122, 0, 0, 0, 20 [SEP] 6, SprayBottle, -1.782, 0.069, 2.891, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.795, 0.015, 2.193, 0, 0, 0, 22 [SEP] 8, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.537, 0.073, 0.470, 0, 90, 0, 21 [SEP] 11, ToiletPaper, -0.089, 1.159, 3.797, 0, 0, 0, 49 [SEP] 12, ToiletPaper, 0.349, 0.089, 3.815, 0, 0, 0, 41 [SEP] 13, Cloth, -1.786, 0.074, 0.213, 0, 0, 0, 21 [SEP] 14, SprayBottle, 0.204, 1.160, 3.829, 0, 0, 0, 49 [SEP] 15, Candle, 0.204, 1.160, 3.926, 0, 0, 0, 49 [SEP] 16, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 17, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 18, SoapBottle, -0.414, 0.447, 0.163, 0, 0, 0, 19 [SEP] 19, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0,  [SEP] 20, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0,  [SEP] 21, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0,  [SEP] 22, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0,  [SEP] 23, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0,  [SEP] 24, Mirror, -1.993, 1.424, 3.107, 0, 0, 0,  [SEP] 25, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0,  [SEP] 26, Faucet, -1.873, 0.461, 0.641, 0, 0, 0,  [SEP] 27, Sink, -1.834, 0.685, 2.777, 0, 90, 0,  [SEP] 28, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0,  [SEP] 29, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0,  [SEP] 30, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0,  [SEP] 31, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0,  [SEP] 33, Window, -1.039, 1.393, 0.018, 90, 0, 0,  [SEP] 34, Window, -1.986, 1.392, 0.706, 90, 90, 0,  [SEP] 35, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0,  [SEP] 36, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0,  [SEP] 37, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0,  [SEP] 38, Toilet, -1.567, -0.000, 1.815, 0, 180, 0,  [SEP] 39, Drawer, 0.204, 0.940, 3.807, 0, 180, 0,  [SEP] 40, Dresser, 0.204, 0.000, 3.832, 0, 180, 0,  [SEP] 41, Drawer, 0.204, 0.160, 3.807, 0, 180, 0,  [SEP] 42, Drawer, 0.204, 0.420, 3.807, 0, 180, 0,  [SEP] 43, Drawer, 0.204, 0.680, 3.807, 0, 180, 0,  [SEP] 44, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0,  [SEP] 45, Sink, -1.833, 0.685, 3.472, 0, 90, 0,  [SEP] 46, Faucet, -1.988, 0.947, 3.472, 0, 180, 0,  [SEP] 47, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0,  [SEP] 48, Faucet, -1.988, 0.947, 2.776, 0, 180, 0,  [SEP] 49, , , , , , , ,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn around from shower and go to the trash can next to the toilet. | STEP 2: Take the soap bottle from the trash can. | STEP 3: Go to the right cupboard under the left sink. | STEP 4: Place soap bottle in the third cupboard from the left. | END