Input: Place box with remote on top of left side of black cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.920, 2.25, 0, 270, 0,  [SEP] 1, Newspaper, -2.648, 0.455, 3.836, 0, 0, 0, 43 [SEP] 2, Newspaper, -3.098, 0.543, 0.601, 0, 0, 0, 42 [SEP] 3, Vase, -0.437, 0.617, 0.997, 0, 0, 0, 40 [SEP] 4, CreditCard, -4.390, 0.459, 6.731, 0, 0, 0, 44 [SEP] 5, CreditCard, -0.750, 0.616, 0.919, 0, 0, 0, 40 [SEP] 6, Laptop, -2.402, 0.445, 4.722, 0, 0, 0, 43 [SEP] 7, Pillow, -2.796, 0.606, 0.793, 0, 0, 0, 42 [SEP] 8, Box, -4.305, 0.598, 6.450, 0, 0, 0, 44 [SEP] 9, Plate, -2.913, 0.442, 3.398, 0, 0, 0, 43 [SEP] 10, Vase, -0.473, 0.271, 5.422, 0, 0, 0, 27 [SEP] 11, WateringCan, -3.015, 0.450, 4.501, 0, 180, 0, 43 [SEP] 12, Newspaper, -4.313, 0.556, 3.501, 0, 13.803, 0, 41 [SEP] 13, Vase, -0.585, 1.452, 6.434, 0, 0, 0, 26 [SEP] 14, KeyChain, -4.475, 0.455, 6.543, 0, 0, 0, 44 [SEP] 15, Pillow, -4.279, 0.607, 2.929, 0, 90, 0, 41 [SEP] 16, Statue, -0.461, 0.270, 5.703, 0, 285.188, 0, 27 [SEP] 17, RemoteControl, -4.049, 0.540, 2.627, 0, 90, 0, 41 [SEP] 18, CreditCard, -0.672, 0.616, 0.608, 0, 0, 0, 40 [SEP] 19, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 26 [SEP] 20, Laptop, -4.342, 0.523, 2.224, 0, 32.685, 0, 41 [SEP] 21, Statue, -2.893, 0.454, 3.614, 0, 0, 0, 43 [SEP] 22, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0,  [SEP] 23, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0,  [SEP] 24, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064,  [SEP] 25, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144,  [SEP] 26, Shelf, -0.391, 1.452, 5.953, 0, 270, 0,  [SEP] 27, Shelf, -0.398, 0.270, 5.961, 0, 270, 0,  [SEP] 28, Television, -0.75, 1.661, 3.936, 0, 270, 0,  [SEP] 29, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0,  [SEP] 30, Painting, -2.670, 1.574, 7.000, 90, 180, 0,  [SEP] 31, Bowl, -2.400, 0.464, 3.442, 0, 0, 0,  [SEP] 32, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0,  [SEP] 33, Window, -1.373, 1.565, 0.008, 90, 180, 0,  [SEP] 34, Window, -0.014, 1.567, 1.496, 90, 270, 0,  [SEP] 35, Window, -3.726, 1.565, 0.008, 90, 180, 0,  [SEP] 36, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0,  [SEP] 37, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0,  [SEP] 38, Shelf, -0.594, 0.104, 0.841, 0, 0, 0,  [SEP] 39, Shelf, -0.594, 0.359, 0.841, 0, 0, 0,  [SEP] 40, SideTable, -0.594, 0.018, 0.841, 0, 0, 0,  [SEP] 41, Sofa, -4.360, 0.028, 2.929, 0, 90, 0,  [SEP] 42, Sofa, -2.493, 0.028, 0.725, 0, 0, 0,  [SEP] 43, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0,  [SEP] 44, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,

Output: STEP 1: go the black couch with purple pillow | STEP 2: pick up remote control from couch between laptop and purple pillow | STEP 3: go to black chair with box to the right | STEP 4: place remote in box on black chair | STEP 5: pick up box off of black chair | STEP 6: turn around, go forward to black cabinet with black statue | STEP 7: place box on black cabinet to the left of statue | END


Input: Place a box with a remote in it on the step with the statue on it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.920, 2.25, 0, 270, 0,  [SEP] 1, Newspaper, -2.648, 0.455, 3.836, 0, 0, 0, 43 [SEP] 2, Newspaper, -3.098, 0.543, 0.601, 0, 0, 0, 42 [SEP] 3, Vase, -0.437, 0.617, 0.997, 0, 0, 0, 40 [SEP] 4, CreditCard, -4.390, 0.459, 6.731, 0, 0, 0, 44 [SEP] 5, CreditCard, -0.750, 0.616, 0.919, 0, 0, 0, 40 [SEP] 6, Laptop, -2.402, 0.445, 4.722, 0, 0, 0, 43 [SEP] 7, Pillow, -2.796, 0.606, 0.793, 0, 0, 0, 42 [SEP] 8, Box, -4.305, 0.598, 6.450, 0, 0, 0, 44 [SEP] 9, Plate, -2.913, 0.442, 3.398, 0, 0, 0, 43 [SEP] 10, Vase, -0.473, 0.271, 5.422, 0, 0, 0, 27 [SEP] 11, WateringCan, -3.015, 0.450, 4.501, 0, 180, 0, 43 [SEP] 12, Newspaper, -4.313, 0.556, 3.501, 0, 13.803, 0, 41 [SEP] 13, Vase, -0.585, 1.452, 6.434, 0, 0, 0, 26 [SEP] 14, KeyChain, -4.475, 0.455, 6.543, 0, 0, 0, 44 [SEP] 15, Pillow, -4.279, 0.607, 2.929, 0, 90, 0, 41 [SEP] 16, Statue, -0.461, 0.270, 5.703, 0, 285.188, 0, 27 [SEP] 17, RemoteControl, -4.049, 0.540, 2.627, 0, 90, 0, 41 [SEP] 18, CreditCard, -0.672, 0.616, 0.608, 0, 0, 0, 40 [SEP] 19, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 26 [SEP] 20, Laptop, -4.342, 0.523, 2.224, 0, 32.685, 0, 41 [SEP] 21, Statue, -2.893, 0.454, 3.614, 0, 0, 0, 43 [SEP] 22, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0,  [SEP] 23, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0,  [SEP] 24, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064,  [SEP] 25, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144,  [SEP] 26, Shelf, -0.391, 1.452, 5.953, 0, 270, 0,  [SEP] 27, Shelf, -0.398, 0.270, 5.961, 0, 270, 0,  [SEP] 28, Television, -0.75, 1.661, 3.936, 0, 270, 0,  [SEP] 29, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0,  [SEP] 30, Painting, -2.670, 1.574, 7.000, 90, 180, 0,  [SEP] 31, Bowl, -2.400, 0.464, 3.442, 0, 0, 0,  [SEP] 32, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0,  [SEP] 33, Window, -1.373, 1.565, 0.008, 90, 180, 0,  [SEP] 34, Window, -0.014, 1.567, 1.496, 90, 270, 0,  [SEP] 35, Window, -3.726, 1.565, 0.008, 90, 180, 0,  [SEP] 36, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0,  [SEP] 37, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0,  [SEP] 38, Shelf, -0.594, 0.104, 0.841, 0, 0, 0,  [SEP] 39, Shelf, -0.594, 0.359, 0.841, 0, 0, 0,  [SEP] 40, SideTable, -0.594, 0.018, 0.841, 0, 0, 0,  [SEP] 41, Sofa, -4.360, 0.028, 2.929, 0, 90, 0,  [SEP] 42, Sofa, -2.493, 0.028, 0.725, 0, 0, 0,  [SEP] 43, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0,  [SEP] 44, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,

Output: STEP 1: Walk to the purple cushion on the couch. | STEP 2: Pick up the remote in front of the purple cushion. | STEP 3: Turn right and walk to the box on the chair in the corner. | STEP 4: Place the remote in the box on the chair. | STEP 5: Pick up the box on the chair. | STEP 6: Turn right and walk to the step with the statue on it. | STEP 7: Place the box down on the left side of the step. | END


Input: place a wet cloth inside 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, -0.75, 0.902, 1.5, 0, 180, 0,  [SEP] 1, Cloth, 0.604, 0.254, 2.523, 0, 0, 0, 23 [SEP] 2, SoapBar, -0.497, 0.180, 0.48, 0, 0, 0, 34 [SEP] 3, SoapBar, 0.767, 0.812, 1.852, 349.201, 270, 0, 33 [SEP] 4, Candle, 0.734, 0.740, 1.442, 0, 0, 0, 22 [SEP] 5, SprayBottle, 0.432, 0.743, 2.489, 0, 0, 0, 22 [SEP] 6, HandTowel, 1.033, 1.671, 3.127, 0, 90, 0, 35 [SEP] 7, Towel, 0.474, 1.182, 0.134, 0, 0, 0, 31 [SEP] 8, SoapBar, -2.616, 1.046, 1.822, 0, 90, 0, 38 [SEP] 9, ToiletPaper, 0.855, 0.110, 3.016, 0, 0, 0, 37 [SEP] 10, SoapBottle, 0.731, 0.114, 3.063, 0, 0, 0, 37 [SEP] 11, ToiletPaper, -2.493, 1.043, 1.559, 0, 90, 0, 38 [SEP] 12, ScrubBrush, -2.557, 0.001, 2.200, 0, 0, 0,  [SEP] 13, Plunger, -2.568, 0.000, 1.992, 0, 0, 0,  [SEP] 14, Cloth, -0.888, 0.181, 0.432, 0, 0, 0, 34 [SEP] 15, Candle, -2.554, 1.044, 1.822, 0, 90, 0, 38 [SEP] 16, SprayBottle, 0.884, 0.743, 2.489, 0, 270, 0, 22 [SEP] 17, Window, -2.808, 0.962, 0.514, 0, 0, 0,  [SEP] 18, Bathtub, -1.062, 0.300, 0.427, 0, 0, 0,  [SEP] 19, Drawer, 0.409, 0.551, 1.486, 0, 0, 0,  [SEP] 20, Mirror, 0.986, 1.676, 1.896, 0, 0, 0,  [SEP] 21, ShowerDoor, -2.671, 1.001, 2.797, 0, 0, 0,  [SEP] 22, CounterTop, 0.732, 0.697, 1.955, 0, 0, 0,  [SEP] 23, Drawer, 0.409, 0.314, 2.420, 0, 0, 0,  [SEP] 24, ShowerGlass, -1.713, 1.276, 3.298, 0, 0, 0,  [SEP] 25, CounterTop, -0.298, 0.157, 0.531, 0, 0, 0,  [SEP] 26, Sink, 0.812, 0.703, 1.920, 0, 270, 0,  [SEP] 27, Drawer, 0.409, 0.551, 2.420, 0, 0, 0,  [SEP] 28, Window, -0.957, 1.563, -0.059, 0, 0, 0,  [SEP] 29, Drawer, 0.409, 0.314, 1.486, 0, 0, 0,  [SEP] 30, TowelHolder, 1.038, 1.179, 0.495, 0, 270, 0,  [SEP] 31, TowelHolder, 0.474, 1.168, 0.027, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -2.695, 0.929, 1.200, 0, 90, 0,  [SEP] 33, SinkBasin, 0.720, 0.812, 1.896, 349.201, 270, 0,  [SEP] 34, BathtubBasin, -0.721, 0.171, 0.479, 0, 0, 0,  [SEP] 35, HandTowelHolder, 1.071, 1.773, 3.127, 0, 180, 0,  [SEP] 36, LightSwitch, 0.220, 1.416, 3.998, 0, 180, 0,  [SEP] 37, GarbageCan, 0.713, -0.028, 3.110, 0, 0, 0,  [SEP] 38, Toilet, -2.232, 0.001, 1.628, 0, 180, 0,  [SEP] 39, ShowerHead, -2.619, 1.819, 3.361, 0, 270, 0,  [SEP] 40, Faucet, 1.047, 1.036, 1.921, 0, 0, 0,  [SEP] 41, Faucet, 0.318, 0.631, 0.479, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: move forward towards the bath tub | STEP 2: pick up the cloth | STEP 3: turn left and head to the sink | STEP 4: wet the cloth with water | STEP 5: turn around and head to the tub | STEP 6: place the cloth inside the tub | END


Input: Pick up a computer 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, 2.0, 0.902, -0.5, 0, 270, 0,  [SEP] 1, Mug, -0.002, 0.671, -2.608, 0, 0, 0, 56 [SEP] 2, CD, 0.427, 0.672, -2.589, 0, 0, 0, 56 [SEP] 3, CD, 1.781, 0.799, -2.219, 0, 0, 0, 51 [SEP] 4, CellPhone, -1.061, 0.695, -0.573, 0, 0, 0, 31 [SEP] 5, Pen, 1.680, 0.506, -2.036, 0, 0, 0, 53 [SEP] 6, Pen, 1.586, 0.339, -1.638, 0, 0, 0, 43 [SEP] 7, Pencil, 1.680, 0.659, -2.386, 0, 0, 0, 46 [SEP] 8, Pencil, 1.586, 0.337, -1.376, 0, 0, 0, 43 [SEP] 9, CreditCard, 1.536, 0.794, -2.031, 0, 0, 0, 51 [SEP] 10, KeyChain, 1.842, 0.803, -1.843, 0, 0, 0, 51 [SEP] 11, KeyChain, 1.597, 0.795, -1.655, 0, 0, 358.920, 51 [SEP] 12, AlarmClock, 1.662, 0.794, -2.031, 0, 0, 0, 51 [SEP] 13, AlarmClock, 1.666, 0.832, -1.632, 292.522, 34.677, 0, 51 [SEP] 14, Laptop, -0.331, 0.693, 0.067, 0, 0, 0, 31 [SEP] 15, Laptop, -0.331, 0.693, -0.787, 0, 0, 0, 31 [SEP] 16, Book, -1.061, 0.694, -1.001, 0, 180, 0, 31 [SEP] 17, KeyChain, 1.719, 0.801, -1.843, 0, 0, 0, 51 [SEP] 18, AlarmClock, 1.535, 0.794, -1.843, 0, 0, 0, 51 [SEP] 19, CreditCard, 1.773, 0.655, -2.124, 0, 0, 0, 46 [SEP] 20, Laptop, -0.331, 0.693, -0.36, 0, 0, 0, 31 [SEP] 21, Pen, 1.680, 0.660, -1.551, 0, 0, 0, 44 [SEP] 22, Pencil, 1.680, 0.176, -2.298, 0, 0, 0, 49 [SEP] 23, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 24, Pillow, -0.818, 0.755, 0.067, 0, 0, 0, 31 [SEP] 25, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 31 [SEP] 26, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 27, CellPhone, 1.597, 0.801, -1.279, 0, 0, 0, 51 [SEP] 28, CD, 1.680, 0.500, -1.376, 0, 0, 0, 45 [SEP] 29, Mug, 1.536, 0.799, -2.219, 0, 0, 0, 51 [SEP] 30, Mirror, 3.534, 1.661, -0.277, 0, 90, 0,  [SEP] 31, Bed, -0.842, -0.000, -0.361, 0, 270, 0,  [SEP] 32, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0,  [SEP] 33, Painting, 0.246, 1.564, -2.665, 90, 0, 0,  [SEP] 34, Painting, 1.894, 1.549, -2.424, 90, 270, 0,  [SEP] 35, Painting, 1.894, 1.549, -1.289, 90, 270, 0,  [SEP] 36, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0,  [SEP] 37, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0,  [SEP] 38, Window, -0.486, 1.409, -2.691, 90, 0, 0,  [SEP] 39, Window, 0.987, 1.409, -2.691, 90, 0, 0,  [SEP] 40, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0,  [SEP] 41, Blinds, -0.490, 2.130, -2.638, 0, 0, 0,  [SEP] 42, Blinds, 1.011, 2.130, -2.638, 0, 0, 0,  [SEP] 43, Drawer, 1.596, 0.411, -1.459, 0, 270, 0,  [SEP] 44, Drawer, 1.597, 0.732, -1.459, 0, 270, 0,  [SEP] 45, Drawer, 1.597, 0.574, -1.459, 0, 270, 0,  [SEP] 46, Drawer, 1.597, 0.732, -2.202, 0, 270, 0,  [SEP] 47, Drawer, 1.596, 0.247, -1.459, 0, 270, 0,  [SEP] 48, Drawer, 1.596, 0.090, -1.459, 0, 270, 0,  [SEP] 49, Drawer, 1.596, 0.247, -2.202, 0, 270, 0,  [SEP] 50, Drawer, 1.596, 0.411, -2.202, 0, 270, 0,  [SEP] 51, Dresser, 1.634, 0.003, -1.830, 0, 270, 0,  [SEP] 52, Drawer, 1.596, 0.090, -2.202, 0, 270, 0,  [SEP] 53, Drawer, 1.597, 0.574, -2.202, 0, 270, 0,  [SEP] 54, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0,  [SEP] 55, Shelf, 0.017, 0.178, -2.511, 0, 0, 0,  [SEP] 56, Shelf, 0.249, 0.665, -2.519, 0, 0, 0,  [SEP] 57, Shelf, 0.243, 0.344, -2.511, 0, 0, 0,  [SEP] 58, Shelf, 0.474, 0.344, -2.511, 0, 0, 0,  [SEP] 59, Shelf, 0.355, 0.011, -2.511, 0, 0, 0,  [SEP] 60, Shelf, 0.016, 0.011, -2.511, 0, 0, 0,  [SEP] 61, Shelf, 0.357, 0.178, -2.511, 0, 0, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Go forward and stand at the end of the bed | STEP 2: Close the middle computer and pick the computer up from the bed. | STEP 3: Go left and then left again to face the dresser with the lamp. | STEP 4: Turn the lamp on. | END


Input: move the phone from the sofa chair 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, 0.75, 0.901, 0.25, 0, 180, 0,  [SEP] 1, Mug, 2.601, 0.178, 0.410, 0, 180, 0, 41 [SEP] 2, CD, 2.557, 0.987, 0.723, 0, 180, 0, 35 [SEP] 3, CellPhone, -1.469, 0.663, 1.711, 0, 0, 0, 47 [SEP] 4, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 48 [SEP] 5, CellPhone, -1.603, 0.663, 1.556, 0, 0, 0, 47 [SEP] 6, Pen, 1.352, 0.028, -1.717, 0, 0, 0, 32 [SEP] 7, Pen, 2.819, 0.990, 1.292, 0, 180, 0, 35 [SEP] 8, CreditCard, -1.558, 0.662, 1.401, 0, 0, 0, 47 [SEP] 9, CreditCard, 2.995, 0.988, 1.576, 0, 180, 0, 35 [SEP] 10, AlarmClock, 2.995, 0.984, 1.860, 0, 180, 0, 35 [SEP] 11, Book, -0.448, 0.693, -0.332, 0, 0, 0, 27 [SEP] 12, KeyChain, -1.562, 0.358, -1.420, 0, 90, 0, 46 [SEP] 13, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 35 [SEP] 14, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0,  [SEP] 15, CreditCard, 2.575, 0.887, 1.318, 0, 180, 0, 39 [SEP] 16, Pen, 2.820, 0.993, 0.439, 0, 180, 0, 35 [SEP] 17, Pencil, -1.603, 0.667, -1.094, 0, 0, 0, 45 [SEP] 18, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300,  [SEP] 19, AlarmClock, 2.644, 0.984, 0.439, 0, 180, 0, 35 [SEP] 20, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270,  [SEP] 21, Pillow, -1.373, 0.754, -0.204, 0, 255.000, 0, 27 [SEP] 22, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 27 [SEP] 23, CellPhone, -1.469, 0.663, -1.327, 0, 0, 0, 45 [SEP] 24, CD, 2.555, 0.886, 1.166, 0, 180, 0, 39 [SEP] 25, Mug, 2.875, 0.178, 1.387, 0, 270, 0, 43 [SEP] 26, Curtains, -0.020, 2.923, -1.853, 0, 0, 0,  [SEP] 27, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0,  [SEP] 28, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0,  [SEP] 29, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0,  [SEP] 30, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0,  [SEP] 31, Painting, 1.524, 1.516, -1.853, 90, 0, 0,  [SEP] 32, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0,  [SEP] 33, Mirror, 0.575, 1.351, 2.197, 0, 0, 0,  [SEP] 34, Window, -0.013, 1.687, -1.919, 90, 0, 0,  [SEP] 35, Dresser, 2.819, 0.000, 1.008, 0, 270, 0,  [SEP] 36, Drawer, 2.572, 0.901, 1.784, 0, 270, 0,  [SEP] 37, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0,  [SEP] 38, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0,  [SEP] 39, Drawer, 2.572, 0.901, 1.263, 0, 270, 0,  [SEP] 40, Drawer, 2.572, 0.901, 0.748, 0, 270, 0,  [SEP] 41, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0,  [SEP] 42, Drawer, 2.572, 0.901, 0.230, 0, 270, 0,  [SEP] 43, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0,  [SEP] 44, Drawer, -1.533, 0.459, 1.478, 0, 90, 0,  [SEP] 45, SideTable, -1.599, 0.001, -1.249, 0, 90, 0,  [SEP] 46, Drawer, -1.533, 0.459, -1.250, 0, 90, 0,  [SEP] 47, SideTable, -1.599, 0.001, 1.479, 0, 90, 0,  [SEP] 48, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0,  [SEP] 49, Shelf, -1.552, 0.040, -1.400, 0, 90, 0,  [SEP] 50, Shelf, -1.552, 0.040, -1.133, 0, 90, 0,  [SEP] 51, Shelf, -1.552, 0.040, 1.328, 0, 90, 0,  [SEP] 52, Shelf, -1.552, 0.040, 1.595, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: walk straight to the wall, turn left to the sofa chair | STEP 2: grab the phone on the sofa chair | STEP 3: turn left, walk to the end of the bed | STEP 4: put the phone on the bed | END


Input: Move the phone from the chair 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, 0.75, 0.901, 0.25, 0, 180, 0,  [SEP] 1, Mug, 2.601, 0.178, 0.410, 0, 180, 0, 41 [SEP] 2, CD, 2.557, 0.987, 0.723, 0, 180, 0, 35 [SEP] 3, CellPhone, -1.469, 0.663, 1.711, 0, 0, 0, 47 [SEP] 4, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 48 [SEP] 5, CellPhone, -1.603, 0.663, 1.556, 0, 0, 0, 47 [SEP] 6, Pen, 1.352, 0.028, -1.717, 0, 0, 0, 32 [SEP] 7, Pen, 2.819, 0.990, 1.292, 0, 180, 0, 35 [SEP] 8, CreditCard, -1.558, 0.662, 1.401, 0, 0, 0, 47 [SEP] 9, CreditCard, 2.995, 0.988, 1.576, 0, 180, 0, 35 [SEP] 10, AlarmClock, 2.995, 0.984, 1.860, 0, 180, 0, 35 [SEP] 11, Book, -0.448, 0.693, -0.332, 0, 0, 0, 27 [SEP] 12, KeyChain, -1.562, 0.358, -1.420, 0, 90, 0, 46 [SEP] 13, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 35 [SEP] 14, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0,  [SEP] 15, CreditCard, 2.575, 0.887, 1.318, 0, 180, 0, 39 [SEP] 16, Pen, 2.820, 0.993, 0.439, 0, 180, 0, 35 [SEP] 17, Pencil, -1.603, 0.667, -1.094, 0, 0, 0, 45 [SEP] 18, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300,  [SEP] 19, AlarmClock, 2.644, 0.984, 0.439, 0, 180, 0, 35 [SEP] 20, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270,  [SEP] 21, Pillow, -1.373, 0.754, -0.204, 0, 255.000, 0, 27 [SEP] 22, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 27 [SEP] 23, CellPhone, -1.469, 0.663, -1.327, 0, 0, 0, 45 [SEP] 24, CD, 2.555, 0.886, 1.166, 0, 180, 0, 39 [SEP] 25, Mug, 2.875, 0.178, 1.387, 0, 270, 0, 43 [SEP] 26, Curtains, -0.020, 2.923, -1.853, 0, 0, 0,  [SEP] 27, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0,  [SEP] 28, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0,  [SEP] 29, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0,  [SEP] 30, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0,  [SEP] 31, Painting, 1.524, 1.516, -1.853, 90, 0, 0,  [SEP] 32, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0,  [SEP] 33, Mirror, 0.575, 1.351, 2.197, 0, 0, 0,  [SEP] 34, Window, -0.013, 1.687, -1.919, 90, 0, 0,  [SEP] 35, Dresser, 2.819, 0.000, 1.008, 0, 270, 0,  [SEP] 36, Drawer, 2.572, 0.901, 1.784, 0, 270, 0,  [SEP] 37, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0,  [SEP] 38, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0,  [SEP] 39, Drawer, 2.572, 0.901, 1.263, 0, 270, 0,  [SEP] 40, Drawer, 2.572, 0.901, 0.748, 0, 270, 0,  [SEP] 41, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0,  [SEP] 42, Drawer, 2.572, 0.901, 0.230, 0, 270, 0,  [SEP] 43, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0,  [SEP] 44, Drawer, -1.533, 0.459, 1.478, 0, 90, 0,  [SEP] 45, SideTable, -1.599, 0.001, -1.249, 0, 90, 0,  [SEP] 46, Drawer, -1.533, 0.459, -1.250, 0, 90, 0,  [SEP] 47, SideTable, -1.599, 0.001, 1.479, 0, 90, 0,  [SEP] 48, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0,  [SEP] 49, Shelf, -1.552, 0.040, -1.400, 0, 90, 0,  [SEP] 50, Shelf, -1.552, 0.040, -1.133, 0, 90, 0,  [SEP] 51, Shelf, -1.552, 0.040, 1.328, 0, 90, 0,  [SEP] 52, Shelf, -1.552, 0.040, 1.595, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Walk forward and to the chair on your left. | STEP 2: Pick up the phone from the chair. | STEP 3: Turn around and go to the foot of the bed. | STEP 4: Put the phone on the bed. | END


Input: Put two newspapers on the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.5, 0, 180, 0,  [SEP] 1, Newspaper, 2.957, 0.609, 1.627, 0, 0, 0, 30 [SEP] 2, Statue, 0.834, 0.418, 1.466, 0, 0, 0, 31 [SEP] 3, Statue, 0.114, 0.374, 0.032, 0, 0, 0, 38 [SEP] 4, Watch, 1.145, 0.411, 1.466, 0, 0, 0, 31 [SEP] 5, CreditCard, 0.315, 0.493, -1.736, 0, 0, 0, 27 [SEP] 6, Box, -0.636, 0.778, -1.469, 0, 0, 0, 29 [SEP] 7, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 38 [SEP] 8, CreditCard, 0.132, 0.474, -1.418, 0, 0, 0, 27 [SEP] 9, Newspaper, 2.072, 0.877, 1.704, 0, 0, 0, 26 [SEP] 10, RemoteControl, 0.223, 0.501, -1.736, 0, 0, 0, 27 [SEP] 11, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 28 [SEP] 12, KeyChain, -0.799, 0.603, -1.660, 0, 0, 0, 29 [SEP] 13, Watch, 0.109, 0.030, -0.334, 0, 180, 0, 35 [SEP] 14, Statue, 0.367, 0.417, 1.531, 0, 0, 0, 31 [SEP] 15, Curtains, 1.199, 0.0, -2.440, 0, 0, 0,  [SEP] 16, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0,  [SEP] 17, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0,  [SEP] 18, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0,  [SEP] 19, Television, 0.858, 0.884, 1.731, 0, 180, 0,  [SEP] 20, Painting, 3.414, 1.708, -0.156, 90, 270, 0,  [SEP] 21, Painting, -1.449, 1.787, -0.342, 90, 270, 0,  [SEP] 22, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0,  [SEP] 23, Window, 0.653, 1.550, -2.470, 90, 180, 0,  [SEP] 24, Sofa, 2.868, -0.002, 0.248, 0, 270, 0,  [SEP] 25, Drawer, 1.996, 0.779, 1.705, 0, 180, 0,  [SEP] 26, SideTable, 1.995, 0.004, 1.746, 0, 180, 0,  [SEP] 27, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0,  [SEP] 28, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0,  [SEP] 29, SideTable, -0.683, 0.004, -1.600, 0, 0, 0,  [SEP] 30, SideTable, 2.956, 0.004, 1.568, 0, 0, 0,  [SEP] 31, TVStand, 0.838, -0.006, 1.582, 0, 0, 0,  [SEP] 32, Drawer, 0.472, 0.271, -0.165, 0, 270, 0,  [SEP] 33, Drawer, -0.018, 0.272, -0.165, 0, 270, 0,  [SEP] 34, Drawer, -0.018, 0.168, -0.165, 0, 270, 0,  [SEP] 35, Drawer, -0.018, 0.064, -0.165, 0, 270, 0,  [SEP] 36, Drawer, 0.472, 0.063, -0.165, 0, 270, 0,  [SEP] 37, Drawer, 0.472, 0.167, -0.165, 0, 270, 0,  [SEP] 38, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the end table next to the couch. | STEP 2: Pick up the newspaper. | STEP 3: Turn around and go to the chair with the remote on it. | STEP 4: Put the newspaper on the chair. | STEP 5: Turn around and go to the table to the right of the TV. | STEP 6: Pick up the newspaper from the table. | STEP 7: Return to the chair. | STEP 8: Put the newspaper on the chair. | END


Input: Put a credit card on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.25, 0, 90, 0,  [SEP] 1, TissueBox, -0.354, 0.635, 1.219, 0, 0, 0, 45 [SEP] 2, Newspaper, -0.130, 0.896, 1.234, 0, 0, 0, 44 [SEP] 3, Newspaper, 0.056, 0.481, -1.235, 0, 90, 0, 41 [SEP] 4, KeyChain, -0.175, 0.128, 1.274, 0, 0, 0, 42 [SEP] 5, RemoteControl, 0.737, 0.483, -1.319, 0, 0, 0, 41 [SEP] 6, RemoteControl, -4.056, 1.064, 0.192, 0, 270, 0, 32 [SEP] 7, CreditCard, -3.477, 1.062, 0.308, 0, 270, 0, 32 [SEP] 8, CreditCard, -0.589, 0.898, 1.327, 0, 0, 0, 44 [SEP] 9, CreditCard, 0.098, 0.897, 1.234, 0, 0, 0, 44 [SEP] 10, Box, -3.780, 1.305, 0.457, 0, 0, 0, 32 [SEP] 11, Vase, -4.273, 1.065, 0.257, 0, 270, 0, 32 [SEP] 12, TissueBox, 0.967, 0.658, 1.342, 0, 0, 0, 33 [SEP] 13, Newspaper, -0.623, 0.539, -1.235, 0, 0, 0, 41 [SEP] 14, KeyChain, 0.057, 0.552, -1.319, 0, 0, 0, 41 [SEP] 15, Vase, -0.818, 0.908, 1.140, 0, 0, 0, 44 [SEP] 16, Statue, 0.667, 0.664, 1.267, 0, 0, 0, 33 [SEP] 17, RemoteControl, -1.226, 0.129, 1.202, 0, 0, 0, 42 [SEP] 18, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 35 [SEP] 19, CreditCard, -2.087, 0.510, -1.208, 0, 0, 0, 35 [SEP] 20, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 41 [SEP] 21, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 42 [SEP] 22, Statue, 1.117, 0.760, 1.192, 0, 0, 0, 33 [SEP] 23, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0,  [SEP] 24, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0,  [SEP] 25, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0,  [SEP] 26, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0,  [SEP] 27, Television, -0.549, 1.516, 1.450, 0, 180, 0,  [SEP] 28, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0,  [SEP] 29, Window, -2.012, 1.501, 1.468, 90, 0, 0,  [SEP] 30, Window, 0.986, 1.501, 1.468, 90, 0, 0,  [SEP] 31, Painting, -0.698, 1.835, -1.911, 90, 0, 0,  [SEP] 32, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0,  [SEP] 33, SideTable, 1.102, -0.000, 1.118, 0, 180, 0,  [SEP] 34, Drawer, 1.103, 0.519, 0.834, 0, 180, 0,  [SEP] 35, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0,  [SEP] 36, Drawer, 1.581, 0.523, -1.199, 0, 0, 0,  [SEP] 37, SideTable, 1.581, 0.003, -1.488, 0, 0, 0,  [SEP] 38, Painting, -4.910, 1.763, -0.098, 90, 270, 0,  [SEP] 39, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0,  [SEP] 40, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0,  [SEP] 41, Sofa, 0.057, -0.002, -1.386, 0, 0, 0,  [SEP] 42, Shelf, -0.552, 0.114, 1.252, 0, 180, 0,  [SEP] 43, Drawer, -1.020, 0.728, 1.032, 0, 180, 0,  [SEP] 44, SideTable, -0.589, 0.000, 1.227, 0, 180, 0,  [SEP] 45, Drawer, -0.157, 0.728, 1.032, 0, 180, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and face the brown shelves with the newspaper on it. | STEP 2: Pick the credit card up from the shelves. | STEP 3: Turn around and cross the room to face the couch. | STEP 4: Put the credit card down on the couch. | END


Input: pick up the credit card and move it to the couch  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.25, 0, 90, 0,  [SEP] 1, TissueBox, -0.354, 0.635, 1.219, 0, 0, 0, 45 [SEP] 2, Newspaper, -0.130, 0.896, 1.234, 0, 0, 0, 44 [SEP] 3, Newspaper, 0.056, 0.481, -1.235, 0, 90, 0, 41 [SEP] 4, KeyChain, -0.175, 0.128, 1.274, 0, 0, 0, 42 [SEP] 5, RemoteControl, 0.737, 0.483, -1.319, 0, 0, 0, 41 [SEP] 6, RemoteControl, -4.056, 1.064, 0.192, 0, 270, 0, 32 [SEP] 7, CreditCard, -3.477, 1.062, 0.308, 0, 270, 0, 32 [SEP] 8, CreditCard, -0.589, 0.898, 1.327, 0, 0, 0, 44 [SEP] 9, CreditCard, 0.098, 0.897, 1.234, 0, 0, 0, 44 [SEP] 10, Box, -3.780, 1.305, 0.457, 0, 0, 0, 32 [SEP] 11, Vase, -4.273, 1.065, 0.257, 0, 270, 0, 32 [SEP] 12, TissueBox, 0.967, 0.658, 1.342, 0, 0, 0, 33 [SEP] 13, Newspaper, -0.623, 0.539, -1.235, 0, 0, 0, 41 [SEP] 14, KeyChain, 0.057, 0.552, -1.319, 0, 0, 0, 41 [SEP] 15, Vase, -0.818, 0.908, 1.140, 0, 0, 0, 44 [SEP] 16, Statue, 0.667, 0.664, 1.267, 0, 0, 0, 33 [SEP] 17, RemoteControl, -1.226, 0.129, 1.202, 0, 0, 0, 42 [SEP] 18, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 35 [SEP] 19, CreditCard, -2.087, 0.510, -1.208, 0, 0, 0, 35 [SEP] 20, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 41 [SEP] 21, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 42 [SEP] 22, Statue, 1.117, 0.760, 1.192, 0, 0, 0, 33 [SEP] 23, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0,  [SEP] 24, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0,  [SEP] 25, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0,  [SEP] 26, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0,  [SEP] 27, Television, -0.549, 1.516, 1.450, 0, 180, 0,  [SEP] 28, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0,  [SEP] 29, Window, -2.012, 1.501, 1.468, 90, 0, 0,  [SEP] 30, Window, 0.986, 1.501, 1.468, 90, 0, 0,  [SEP] 31, Painting, -0.698, 1.835, -1.911, 90, 0, 0,  [SEP] 32, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0,  [SEP] 33, SideTable, 1.102, -0.000, 1.118, 0, 180, 0,  [SEP] 34, Drawer, 1.103, 0.519, 0.834, 0, 180, 0,  [SEP] 35, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0,  [SEP] 36, Drawer, 1.581, 0.523, -1.199, 0, 0, 0,  [SEP] 37, SideTable, 1.581, 0.003, -1.488, 0, 0, 0,  [SEP] 38, Painting, -4.910, 1.763, -0.098, 90, 270, 0,  [SEP] 39, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0,  [SEP] 40, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0,  [SEP] 41, Sofa, 0.057, -0.002, -1.386, 0, 0, 0,  [SEP] 42, Shelf, -0.552, 0.114, 1.252, 0, 180, 0,  [SEP] 43, Drawer, -1.020, 0.728, 1.032, 0, 180, 0,  [SEP] 44, SideTable, -0.589, 0.000, 1.227, 0, 180, 0,  [SEP] 45, Drawer, -0.157, 0.728, 1.032, 0, 180, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: cross the room to the media center | STEP 2: pick up the credit card sitting on the media center | STEP 3: turn around and go to the couch | STEP 4: place the card on the edge of the couch  | END


Input: Put a cleaned rag in a drawer under the right sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.75, 0, 90, 0,  [SEP] 1, Cloth, -1.922, 0.831, 1.756, 0, 270, 0, 19 [SEP] 2, Cloth, -3.122, 0.542, 1.935, 0, 0, 0, 26 [SEP] 3, Cloth, -2.168, 0.542, 1.883, 0, 0, 0, 25 [SEP] 4, Candle, -0.987, 1.053, 4.591, 0, 270, 0, 39 [SEP] 5, SoapBottle, -0.987, 1.046, 4.394, 0, 270, 0, 39 [SEP] 6, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 37 [SEP] 7, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 40 [SEP] 8, Candle, -2.743, 0.278, 1.935, 0, 0, 0, 24 [SEP] 9, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 36 [SEP] 10, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 11, SoapBar, -3.110, 0.882, 1.869, 0, 0, 0, 45 [SEP] 12, ToiletPaper, -1.086, 0.117, 3.703, 0, 90, 0, 38 [SEP] 13, Cloth, -3.217, 0.274, 1.935, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.462, 0.823, 2.074, 0, 0, 0, 19 [SEP] 15, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 32 [SEP] 16, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 17, SoapBottle, -1.048, 1.046, 4.657, 0, 270, 0, 39 [SEP] 18, SprayBottle, -1.048, 1.045, 4.263, 0, 270, 0, 39 [SEP] 19, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0,  [SEP] 20, Drawer, -1.307, 0.606, 1.890, 0, 0, 0,  [SEP] 21, Drawer, -1.307, 0.337, 1.890, 0, 0, 0,  [SEP] 22, Faucet, -4.646, 0.448, 1.689, 0, 0, 0,  [SEP] 23, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0,  [SEP] 24, Drawer, -3.029, 0.337, 1.890, 0, 0, 0,  [SEP] 25, Drawer, -2.169, 0.606, 1.890, 0, 0, 0,  [SEP] 26, Drawer, -3.029, 0.606, 1.890, 0, 0, 0,  [SEP] 27, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0,  [SEP] 28, Drawer, -2.169, 0.337, 1.890, 0, 0, 0,  [SEP] 29, Mirror, -2.177, 1.856, 1.390, 0, 0, 0,  [SEP] 30, Sink, -1.421, 0.837, 1.776, 0, 0, 0,  [SEP] 31, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0,  [SEP] 32, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0,  [SEP] 33, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0,  [SEP] 34, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0,  [SEP] 35, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0,  [SEP] 36, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0,  [SEP] 37, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0,  [SEP] 38, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0,  [SEP] 39, Toilet, -1.340, -0.000, 4.456, 0, 0, 0,  [SEP] 40, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0,  [SEP] 41, Faucet, -1.421, 0.954, 1.507, 0, 0, 0,  [SEP] 42, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0,  [SEP] 43, Faucet, -2.944, 0.954, 1.507, 0, 0, 0,  [SEP] 44, Sink, -2.943, 0.837, 1.776, 0, 0, 0,  [SEP] 45, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Move to the counter on your right. | STEP 2: Pick up the rag on the counter.  | STEP 3: Bring the rag to the sink on your right. | STEP 4: Wash the rag in the right sink.  | STEP 5: Bring the cleaned rag to the top drawer under the right sink.  | STEP 6: Put the cleaned rag in the top right drawer, close the drawer.  | END


Input: Place a clean rag in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.75, 0, 90, 0,  [SEP] 1, Cloth, -1.922, 0.831, 1.756, 0, 270, 0, 19 [SEP] 2, Cloth, -3.122, 0.542, 1.935, 0, 0, 0, 26 [SEP] 3, Cloth, -2.168, 0.542, 1.883, 0, 0, 0, 25 [SEP] 4, Candle, -0.987, 1.053, 4.591, 0, 270, 0, 39 [SEP] 5, SoapBottle, -0.987, 1.046, 4.394, 0, 270, 0, 39 [SEP] 6, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 37 [SEP] 7, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 40 [SEP] 8, Candle, -2.743, 0.278, 1.935, 0, 0, 0, 24 [SEP] 9, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 36 [SEP] 10, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 11, SoapBar, -3.110, 0.882, 1.869, 0, 0, 0, 45 [SEP] 12, ToiletPaper, -1.086, 0.117, 3.703, 0, 90, 0, 38 [SEP] 13, Cloth, -3.217, 0.274, 1.935, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.462, 0.823, 2.074, 0, 0, 0, 19 [SEP] 15, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 32 [SEP] 16, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 17, SoapBottle, -1.048, 1.046, 4.657, 0, 270, 0, 39 [SEP] 18, SprayBottle, -1.048, 1.045, 4.263, 0, 270, 0, 39 [SEP] 19, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0,  [SEP] 20, Drawer, -1.307, 0.606, 1.890, 0, 0, 0,  [SEP] 21, Drawer, -1.307, 0.337, 1.890, 0, 0, 0,  [SEP] 22, Faucet, -4.646, 0.448, 1.689, 0, 0, 0,  [SEP] 23, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0,  [SEP] 24, Drawer, -3.029, 0.337, 1.890, 0, 0, 0,  [SEP] 25, Drawer, -2.169, 0.606, 1.890, 0, 0, 0,  [SEP] 26, Drawer, -3.029, 0.606, 1.890, 0, 0, 0,  [SEP] 27, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0,  [SEP] 28, Drawer, -2.169, 0.337, 1.890, 0, 0, 0,  [SEP] 29, Mirror, -2.177, 1.856, 1.390, 0, 0, 0,  [SEP] 30, Sink, -1.421, 0.837, 1.776, 0, 0, 0,  [SEP] 31, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0,  [SEP] 32, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0,  [SEP] 33, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0,  [SEP] 34, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0,  [SEP] 35, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0,  [SEP] 36, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0,  [SEP] 37, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0,  [SEP] 38, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0,  [SEP] 39, Toilet, -1.340, -0.000, 4.456, 0, 0, 0,  [SEP] 40, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0,  [SEP] 41, Faucet, -1.421, 0.954, 1.507, 0, 0, 0,  [SEP] 42, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0,  [SEP] 43, Faucet, -2.944, 0.954, 1.507, 0, 0, 0,  [SEP] 44, Sink, -2.943, 0.837, 1.776, 0, 0, 0,  [SEP] 45, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn right and take a step right. | STEP 2: Pick up the rag on the counter. | STEP 3: Take a step right. | STEP 4: Wash the rag in the right sink. | STEP 5: Take a step back. | STEP 6: Place the rag in the drawer under the right sink. | END


Input: Moved 2 candles from the counter to the cabinet under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.899, -0.75, 0, 180, 0,  [SEP] 1, SoapBar, -3.607, 0.083, -0.872, 0, 0, 0, 25 [SEP] 2, Candle, -1.761, 1.085, -2.030, 0, 0, 0, 33 [SEP] 3, Candle, -3.564, 0.952, -1.476, 0, 0, 0, 26 [SEP] 4, SprayBottle, -3.607, 0.085, -1.233, 0, 0, 0, 19 [SEP] 5, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 27 [SEP] 6, Candle, -3.278, 0.952, -1.476, 0, 0, 0, 26 [SEP] 7, Cloth, -2.002, 1.034, -2.086, 0, 343.825, 0, 33 [SEP] 8, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 30 [SEP] 9, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 10, SoapBottle, -3.358, 0.084, -1.099, 0, 0, 0, 19 [SEP] 11, SoapBar, -3.618, 0.116, -0.436, 0, 0, 0, 28 [SEP] 12, ToiletPaper, -3.493, 0.075, -1.635, 0, 0, 0, 21 [SEP] 13, ToiletPaper, -2.305, 0.755, -2.157, 0, 0, 90, 32 [SEP] 14, SprayBottle, -3.483, 0.085, -1.278, 0, 180, 0, 19 [SEP] 15, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 16, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0,  [SEP] 17, Window, -1.737, 1.292, -2.286, 0, 0, 0,  [SEP] 18, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0,  [SEP] 19, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0,  [SEP] 20, Mirror, -3.730, 1.481, -1.427, 0, 0, 0,  [SEP] 21, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0,  [SEP] 22, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0,  [SEP] 23, Sink, -3.391, 0.841, -1.828, 0, 90, 0,  [SEP] 24, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0,  [SEP] 25, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0,  [SEP] 26, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0,  [SEP] 27, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0,  [SEP] 28, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0,  [SEP] 29, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0,  [SEP] 30, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0,  [SEP] 31, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0,  [SEP] 32, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0,  [SEP] 33, Toilet, -1.896, -0.001, -1.738, 0, 90, 0,  [SEP] 34, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0,  [SEP] 35, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0,  [SEP] 36, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0,  [SEP] 37, Sink, -3.391, 0.841, -0.931, 0, 90, 0,  [SEP] 38, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Put empty toilet paper roll on the ground from the holder.  Walk forward to the wall and turn right, ,facing the left sink. | STEP 2: Pick up a the candle in front. | STEP 3: Turn around before turning back to the sink. | STEP 4: Open up the door below the sink on the right.  Put the candle under the sink in the cabinet.  Close the door. | STEP 5: Turn around before turning back to the sink. | STEP 6: Pick up the other candle next to the sink on the counter. | STEP 7: Turn around before turning back to the sink. | STEP 8: Open up the right door, put the candle under the cabinet to the right of the first cabinet, and close the door. | END


Input: Put two candles in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.899, -0.75, 0, 180, 0,  [SEP] 1, SoapBar, -3.607, 0.083, -0.872, 0, 0, 0, 25 [SEP] 2, Candle, -1.761, 1.085, -2.030, 0, 0, 0, 33 [SEP] 3, Candle, -3.564, 0.952, -1.476, 0, 0, 0, 26 [SEP] 4, SprayBottle, -3.607, 0.085, -1.233, 0, 0, 0, 19 [SEP] 5, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 27 [SEP] 6, Candle, -3.278, 0.952, -1.476, 0, 0, 0, 26 [SEP] 7, Cloth, -2.002, 1.034, -2.086, 0, 343.825, 0, 33 [SEP] 8, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 30 [SEP] 9, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 10, SoapBottle, -3.358, 0.084, -1.099, 0, 0, 0, 19 [SEP] 11, SoapBar, -3.618, 0.116, -0.436, 0, 0, 0, 28 [SEP] 12, ToiletPaper, -3.493, 0.075, -1.635, 0, 0, 0, 21 [SEP] 13, ToiletPaper, -2.305, 0.755, -2.157, 0, 0, 90, 32 [SEP] 14, SprayBottle, -3.483, 0.085, -1.278, 0, 180, 0, 19 [SEP] 15, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 16, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0,  [SEP] 17, Window, -1.737, 1.292, -2.286, 0, 0, 0,  [SEP] 18, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0,  [SEP] 19, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0,  [SEP] 20, Mirror, -3.730, 1.481, -1.427, 0, 0, 0,  [SEP] 21, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0,  [SEP] 22, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0,  [SEP] 23, Sink, -3.391, 0.841, -1.828, 0, 90, 0,  [SEP] 24, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0,  [SEP] 25, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0,  [SEP] 26, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0,  [SEP] 27, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0,  [SEP] 28, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0,  [SEP] 29, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0,  [SEP] 30, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0,  [SEP] 31, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0,  [SEP] 32, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0,  [SEP] 33, Toilet, -1.896, -0.001, -1.738, 0, 90, 0,  [SEP] 34, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0,  [SEP] 35, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0,  [SEP] 36, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0,  [SEP] 37, Sink, -3.391, 0.841, -0.931, 0, 90, 0,  [SEP] 38, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Go forward, turn right in front of the counter | STEP 2: Pick up the candle on the counter | STEP 3: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 4: Put the candle in the second left cabinet | STEP 5: Turn right, go forward a bit, turn right | STEP 6: Pick up the candle on the counter | STEP 7: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 8: Put the candle in the second left cabinet | END


Input: place a black mug with a pencil in it on to the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.25, 0, 180, 0,  [SEP] 1, Pen, -2.620, 0.686, -2.995, 0, 90, 0, 38 [SEP] 2, Pencil, -2.439, 0.678, -0.668, 0, 90, 0, 45 [SEP] 3, Pencil, -2.575, 0.685, -0.436, 0, 90, 0, 45 [SEP] 4, CreditCard, -2.428, 0.082, -0.685, 0, 270, 0, 46 [SEP] 5, CreditCard, 1.694, 0.896, -2.975, 0, 0, 0, 36 [SEP] 6, KeyChain, 2.706, 1.249, 1.708, 0, 90, 0, 32 [SEP] 7, AlarmClock, -2.394, 0.684, -3.304, 0, 90, 0, 38 [SEP] 8, AlarmClock, 2.638, 1.232, 1.397, 0, 270, 0, 43 [SEP] 9, Book, 2.351, 0.889, -3.157, 0, 195.000, 0, 36 [SEP] 10, CreditCard, 1.633, 0.361, -3.177, 0, 0, 0, 33 [SEP] 11, Pen, 1.867, 0.902, -2.975, 0, 0, 0, 36 [SEP] 12, Pencil, 1.344, 0.024, -3.375, 0, 0, 0, 27 [SEP] 13, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 23 [SEP] 14, Laptop, -1.31, 0.612, -1.542, 0, 0, 0, 23 [SEP] 15, AlarmClock, 2.728, 0.900, -3.044, 0, 0, 0, 36 [SEP] 16, CellPhone, 2.591, 1.228, 1.168, 0, 270, 0, 43 [SEP] 17, KeyChain, 2.826, 1.228, 1.397, 0, 270, 0, 43 [SEP] 18, Pillow, -2.124, 0.658, -1.522, 0, 28.296, 0, 23 [SEP] 19, Pillow, -1.591, 0.680, -2.061, 0, 0, 0, 23 [SEP] 20, CD, -2.428, 0.082, -3.264, 0, 270, 0, 39 [SEP] 21, Mug, -2.575, 0.679, -3.382, 0, 90, 0, 38 [SEP] 22, Bowl, -2.484, 0.683, -3.072, 0, 90, 0, 38 [SEP] 23, Bed, -1.613, -0.028, -1.861, 0, 270, 0,  [SEP] 24, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0,  [SEP] 25, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0,  [SEP] 26, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0,  [SEP] 27, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0,  [SEP] 28, Mirror, 0.532, 1.419, 2.0, 0, 0, 0,  [SEP] 29, Window, -0.834, 1.394, -3.653, 90, 0, 0,  [SEP] 30, Window, 2.958, 1.508, -1.019, 90, 270, 0,  [SEP] 31, Sofa, 2.383, 0.008, -0.288, 0, 270, 0,  [SEP] 32, Safe, 2.721, 1.228, 1.784, 0, 270, 0,  [SEP] 33, Drawer, 1.979, 0.486, -2.988, 0, 0, 0,  [SEP] 34, Drawer, 1.979, 0.728, -2.988, 0, 0, 0,  [SEP] 35, Drawer, 1.979, 0.208, -2.988, 0, 0, 0,  [SEP] 36, Desk, 2.318, -0.009, -3.214, 0, 0, 0,  [SEP] 37, Drawer, -2.349, 0.163, -3.150, 0, 90, 0,  [SEP] 38, SideTable, -2.416, -0.001, -3.149, 0, 90, 0,  [SEP] 39, Drawer, -2.349, 0.455, -3.150, 0, 90, 0,  [SEP] 40, Drawer, 2.641, 0.172, 1.511, 0, 270, 0,  [SEP] 41, Drawer, 2.641, 1.002, 1.511, 0, 270, 0,  [SEP] 42, Drawer, 2.641, 0.448, 1.511, 0, 270, 0,  [SEP] 43, Dresser, 2.676, 0.002, 1.511, 0, 270, 0,  [SEP] 44, Drawer, 2.641, 0.725, 1.511, 0, 270, 0,  [SEP] 45, SideTable, -2.416, -0.001, -0.514, 0, 90, 0,  [SEP] 46, Drawer, -2.349, 0.163, -0.514, 0, 90, 0,  [SEP] 47, Drawer, -2.349, 0.455, -0.514, 0, 90, 0,  [SEP] 48, Blinds, -0.800, 2.087, -3.627, 0, 0, 0,  [SEP] 49, Blinds, 2.931, 2.166, -1.0, 0, 270, 0,  [SEP] 50, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: turn left and walk to the garbage can next to the desk | STEP 2: pick up the pencil from the garbage can | STEP 3: look up turn right and walk to the bed side table in the corner of the room | STEP 4: place the pencil into the black mug | STEP 5: pick up the black mug with the pencil in it | STEP 6: turn right ninety degrees and then walk to the desk | STEP 7: place the black mug with a pencil in it on to the desk next to the note pad | END


Input: Move a coffee mug with a pencil inside of it from a table to a bedroom desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.25, 0, 180, 0,  [SEP] 1, Pen, -2.620, 0.686, -2.995, 0, 90, 0, 38 [SEP] 2, Pencil, -2.439, 0.678, -0.668, 0, 90, 0, 45 [SEP] 3, Pencil, -2.575, 0.685, -0.436, 0, 90, 0, 45 [SEP] 4, CreditCard, -2.428, 0.082, -0.685, 0, 270, 0, 46 [SEP] 5, CreditCard, 1.694, 0.896, -2.975, 0, 0, 0, 36 [SEP] 6, KeyChain, 2.706, 1.249, 1.708, 0, 90, 0, 32 [SEP] 7, AlarmClock, -2.394, 0.684, -3.304, 0, 90, 0, 38 [SEP] 8, AlarmClock, 2.638, 1.232, 1.397, 0, 270, 0, 43 [SEP] 9, Book, 2.351, 0.889, -3.157, 0, 195.000, 0, 36 [SEP] 10, CreditCard, 1.633, 0.361, -3.177, 0, 0, 0, 33 [SEP] 11, Pen, 1.867, 0.902, -2.975, 0, 0, 0, 36 [SEP] 12, Pencil, 1.344, 0.024, -3.375, 0, 0, 0, 27 [SEP] 13, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 23 [SEP] 14, Laptop, -1.31, 0.612, -1.542, 0, 0, 0, 23 [SEP] 15, AlarmClock, 2.728, 0.900, -3.044, 0, 0, 0, 36 [SEP] 16, CellPhone, 2.591, 1.228, 1.168, 0, 270, 0, 43 [SEP] 17, KeyChain, 2.826, 1.228, 1.397, 0, 270, 0, 43 [SEP] 18, Pillow, -2.124, 0.658, -1.522, 0, 28.296, 0, 23 [SEP] 19, Pillow, -1.591, 0.680, -2.061, 0, 0, 0, 23 [SEP] 20, CD, -2.428, 0.082, -3.264, 0, 270, 0, 39 [SEP] 21, Mug, -2.575, 0.679, -3.382, 0, 90, 0, 38 [SEP] 22, Bowl, -2.484, 0.683, -3.072, 0, 90, 0, 38 [SEP] 23, Bed, -1.613, -0.028, -1.861, 0, 270, 0,  [SEP] 24, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0,  [SEP] 25, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0,  [SEP] 26, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0,  [SEP] 27, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0,  [SEP] 28, Mirror, 0.532, 1.419, 2.0, 0, 0, 0,  [SEP] 29, Window, -0.834, 1.394, -3.653, 90, 0, 0,  [SEP] 30, Window, 2.958, 1.508, -1.019, 90, 270, 0,  [SEP] 31, Sofa, 2.383, 0.008, -0.288, 0, 270, 0,  [SEP] 32, Safe, 2.721, 1.228, 1.784, 0, 270, 0,  [SEP] 33, Drawer, 1.979, 0.486, -2.988, 0, 0, 0,  [SEP] 34, Drawer, 1.979, 0.728, -2.988, 0, 0, 0,  [SEP] 35, Drawer, 1.979, 0.208, -2.988, 0, 0, 0,  [SEP] 36, Desk, 2.318, -0.009, -3.214, 0, 0, 0,  [SEP] 37, Drawer, -2.349, 0.163, -3.150, 0, 90, 0,  [SEP] 38, SideTable, -2.416, -0.001, -3.149, 0, 90, 0,  [SEP] 39, Drawer, -2.349, 0.455, -3.150, 0, 90, 0,  [SEP] 40, Drawer, 2.641, 0.172, 1.511, 0, 270, 0,  [SEP] 41, Drawer, 2.641, 1.002, 1.511, 0, 270, 0,  [SEP] 42, Drawer, 2.641, 0.448, 1.511, 0, 270, 0,  [SEP] 43, Dresser, 2.676, 0.002, 1.511, 0, 270, 0,  [SEP] 44, Drawer, 2.641, 0.725, 1.511, 0, 270, 0,  [SEP] 45, SideTable, -2.416, -0.001, -0.514, 0, 90, 0,  [SEP] 46, Drawer, -2.349, 0.163, -0.514, 0, 90, 0,  [SEP] 47, Drawer, -2.349, 0.455, -0.514, 0, 90, 0,  [SEP] 48, Blinds, -0.800, 2.087, -3.627, 0, 0, 0,  [SEP] 49, Blinds, 2.931, 2.166, -1.0, 0, 270, 0,  [SEP] 50, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Move left and then walk all the way right until you reach a trash can | STEP 2: Pick up a pencil from inside the trash can | STEP 3: Walk all the way right until you reach a bedside table | STEP 4: Place the pencil inside the coffee mug that is sitting on the table | STEP 5: Pick up the coffee mug with the pencil inside it | STEP 6: Turn around and maneuver until you are facing the right side of the bedroom desk | STEP 7: Place the coffee mug with the pencil inside of it down on the table | END


Input: Put a heated slice of bread 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, -2.0, 0.914, 1.25, 0, 180, 0,  [SEP] 1, Potato, -0.440, 1.018, 4.114, 0, 180, 0, 66 [SEP] 2, Potato, -0.994, 0.923, 0.049, 0, 90, 0, 76 [SEP] 3, ButterKnife, -1.857, 0.789, 3.7, 0, 0, 0, 70 [SEP] 4, ButterKnife, -1.711, 0.915, 4.146, 0, 0, 0, 40 [SEP] 5, WineBottle, -1.787, 0.892, 0.358, 0, 90, 0, 76 [SEP] 6, Kettle, -3.559, 0.916, 2.844, 0, 0, 0, 40 [SEP] 7, Spatula, -3.185, 0.760, 1.433, 0, 90, 0, 41 [SEP] 8, Spatula, -0.994, 0.906, 0.358, 0, 90, 0, 76 [SEP] 9, Spoon, -2.022, 0.916, 4.146, 0, 0, 0, 40 [SEP] 10, Egg, -3.442, 1.581, 2.068, 0, 90, 0, 71 [SEP] 11, SoapBottle, -1.192, 0.087, 3.756, 0, 270, 0, 72 [SEP] 12, SoapBottle, -1.660, 0.080, 3.586, 0, 0, 0, 45 [SEP] 13, PepperShaker, -3.508, 1.455, 2.998, 0, 0, 0, 47 [SEP] 14, Lettuce, -1.259, 0.977, -0.053, 0, 90, 0, 76 [SEP] 15, Mug, -3.426, 0.945, 3.275, 0, 90, 0, 40 [SEP] 16, Apple, -3.559, 0.975, 1.189, 0, 0, 0, 49 [SEP] 17, Egg, -3.463, 0.950, 1.189, 0, 0, 0, 49 [SEP] 18, Knife, -2.503, 0.939, 3.567, 0, 0, 0, 40 [SEP] 19, Fork, -1.523, 0.892, 0.152, 0, 270, 0, 76 [SEP] 20, Bread, -3.176, 0.997, 1.273, 0, 0, 0, 49 [SEP] 21, Potato, -3.272, 0.948, 1.607, 0, 0, 0, 49 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 43 [SEP] 24, Kettle, -2.410, 0.082, 3.586, 0, 0, 0, 51 [SEP] 25, WineBottle, -3.654, 0.916, 1.524, 0, 0, 0, 49 [SEP] 26, Bowl, -3.081, 0.914, 1.607, 0, 0, 0, 49 [SEP] 27, Tomato, -0.556, 1.054, 4.114, 0, 180, 0, 66 [SEP] 28, Cup, -0.673, 1.541, 4.067, 0, 180, 0, 66 [SEP] 29, Spatula, -1.127, 0.906, 0.152, 0, 180, 0, 76 [SEP] 30, SoapBottle, -3.176, 0.915, 1.106, 0, 0, 0, 49 [SEP] 31, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 76 [SEP] 32, Pan, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 33, Apple, -1.523, 0.951, 0.049, 0, 90, 0, 76 [SEP] 34, SaltShaker, -3.186, 0.743, 3.326, 0, 0, 0, 50 [SEP] 35, PepperShaker, -2.561, 0.077, 3.508, 0, 0, 0, 51 [SEP] 36, ButterKnife, -1.127, 0.891, 0.358, 0, 180, 0, 76 [SEP] 37, DishSponge, -1.666, 0.789, 3.774, 0, 0, 0, 70 [SEP] 38, Spoon, -1.259, 0.892, 0.358, 0, 90, 0, 76 [SEP] 39, Mug, -1.127, 0.886, 0.255, 0, 90, 0, 76 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: Step left and around the table to look at it from that angle. | STEP 2: Pick up the knife. | STEP 3: Look down and to the left. | STEP 4: Slice the bread on the counter with the knife. | STEP 5: Put the knife back roughly where it was before. | STEP 6: Pick up a slice of bread. | STEP 7: Walk ahead and right to the microwave. | STEP 8: Heat the bread in the microwave. | STEP 9: Turn around and go back to the table where the bread was. | STEP 10: Put the bread on the table on top of the knife. | END


Input: Putting a apple slice on the white table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.914, 1.25, 0, 180, 0,  [SEP] 1, Potato, -0.440, 1.018, 4.114, 0, 180, 0, 66 [SEP] 2, Potato, -0.994, 0.923, 0.049, 0, 90, 0, 76 [SEP] 3, ButterKnife, -1.857, 0.789, 3.7, 0, 0, 0, 70 [SEP] 4, ButterKnife, -1.711, 0.915, 4.146, 0, 0, 0, 40 [SEP] 5, WineBottle, -1.787, 0.892, 0.358, 0, 90, 0, 76 [SEP] 6, Kettle, -3.559, 0.916, 2.844, 0, 0, 0, 40 [SEP] 7, Spatula, -3.185, 0.760, 1.433, 0, 90, 0, 41 [SEP] 8, Spatula, -0.994, 0.906, 0.358, 0, 90, 0, 76 [SEP] 9, Spoon, -2.022, 0.916, 4.146, 0, 0, 0, 40 [SEP] 10, Egg, -3.442, 1.581, 2.068, 0, 90, 0, 71 [SEP] 11, SoapBottle, -1.192, 0.087, 3.756, 0, 270, 0, 72 [SEP] 12, SoapBottle, -1.660, 0.080, 3.586, 0, 0, 0, 45 [SEP] 13, PepperShaker, -3.508, 1.455, 2.998, 0, 0, 0, 47 [SEP] 14, Lettuce, -1.259, 0.977, -0.053, 0, 90, 0, 76 [SEP] 15, Mug, -3.426, 0.945, 3.275, 0, 90, 0, 40 [SEP] 16, Apple, -3.559, 0.975, 1.189, 0, 0, 0, 49 [SEP] 17, Egg, -3.463, 0.950, 1.189, 0, 0, 0, 49 [SEP] 18, Knife, -2.503, 0.939, 3.567, 0, 0, 0, 40 [SEP] 19, Fork, -1.523, 0.892, 0.152, 0, 270, 0, 76 [SEP] 20, Bread, -3.176, 0.997, 1.273, 0, 0, 0, 49 [SEP] 21, Potato, -3.272, 0.948, 1.607, 0, 0, 0, 49 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 43 [SEP] 24, Kettle, -2.410, 0.082, 3.586, 0, 0, 0, 51 [SEP] 25, WineBottle, -3.654, 0.916, 1.524, 0, 0, 0, 49 [SEP] 26, Bowl, -3.081, 0.914, 1.607, 0, 0, 0, 49 [SEP] 27, Tomato, -0.556, 1.054, 4.114, 0, 180, 0, 66 [SEP] 28, Cup, -0.673, 1.541, 4.067, 0, 180, 0, 66 [SEP] 29, Spatula, -1.127, 0.906, 0.152, 0, 180, 0, 76 [SEP] 30, SoapBottle, -3.176, 0.915, 1.106, 0, 0, 0, 49 [SEP] 31, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 76 [SEP] 32, Pan, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 33, Apple, -1.523, 0.951, 0.049, 0, 90, 0, 76 [SEP] 34, SaltShaker, -3.186, 0.743, 3.326, 0, 0, 0, 50 [SEP] 35, PepperShaker, -2.561, 0.077, 3.508, 0, 0, 0, 51 [SEP] 36, ButterKnife, -1.127, 0.891, 0.358, 0, 180, 0, 76 [SEP] 37, DishSponge, -1.666, 0.789, 3.774, 0, 0, 0, 70 [SEP] 38, Spoon, -1.259, 0.892, 0.358, 0, 90, 0, 76 [SEP] 39, Mug, -1.127, 0.886, 0.255, 0, 90, 0, 76 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: Head to the left side of the white table | STEP 2: Grab the knife off of the table | STEP 3: Look down at the table | STEP 4: Cut the apple on the table into slices | STEP 5: Put the knife on the table | STEP 6: Grab one of the apple slices off the table | STEP 7: Turn right and head to the microwave | STEP 8: Heat the apple in the microwave and then take it out | STEP 9: Turn around and head back to the white table | STEP 10: Place the apple on the table | END


Input: To heat 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, -1.75, 0.900, 2.25, 0, 270, 0,  [SEP] 1, Potato, -0.657, 0.943, 1.555, 0, 90, 0, 86 [SEP] 2, DishSponge, 0.650, 0.822, 2.285, 0, 0, 0, 50 [SEP] 3, DishSponge, -2.502, 1.634, 2.651, 0, 0, 0, 58 [SEP] 4, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 45 [SEP] 5, Spoon, 0.770, 0.693, 2.496, 0, 90, 0, 42 [SEP] 6, Spoon, 0.771, 0.692, 1.016, 0, 0, 0, 56 [SEP] 7, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 8, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 9, Cup, -2.098, 1.398, 3.936, 0, 0, 0, 46 [SEP] 10, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 50 [SEP] 11, SoapBottle, -0.754, 1.240, 3.834, 0, 0, 0, 49 [SEP] 12, PepperShaker, -2.628, 0.123, 3.258, 0, 0, 0, 69 [SEP] 13, PepperShaker, -1.917, 0.124, 3.559, 0, 0, 0, 67 [SEP] 14, SaltShaker, -0.513, 0.155, 3.787, 0, 0, 0, 54 [SEP] 15, SaltShaker, -2.658, 1.845, 1.452, 0, 0, 0, 63 [SEP] 16, Lettuce, -1.317, 0.976, 1.555, 0, 90, 0, 86 [SEP] 17, Plate, -1.307, 1.687, 3.897, 0, 0, 0, 73 [SEP] 18, Fork, 0.725, 0.823, 1.028, 0, 0, 0, 45 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, -1.185, 0.915, 1.452, 0, 0, 0, 86 [SEP] 21, PaperTowelRoll, 0.950, 0.927, 1.072, 0, 0, 0, 45 [SEP] 22, Potato, -0.743, 0.929, 1.405, 0, 300.000, 0, 86 [SEP] 23, SoapBottle, -0.524, 0.900, 1.349, 0, 90, 0, 86 [SEP] 24, Egg, -0.921, 0.936, 1.349, 0, 90, 0, 86 [SEP] 25, Cup, -0.524, 0.900, 1.143, 0, 90, 0, 86 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, -2.502, 1.630, 3.097, 0, 0, 0, 64 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.665, 0.122, 2.277, 0, 0, 0, 60 [SEP] 30, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 50 [SEP] 31, Tomato, 0.931, 0.092, 2.918, 0, 0, 0, 79 [SEP] 32, DishSponge, -2.502, 1.634, 2.794, 0, 0, 0, 58 [SEP] 33, Lettuce, -2.461, 1.071, 2.389, 0, 90, 0, 77 [SEP] 34, Spoon, -0.524, 0.901, 1.040, 0, 90, 0, 86 [SEP] 35, Apple, -1.317, 0.961, 1.040, 0, 90, 0, 86 [SEP] 36, Knife, -1.336, 0.846, 3.524, 0, 0, 0, 68 [SEP] 37, Mug, -1.317, 0.895, 1.143, 0, 90, 0, 86 [SEP] 38, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

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


Input: Cut an apple, cook a piece of apple, cool 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, -1.75, 0.900, 2.25, 0, 270, 0,  [SEP] 1, Potato, -0.657, 0.943, 1.555, 0, 90, 0, 86 [SEP] 2, DishSponge, 0.650, 0.822, 2.285, 0, 0, 0, 50 [SEP] 3, DishSponge, -2.502, 1.634, 2.651, 0, 0, 0, 58 [SEP] 4, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 45 [SEP] 5, Spoon, 0.770, 0.693, 2.496, 0, 90, 0, 42 [SEP] 6, Spoon, 0.771, 0.692, 1.016, 0, 0, 0, 56 [SEP] 7, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 8, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 9, Cup, -2.098, 1.398, 3.936, 0, 0, 0, 46 [SEP] 10, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 50 [SEP] 11, SoapBottle, -0.754, 1.240, 3.834, 0, 0, 0, 49 [SEP] 12, PepperShaker, -2.628, 0.123, 3.258, 0, 0, 0, 69 [SEP] 13, PepperShaker, -1.917, 0.124, 3.559, 0, 0, 0, 67 [SEP] 14, SaltShaker, -0.513, 0.155, 3.787, 0, 0, 0, 54 [SEP] 15, SaltShaker, -2.658, 1.845, 1.452, 0, 0, 0, 63 [SEP] 16, Lettuce, -1.317, 0.976, 1.555, 0, 90, 0, 86 [SEP] 17, Plate, -1.307, 1.687, 3.897, 0, 0, 0, 73 [SEP] 18, Fork, 0.725, 0.823, 1.028, 0, 0, 0, 45 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, -1.185, 0.915, 1.452, 0, 0, 0, 86 [SEP] 21, PaperTowelRoll, 0.950, 0.927, 1.072, 0, 0, 0, 45 [SEP] 22, Potato, -0.743, 0.929, 1.405, 0, 300.000, 0, 86 [SEP] 23, SoapBottle, -0.524, 0.900, 1.349, 0, 90, 0, 86 [SEP] 24, Egg, -0.921, 0.936, 1.349, 0, 90, 0, 86 [SEP] 25, Cup, -0.524, 0.900, 1.143, 0, 90, 0, 86 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, -2.502, 1.630, 3.097, 0, 0, 0, 64 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.665, 0.122, 2.277, 0, 0, 0, 60 [SEP] 30, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 50 [SEP] 31, Tomato, 0.931, 0.092, 2.918, 0, 0, 0, 79 [SEP] 32, DishSponge, -2.502, 1.634, 2.794, 0, 0, 0, 58 [SEP] 33, Lettuce, -2.461, 1.071, 2.389, 0, 90, 0, 77 [SEP] 34, Spoon, -0.524, 0.901, 1.040, 0, 90, 0, 86 [SEP] 35, Apple, -1.317, 0.961, 1.040, 0, 90, 0, 86 [SEP] 36, Knife, -1.336, 0.846, 3.524, 0, 0, 0, 68 [SEP] 37, Mug, -1.317, 0.895, 1.143, 0, 90, 0, 86 [SEP] 38, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the sink | STEP 2: Pick up the knife in front of the sink | STEP 3: Turn around, go forward, turn left to the table | STEP 4: Cut the apple on the table | STEP 5: Turn left, go forward, turn right at the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn left, go forward, turn left to the table | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn left and go to the microwave | STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave | STEP 11: Turn around, go forward, turn right at the fridge | STEP 12: Put the apple piece into the fridge | END


Input: Put two plates on a coffee 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, 0.900, 1.25, 0, 0, 0,  [SEP] 1, Plate, 0.636, 0.552, 6.818, 0, 0, 0, 35 [SEP] 2, Statue, -5.392, 0.792, 4.246, 0, 0, 0, 38 [SEP] 3, Newspaper, 0.847, 0.982, 3.921, 0, 0, 0, 50 [SEP] 4, KeyChain, -5.639, 0.787, 4.467, 0, 180, 0, 38 [SEP] 5, KeyChain, 0.636, 0.550, 6.382, 0, 0, 0, 35 [SEP] 6, CellPhone, 1.034, 0.986, 3.298, 0, 0, 0, 50 [SEP] 7, CreditCard, -2.092, 0.524, 3.302, 0, 38.001, 0, 46 [SEP] 8, RemoteControl, -3.502, 0.550, 1.473, 0, 0, 0, 34 [SEP] 9, RemoteControl, -2.255, 0.522, 3.429, 0, 38.001, 0, 46 [SEP] 10, Box, -3.311, 0.744, 1.560, 0, 270, 0, 34 [SEP] 11, Laptop, -5.762, 0.780, 4.689, 0, 0, 0, 38 [SEP] 12, Box, -1.591, 0.498, 2.277, 0, 26.831, 0, 37 [SEP] 13, CellPhone, -1.369, 0.316, 2.386, 0, 39.022, 0, 37 [SEP] 14, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 15, Newspaper, -1.551, 0.308, 2.533, 0, 39.022, 0, 37 [SEP] 16, KeyChain, 0.787, 0.538, 4.013, 0, 0, 0, 51 [SEP] 17, Plate, -5.807, 0.781, 4.222, 0, 0, 0, 38 [SEP] 18, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 46 [SEP] 19, RemoteControl, 0.659, 0.983, 3.921, 0, 0, 0, 50 [SEP] 20, CreditCard, 0.684, 0.099, 3.240, 0, 0, 0, 47 [SEP] 21, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 38 [SEP] 22, Statue, -1.814, 0.319, 2.581, 0, 309.022, 0, 37 [SEP] 23, Curtains, -1.046, 3.500, 2.880, 0, 0, 0,  [SEP] 24, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0,  [SEP] 25, Television, 0.852, 1.460, 3.726, 357.954, 270, 0,  [SEP] 26, Painting, -3.813, 1.809, 1.008, 90, 90, 0,  [SEP] 27, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0,  [SEP] 28, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0,  [SEP] 29, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0,  [SEP] 30, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0,  [SEP] 31, Window, -1.985, 1.646, -0.009, 90, 180, 0,  [SEP] 32, Window, -4.909, 0.990, 2.015, 90, 180, 0,  [SEP] 33, Window, -5.796, 1.072, 1.871, 90, 180, 0,  [SEP] 34, SideTable, -3.407, 0.005, 1.656, 0, 270, 0,  [SEP] 35, SideTable, 0.732, 0.005, 6.634, 0, 270, 0,  [SEP] 36, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0,  [SEP] 37, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0,  [SEP] 38, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0,  [SEP] 39, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0,  [SEP] 40, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0,  [SEP] 41, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0,  [SEP] 42, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0,  [SEP] 43, Chair, -5.624, 0.002, 5.750, 0, 180, 0,  [SEP] 44, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0,  [SEP] 45, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0,  [SEP] 46, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0,  [SEP] 47, Drawer, 0.748, 0.237, 3.330, 0, 270, 0,  [SEP] 48, Drawer, 0.748, 0.668, 3.330, 0, 270, 0,  [SEP] 49, Drawer, 0.748, 0.235, 4.097, 0, 270, 0,  [SEP] 50, Dresser, 0.846, 0.002, 3.713, 0, 270, 0,  [SEP] 51, Drawer, 0.748, 0.665, 4.097, 0, 270, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Go around the coffee table to the right, go towards the white chair across the room, turn right, go forward to the wall, turn left, go forward to the side table to the right of the white chair. | STEP 2: Take the black plate from the side table. | STEP 3: Turn around go forward to the fireplace. Turn right to the coffee table. Go to the coffee table. | STEP 4: Put the black plate on the coffee table. | STEP 5: Turn right, go forward to the white chair, turn left, go forward to the dining table, around left to the left short side of the dining table. | STEP 6: Take the black plate from the table | STEP 7: Turn right, go forward, turn right, go towards the wall, turn right, go towards the wall near the dresser, after passing the couch turn right, go towards the coffee table, turn right to face the coffee table. | STEP 8: Put the plate above the first plate on the coffee table. | END


Input: Move the basketball from underneath the drafting table to the left hand side of the drafting table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.25, 0, 90, 0,  [SEP] 1, Pen, 1.228, 0.717, 0.409, 0, 270, 0, 45 [SEP] 2, Pen, -1.575, 0.512, 1.381, 0, 270, 0, 38 [SEP] 3, Pencil, 1.228, 0.715, 0.022, 0, 270, 0, 45 [SEP] 4, Pencil, 1.769, 0.715, 0.796, 0, 270, 0, 45 [SEP] 5, CreditCard, -1.734, 0.287, 1.648, 0, 270, 0, 40 [SEP] 6, CreditCard, -1.906, 1.071, 1.067, 0, 270, 0, 41 [SEP] 7, KeyChain, -1.815, 0.675, 1.636, 0, 0, 0, 42 [SEP] 8, Book, -1.734, 0.286, 1.448, 0, 270, 0, 40 [SEP] 9, Book, -1.541, 0.540, -0.971, 0, 0, 0, 26 [SEP] 10, Pillow, -0.823, 0.618, -0.549, 0, 0, 0, 26 [SEP] 11, AlarmClock, -1.617, 0.673, 1.206, 0, 0, 0, 42 [SEP] 12, Book, 1.318, 0.711, 0.215, 0, 270, 0, 45 [SEP] 13, AlarmClock, 1.408, 0.711, 0.602, 0, 270, 0, 45 [SEP] 14, BasketBall, 1.510, 0.120, -0.105, 0, 0, 0,  [SEP] 15, TeddyBear, -1.7, 0.475, -0.331, 0, 225, 0, 26 [SEP] 16, TennisRacket, 1.551, 0.000, 0.654, 270, 336.082, 0,  [SEP] 17, Pen, -1.683, 0.681, 0.776, 0, 0, 0, 42 [SEP] 18, Pencil, -1.881, 0.678, 1.493, 0, 0, 0, 42 [SEP] 19, KeyChain, 0.789, 0.684, -1.663, 0, 0, 0, 34 [SEP] 20, CreditCard, -1.815, 0.675, 1.493, 0, 0, 0, 42 [SEP] 21, Laptop, -1.786, 0.634, 0.206, 0, 159.517, 0, 42 [SEP] 22, CellPhone, -1.787, 0.066, 1.581, 0, 270, 0, 39 [SEP] 23, Pillow, -0.344, 0.618, -0.971, 0, 0, 0, 26 [SEP] 24, CD, -1.550, 0.672, 1.349, 0, 0, 0, 42 [SEP] 25, Curtains, 1.865, 2.039, -0.495, 0, 0, 0,  [SEP] 26, Bed, -1.037, 0.009, -0.690, 0, 270, 0,  [SEP] 27, Mirror, 0.549, 1.494, 1.880, 0, 0, 0,  [SEP] 28, Curtains, 0.486, 2.035, -1.853, 0, 90, 0,  [SEP] 29, GarbageCan, 1.683, -0.018, 1.670, 0, 270, 0,  [SEP] 30, LightSwitch, -0.119, 1.317, 1.853, 0, 180, 0,  [SEP] 31, DeskLamp, -1.845, 1.057, 0.756, 0, 0, 0,  [SEP] 32, Window, 1.932, 1.409, -0.507, 90, 270, 0,  [SEP] 33, Window, 0.481, 1.411, -1.932, 90, 0, 0,  [SEP] 34, SideTable, 0.626, 0.0, -1.705, 0, 0, 0,  [SEP] 35, Footstool, 0.176, 0.006, -0.358, 0, 0, 0,  [SEP] 36, Dumbbell, 1.596, 0.715, 0.772, 0, 0, 0,  [SEP] 37, Dumbbell, 1.776, 0.717, 0.772, 0, 0, 0,  [SEP] 38, Shelf, -1.700, 0.573, 1.540, 0, 90, 0,  [SEP] 39, Shelf, -1.700, 0.156, 1.540, 0, 90, 0,  [SEP] 40, Shelf, -1.700, 0.377, 1.540, 0, 90, 0,  [SEP] 41, Shelf, -1.839, 1.084, 1.235, 0, 90, 0,  [SEP] 42, Desk, -1.722, 0.003, 0.920, 0, 90, 0,  [SEP] 43, Footstool, 0.175, 0.004, -0.652, 0, 0, 0,  [SEP] 44, GarbageBag, 1.624, 0.319, -1.609, 270, 90, 83.418,  [SEP] 45, Desk, 1.519, 1.823, 0.385, 0, 270, 0,  [SEP] 46, Chair, -1.459, 0.003, 0.929, 0, 292.527, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn right and move to the right hand side of the drafting table. | STEP 2: Pick up the basketball underneath the drafting table. | STEP 3: Turn right and move to face the middle of the drafting table. | STEP 4: Place the basketball on the left hand side of the drafting table. | END


Input: put basket ball on table top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.25, 0, 90, 0,  [SEP] 1, Pen, 1.228, 0.717, 0.409, 0, 270, 0, 45 [SEP] 2, Pen, -1.575, 0.512, 1.381, 0, 270, 0, 38 [SEP] 3, Pencil, 1.228, 0.715, 0.022, 0, 270, 0, 45 [SEP] 4, Pencil, 1.769, 0.715, 0.796, 0, 270, 0, 45 [SEP] 5, CreditCard, -1.734, 0.287, 1.648, 0, 270, 0, 40 [SEP] 6, CreditCard, -1.906, 1.071, 1.067, 0, 270, 0, 41 [SEP] 7, KeyChain, -1.815, 0.675, 1.636, 0, 0, 0, 42 [SEP] 8, Book, -1.734, 0.286, 1.448, 0, 270, 0, 40 [SEP] 9, Book, -1.541, 0.540, -0.971, 0, 0, 0, 26 [SEP] 10, Pillow, -0.823, 0.618, -0.549, 0, 0, 0, 26 [SEP] 11, AlarmClock, -1.617, 0.673, 1.206, 0, 0, 0, 42 [SEP] 12, Book, 1.318, 0.711, 0.215, 0, 270, 0, 45 [SEP] 13, AlarmClock, 1.408, 0.711, 0.602, 0, 270, 0, 45 [SEP] 14, BasketBall, 1.510, 0.120, -0.105, 0, 0, 0,  [SEP] 15, TeddyBear, -1.7, 0.475, -0.331, 0, 225, 0, 26 [SEP] 16, TennisRacket, 1.551, 0.000, 0.654, 270, 336.082, 0,  [SEP] 17, Pen, -1.683, 0.681, 0.776, 0, 0, 0, 42 [SEP] 18, Pencil, -1.881, 0.678, 1.493, 0, 0, 0, 42 [SEP] 19, KeyChain, 0.789, 0.684, -1.663, 0, 0, 0, 34 [SEP] 20, CreditCard, -1.815, 0.675, 1.493, 0, 0, 0, 42 [SEP] 21, Laptop, -1.786, 0.634, 0.206, 0, 159.517, 0, 42 [SEP] 22, CellPhone, -1.787, 0.066, 1.581, 0, 270, 0, 39 [SEP] 23, Pillow, -0.344, 0.618, -0.971, 0, 0, 0, 26 [SEP] 24, CD, -1.550, 0.672, 1.349, 0, 0, 0, 42 [SEP] 25, Curtains, 1.865, 2.039, -0.495, 0, 0, 0,  [SEP] 26, Bed, -1.037, 0.009, -0.690, 0, 270, 0,  [SEP] 27, Mirror, 0.549, 1.494, 1.880, 0, 0, 0,  [SEP] 28, Curtains, 0.486, 2.035, -1.853, 0, 90, 0,  [SEP] 29, GarbageCan, 1.683, -0.018, 1.670, 0, 270, 0,  [SEP] 30, LightSwitch, -0.119, 1.317, 1.853, 0, 180, 0,  [SEP] 31, DeskLamp, -1.845, 1.057, 0.756, 0, 0, 0,  [SEP] 32, Window, 1.932, 1.409, -0.507, 90, 270, 0,  [SEP] 33, Window, 0.481, 1.411, -1.932, 90, 0, 0,  [SEP] 34, SideTable, 0.626, 0.0, -1.705, 0, 0, 0,  [SEP] 35, Footstool, 0.176, 0.006, -0.358, 0, 0, 0,  [SEP] 36, Dumbbell, 1.596, 0.715, 0.772, 0, 0, 0,  [SEP] 37, Dumbbell, 1.776, 0.717, 0.772, 0, 0, 0,  [SEP] 38, Shelf, -1.700, 0.573, 1.540, 0, 90, 0,  [SEP] 39, Shelf, -1.700, 0.156, 1.540, 0, 90, 0,  [SEP] 40, Shelf, -1.700, 0.377, 1.540, 0, 90, 0,  [SEP] 41, Shelf, -1.839, 1.084, 1.235, 0, 90, 0,  [SEP] 42, Desk, -1.722, 0.003, 0.920, 0, 90, 0,  [SEP] 43, Footstool, 0.175, 0.004, -0.652, 0, 0, 0,  [SEP] 44, GarbageBag, 1.624, 0.319, -1.609, 270, 90, 83.418,  [SEP] 45, Desk, 1.519, 1.823, 0.385, 0, 270, 0,  [SEP] 46, Chair, -1.459, 0.003, 0.929, 0, 292.527, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: walk to face right side of white table | STEP 2: pick up basket ball under the table | STEP 3: walk to face front side of table | STEP 4: put basket ball on left side of table | END


Input: Put a warm slice of bread in the garbage. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Potato, 0.258, 0.951, -1.263, 0, 90, 0, 40 [SEP] 2, DishSponge, 1.239, 0.760, -1.544, 0, 0, 0, 55 [SEP] 3, Spoon, 1.865, 0.912, -1.631, 0, 90, 0, 40 [SEP] 4, Spoon, 0.732, 0.911, 0.827, 0, 90, 0, 36 [SEP] 5, Cup, -0.692, 0.458, -1.476, 0, 0, 0, 63 [SEP] 6, Knife, 1.762, 0.943, 0.415, 0, 90, 0, 36 [SEP] 7, Tomato, 1.77, 0.134, 1.779, 0, 270, 0, 54 [SEP] 8, Tomato, -0.256, 1.127, -1.382, 0, 0, 0, 63 [SEP] 9, SaltShaker, 1.726, 0.906, -1.717, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.757, 0.905, 0.739, 0, 90, 0, 36 [SEP] 11, PepperShaker, 1.529, 0.905, 0.622, 0, 90, 0, 36 [SEP] 12, Mug, 0.840, 0.906, -1.264, 0, 90, 0, 55 [SEP] 13, Mug, 1.769, 1.648, -0.353, 0, 0, 0, 47 [SEP] 14, Plate, -0.741, 1.684, -1.594, 0, 0, 0, 63 [SEP] 15, SoapBottle, 1.877, 1.652, -0.401, 0, 0, 0, 47 [SEP] 16, Cup, -0.741, 0.458, -1.670, 0, 0, 0, 63 [SEP] 17, Egg, 0.553, 0.946, -1.263, 0, 90, 0, 40 [SEP] 18, Fork, 1.529, 0.911, 0.518, 0, 90, 0, 36 [SEP] 19, Ladle, 1.201, 0.926, 0.743, 3.402, 0, 346.985, 36 [SEP] 20, Apple, 1.245, 0.967, 1.092, 0, 90, 0, 36 [SEP] 21, SaltShaker, 0.989, 0.905, 0.827, 0, 90, 0, 36 [SEP] 22, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 39 [SEP] 23, Tomato, -0.692, 0.814, -1.629, 0, 0, 0, 63 [SEP] 24, Spatula, 0.963, 0.775, -1.488, 0, 270, 0, 55 [SEP] 25, Potato, 1.101, 0.800, -1.544, 0, 0, 0, 55 [SEP] 26, Knife, 1.839, 0.943, 0.570, 0, 0, 0, 36 [SEP] 27, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 40 [SEP] 28, Bread, 0.732, 0.987, 0.739, 0, 90, 0, 36 [SEP] 29, Lettuce, 1.726, 1.011, -1.545, 0, 90, 0, 40 [SEP] 30, PepperShaker, 0.455, 0.906, -1.263, 0, 90, 0, 40 [SEP] 31, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 37 [SEP] 32, DishSponge, 1.841, 1.634, -1.419, 0, 0, 0, 49 [SEP] 33, Spoon, 1.586, 0.912, -1.374, 0, 90, 0, 40 [SEP] 34, Bowl, 0.988, 0.909, 1.180, 0, 90, 0, 36 [SEP] 35, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 62 [SEP] 36, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 37, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 38, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 39, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 40, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 41, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 42, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 43, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 44, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 45, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 46, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 47, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 48, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 49, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 50, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 51, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 52, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 53, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 54, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 55, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 56, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 57, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 58, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 59, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 60, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 61, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 62, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 63, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 64, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 65, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 66, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 67, NorthWall, , , , , , ,  [SEP] 68, EastWall, , , , , , ,  [SEP] 69, SouthWall, , , , , , ,  [SEP] 70, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the knife that's in front of you on the counter vertically. | STEP 3: Turn left and take a step to your left. | STEP 4: Cut the left half of the loaf of bread into slices please. | STEP 5: Take a step to your right please. | STEP 6: Stand the knife on point near the handle of the ice cream scoop almost touching the blue part of the handle with the tip and let it fall. | STEP 7: Take a step back to your left please. | STEP 8: Pick up the middle slice of bread please. | STEP 9: Turn around and walk to the counter then turn left and walk to the microwave. | STEP 10: Warm the bread in the microwave then take it back out and close the door. | STEP 11: Turn left and walk past the counter to your right then turn right and walk past the counter and stool then turn right and walk to the door then turn right to face the garbage. | STEP 12: Put the bread in the garbage please. | END


Input: Place a heated slice of bread in a bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Potato, 0.258, 0.951, -1.263, 0, 90, 0, 40 [SEP] 2, DishSponge, 1.239, 0.760, -1.544, 0, 0, 0, 55 [SEP] 3, Spoon, 1.865, 0.912, -1.631, 0, 90, 0, 40 [SEP] 4, Spoon, 0.732, 0.911, 0.827, 0, 90, 0, 36 [SEP] 5, Cup, -0.692, 0.458, -1.476, 0, 0, 0, 63 [SEP] 6, Knife, 1.762, 0.943, 0.415, 0, 90, 0, 36 [SEP] 7, Tomato, 1.77, 0.134, 1.779, 0, 270, 0, 54 [SEP] 8, Tomato, -0.256, 1.127, -1.382, 0, 0, 0, 63 [SEP] 9, SaltShaker, 1.726, 0.906, -1.717, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.757, 0.905, 0.739, 0, 90, 0, 36 [SEP] 11, PepperShaker, 1.529, 0.905, 0.622, 0, 90, 0, 36 [SEP] 12, Mug, 0.840, 0.906, -1.264, 0, 90, 0, 55 [SEP] 13, Mug, 1.769, 1.648, -0.353, 0, 0, 0, 47 [SEP] 14, Plate, -0.741, 1.684, -1.594, 0, 0, 0, 63 [SEP] 15, SoapBottle, 1.877, 1.652, -0.401, 0, 0, 0, 47 [SEP] 16, Cup, -0.741, 0.458, -1.670, 0, 0, 0, 63 [SEP] 17, Egg, 0.553, 0.946, -1.263, 0, 90, 0, 40 [SEP] 18, Fork, 1.529, 0.911, 0.518, 0, 90, 0, 36 [SEP] 19, Ladle, 1.201, 0.926, 0.743, 3.402, 0, 346.985, 36 [SEP] 20, Apple, 1.245, 0.967, 1.092, 0, 90, 0, 36 [SEP] 21, SaltShaker, 0.989, 0.905, 0.827, 0, 90, 0, 36 [SEP] 22, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 39 [SEP] 23, Tomato, -0.692, 0.814, -1.629, 0, 0, 0, 63 [SEP] 24, Spatula, 0.963, 0.775, -1.488, 0, 270, 0, 55 [SEP] 25, Potato, 1.101, 0.800, -1.544, 0, 0, 0, 55 [SEP] 26, Knife, 1.839, 0.943, 0.570, 0, 0, 0, 36 [SEP] 27, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 40 [SEP] 28, Bread, 0.732, 0.987, 0.739, 0, 90, 0, 36 [SEP] 29, Lettuce, 1.726, 1.011, -1.545, 0, 90, 0, 40 [SEP] 30, PepperShaker, 0.455, 0.906, -1.263, 0, 90, 0, 40 [SEP] 31, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 37 [SEP] 32, DishSponge, 1.841, 1.634, -1.419, 0, 0, 0, 49 [SEP] 33, Spoon, 1.586, 0.912, -1.374, 0, 90, 0, 40 [SEP] 34, Bowl, 0.988, 0.909, 1.180, 0, 90, 0, 36 [SEP] 35, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 62 [SEP] 36, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 37, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 38, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 39, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 40, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 41, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 42, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 43, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 44, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 45, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 46, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 47, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 48, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 49, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 50, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 51, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 52, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 53, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 54, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 55, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 56, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 57, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 58, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 59, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 60, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 61, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 62, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 63, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 64, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 65, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 66, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 67, NorthWall, , , , , , ,  [SEP] 68, EastWall, , , , , , ,  [SEP] 69, SouthWall, , , , , , ,  [SEP] 70, WestWall, , , , , , ,

Output: STEP 1: Go to the left of the stove stove | STEP 2: Pick up the knife on the left | STEP 3: Turn to the loaf of bread | STEP 4: Cut the loaf of bread | STEP 5: Turn to the right | STEP 6: Place the knife down on the counter | STEP 7: Go to the sliced bread | STEP 8: Take a slice of bread | STEP 9: Go to the microwave | STEP 10: Heat the bread in the microwave | STEP 11: Go to the black bin | STEP 12: Put the bread in the bin | END


Input: place a pan with a sponge in it on the shelf 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, 2.5, 0, 270, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 79 [SEP] 2, CreditCard, -2.438, 0.908, 0.275, 0, 0, 0, 79 [SEP] 3, DishSponge, -2.774, 2.043, 0.718, 0, 0, 0, 69 [SEP] 4, DishSponge, -1.159, 0.849, -1.25, 0, 0, 0, 89 [SEP] 5, DishSponge, -2.103, 0.746, -1.051, 0, 0, 0, 74 [SEP] 6, ButterKnife, 0.413, 1.111, 0.998, 0, 315, 0, 72 [SEP] 7, Kettle, -0.009, 1.112, 1.268, 0, 315, 0, 72 [SEP] 8, Kettle, 1.413, 1.112, 0.614, 0, 315, 0, 72 [SEP] 9, Spoon, 0.307, 0.747, -1.052, 0, 0, 0, 80 [SEP] 10, Fork, -1.073, 0.852, -1.139, 0, 270, 0, 89 [SEP] 11, Spatula, 0.143, 1.107, 1.421, 0, 135, 0, 72 [SEP] 12, Spatula, 0.688, 0.926, -1.199, 0, 90, 0, 79 [SEP] 13, Cup, 0.346, 1.004, -1.414, 0, 0, 0, 92 [SEP] 14, Cup, -2.800, 0.818, 1.013, 0, 90, 0, 91 [SEP] 15, Egg, 0.253, 1.146, 1.768, 0, 315, 0, 72 [SEP] 16, Egg, -2.853, 0.946, -0.147, 0, 0, 0, 71 [SEP] 17, SoapBottle, 1.014, 1.663, -1.397, 0, 0, 0, 57 [SEP] 18, SoapBottle, -2.085, 0.912, -1.449, 0, 0, 0, 79 [SEP] 19, Tomato, -2.728, 0.087, 1.466, 0, 0, 0, 90 [SEP] 20, Tomato, 0.156, 1.161, 1.715, 0, 315, 0, 72 [SEP] 21, Bowl, -2.680, 0.377, 0.852, 0, 90, 0, 91 [SEP] 22, Lettuce, -2.860, 1.752, 0.771, 0, 90, 0, 91 [SEP] 23, Lettuce, -2.740, 1.553, 1.013, 0, 90, 0, 91 [SEP] 24, PepperShaker, -2.388, 0.907, -1.032, 0, 0, 0, 79 [SEP] 25, PepperShaker, 0.997, 0.907, -1.032, 0, 0, 0, 79 [SEP] 26, Bread, 0.842, 0.965, -1.365, 0, 0, 0, 79 [SEP] 27, Bread, -2.740, 1.528, 0.690, 0, 90, 0, 91 [SEP] 28, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 79 [SEP] 29, Apple, 0.199, 1.145, 1.504, 327.012, 286.349, 128.807, 72 [SEP] 30, Fork, -1.591, 0.852, -1.305, 0, 90, 0, 89 [SEP] 31, Kettle, -2.849, 1.666, -1.059, 0, 0, 0, 51 [SEP] 32, CreditCard, -2.542, 0.743, 0.099, 0, 0, 0, 79 [SEP] 33, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 79 [SEP] 34, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 89 [SEP] 35, SoapBottle, 0.471, 1.112, 1.402, 0, 315, 0, 72 [SEP] 36, Spatula, -2.236, 0.926, -1.199, 0, 0, 0, 79 [SEP] 37, Lettuce, -2.860, 0.899, 0.690, 0, 90, 0, 91 [SEP] 38, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 71 [SEP] 39, Tomato, 0.375, 1.161, 1.652, 0, 315, 0, 72 [SEP] 40, PepperShaker, -2.521, 0.907, 0.359, 0, 0, 0, 71 [SEP] 41, ButterKnife, -2.026, 0.746, -0.966, 0, 0, 0, 74 [SEP] 42, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 73 [SEP] 43, DishSponge, 0.307, 0.745, -1.138, 0, 0, 0, 80 [SEP] 44, Egg, -2.757, 0.072, 1.361, 0, 0, 0, 90 [SEP] 45, Spoon, -1.933, 0.912, -1.365, 0, 0, 0, 79 [SEP] 46, Knife, 0.060, 1.107, 1.587, 271.226, 129.935, 80.049, 72 [SEP] 47, Cup, 0.451, 1.007, -1.314, 0, 0, 0, 92 [SEP] 48, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 58 [SEP] 49, Bowl, -0.092, 1.110, 1.510, 0, 315, 0, 72 [SEP] 50, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 51, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 52, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 53, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 54, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 56, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 57, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 58, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 59, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 60, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 61, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 62, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 63, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 64, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 65, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 66, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 67, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 68, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 69, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 71, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 72, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 73, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 74, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 75, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 76, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 77, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 78, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 79, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 80, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 81, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 82, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 84, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 85, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 86, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 87, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 88, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 89, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 90, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 91, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 92, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 93, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 94, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 95, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: turn left and head to the sink | STEP 2: pick up the sponge  | STEP 3: turn right to the sink  | STEP 4: place the sponge in the pan in the sink | STEP 5: pick up the pan | STEP 6: turn right and move to the overhead shelf | STEP 7: place the pan in the shelf | END


Input: Clean the dirty pan, bring it back to the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 1.0, 0, 0, 0,  [SEP] 1, Potato, -1.770, 0.954, 0.433, 0, 0, 0, 60 [SEP] 2, DishSponge, -1.824, 0.661, 0.355, 0, 0, 0, 63 [SEP] 3, DishSponge, -2.437, 0.927, 0.433, 0, 0, 0, 60 [SEP] 4, ButterKnife, -2.269, 0.662, 0.464, 0, 0, 0, 68 [SEP] 5, ButterKnife, -2.377, 0.900, 2.177, 0, 90, 0, 81 [SEP] 6, Spatula, -2.785, 0.950, 3.209, 0, 0, 0, 67 [SEP] 7, Spatula, -1.219, 0.943, 0.650, 0, 0, 0, 60 [SEP] 8, Spoon, -2.583, 0.901, 2.177, 0, 0, 0, 81 [SEP] 9, Spoon, -2.377, 0.901, 2.045, 0, 0, 0, 81 [SEP] 10, Fork, -2.431, 0.662, 0.519, 0, 270, 0, 68 [SEP] 11, Pot, -2.805, 0.632, 4.278, 0, 180, 0, 77 [SEP] 12, Egg, -1.352, 0.961, 0.032, 0, 0, 0, 60 [SEP] 13, Egg, -2.480, 0.933, 2.441, 0, 0, 0, 81 [SEP] 14, Cup, -0.572, 0.900, 2.731, 0, 0, 0, 83 [SEP] 15, Cup, -2.191, 1.773, 0.114, 0, 0, 0, 56 [SEP] 16, Knife, -2.583, 0.926, 2.573, 0, 0, 0, 81 [SEP] 17, Knife, -2.377, 0.926, 2.309, 0, 90, 0, 81 [SEP] 18, Tomato, -1.904, 0.992, 0.348, 0, 0, 0, 60 [SEP] 19, Tomato, -0.314, 0.964, 2.731, 0, 0, 0, 83 [SEP] 20, SaltShaker, -2.485, 0.658, 0.300, 0, 0, 0, 68 [SEP] 21, SaltShaker, -1.770, 0.658, 0.519, 0, 0, 0, 63 [SEP] 22, PepperShaker, -2.215, 0.658, 0.300, 0, 0, 0, 68 [SEP] 23, PepperShaker, -2.583, 0.896, 2.706, 0, 0, 0, 81 [SEP] 24, Lettuce, -2.847, 1.266, 4.501, 0, 90, 0, 77 [SEP] 25, Mug, -2.691, 0.294, 4.204, 0, 90, 0, 77 [SEP] 26, Mug, -0.350, 1.013, 0.171, 0, 270, 0, 79 [SEP] 27, Apple, -2.549, 0.991, 3.209, 0, 0, 0, 67 [SEP] 28, Egg, -2.878, 0.332, 4.278, 0, 90, 0, 77 [SEP] 29, Plate, -0.304, 1.777, 0.160, 0, 0, 0, 59 [SEP] 30, Fork, -2.628, 0.936, 3.488, 0, 90, 0, 67 [SEP] 31, Bread, -2.871, 0.940, 1.981, 0, 0, 0, 81 [SEP] 32, Apple, -0.350, 1.079, 0.267, 0, 0, 0, 79 [SEP] 33, Lettuce, -0.657, 0.980, 2.530, 0, 0, 0, 83 [SEP] 34, Spatula, -2.583, 0.897, 1.913, 1.208, 0, 0, 81 [SEP] 35, Knife, -0.486, 0.926, 2.329, 0, 0, 0, 83 [SEP] 36, Potato, -0.314, 0.926, 3.334, 0, 0, 0, 83 [SEP] 37, Tomato, -2.686, 0.964, 2.177, 0, 0, 0, 81 [SEP] 38, Cup, -2.831, 0.298, 4.501, 0, 90, 0, 77 [SEP] 39, SaltShaker, -2.706, 0.931, 3.302, 0, 0, 0, 67 [SEP] 40, PepperShaker, -1.770, 0.924, 0.602, 0, 0, 0, 60 [SEP] 41, ButterKnife, -0.228, 0.900, 2.731, 0, 0, 0, 83 [SEP] 42, SoapBottle, -2.480, 0.900, 2.309, 0, 0, 0, 81 [SEP] 43, Pan, -0.535, 0.928, 4.274, 0, 0, 0, 64 [SEP] 44, DishSponge, -1.904, 0.927, 0.518, 0, 0, 0, 60 [SEP] 45, Pot, -0.572, 0.900, 3.133, 0, 180, 0, 83 [SEP] 46, Spoon, -0.486, 0.901, 2.530, 0, 0, 0, 83 [SEP] 47, Mug, -2.995, 0.895, 2.441, 0, 0, 0, 81 [SEP] 48, Bowl, -1.138, 1.770, 0.297, 0, 90, 0, 57 [SEP] 49, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 50, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 51, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 52, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 53, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 54, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 55, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 56, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 57, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 58, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 59, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 60, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 61, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 62, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 63, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 64, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 65, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 66, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 67, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 68, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 69, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 70, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 71, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 72, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 73, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 74, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 75, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 76, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 77, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 78, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 79, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 80, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 81, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 82, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 83, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Move to the stove. | STEP 2: Pick up the dirty pan from the stove. | STEP 3: Bring the pan to the sink. | STEP 4: Clean the pan in the sink.  | STEP 5: Bring the pan to the stove. | STEP 6: Put the pan on the stove.  | END