Input: place a cooked potato 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, -1.25, 0.901, -2.0, 0, 90, 0,  [SEP] 1, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 71 [SEP] 2, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 75 [SEP] 3, Potato, -0.095, 0.959, -1.616, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.821, 0.716, -0.540, 0, 225, 0, 90 [SEP] 5, DishSponge, -1.845, 0.790, -3.747, 0, 0, 0, 88 [SEP] 6, Spoon, -1.058, 0.914, -3.581, 0, 0, 0, 46 [SEP] 7, Spoon, -0.176, 0.917, -0.472, 0, 0, 0, 73 [SEP] 8, Fork, -2.439, 0.717, -0.496, 0, 90, 0, 90 [SEP] 9, Fork, -2.922, 0.717, -0.640, 0, 225, 0, 90 [SEP] 10, Egg, -3.199, 0.752, -0.427, 0, 135, 0, 90 [SEP] 11, Egg, -2.608, 0.752, -0.150, 0, 225, 0, 90 [SEP] 12, Plate, -0.452, 0.078, -1.414, 0, 0, 0, 51 [SEP] 13, Knife, -0.530, 0.778, -1.563, 0, 90, 0, 69 [SEP] 14, Knife, -2.009, 0.946, -3.526, 0, 0, 0, 46 [SEP] 15, Tomato, -0.338, 0.965, -1.616, 0, 0, 0, 73 [SEP] 16, Tomato, -2.740, 0.763, -0.069, 0, 0, 0, 90 [SEP] 17, SoapBottle, -0.334, 0.080, -2.853, 0, 0, 0, 57 [SEP] 18, SoapBottle, -3.292, 0.716, -0.495, 0, 270, 0, 90 [SEP] 19, Bowl, -0.813, 0.079, -3.675, 0, 0, 0, 48 [SEP] 20, SaltShaker, -2.740, 0.710, -0.638, 0, 0, 0, 90 [SEP] 21, PepperShaker, -0.441, 0.743, -1.331, 0, 0, 0, 69 [SEP] 22, Bread, -3.155, 0.754, -0.608, 0, 225, 0, 90 [SEP] 23, Mug, -2.053, 0.076, -3.596, 0, 0, 0, 67 [SEP] 24, Apple, -0.500, 0.958, -0.490, 0, 0, 0, 73 [SEP] 25, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 46 [SEP] 26, Egg, -0.223, 0.115, 0.097, 0, 270, 0, 85 [SEP] 27, Cup, -3.182, 0.641, -2.002, 0, 90, 0, 87 [SEP] 28, Bread, -2.676, 0.757, -0.508, 0, 135, 0, 90 [SEP] 29, Fork, -0.039, 0.914, -3.878, 0, 0, 0, 46 [SEP] 30, Pan, -3.167, 0.912, -3.804, 0, 90, 0, 46 [SEP] 31, Potato, -1.707, 0.834, -3.790, 0, 0, 0, 88 [SEP] 32, Lettuce, -0.160, 1.001, -3.112, 0, 0, 0, 46 [SEP] 33, Tomato, -2.865, 0.763, -0.922, 0, 0, 0, 90 [SEP] 34, Apple, -3.286, 1.056, -2.064, 0, 90, 0, 87 [SEP] 35, SoapBottle, -2.439, 0.716, -0.558, 0, 270, 0, 90 [SEP] 36, Spatula, -3.393, 0.928, -3.428, 0, 0, 0, 46 [SEP] 37, SaltShaker, -1.821, 0.078, -3.558, 0, 0, 0, 67 [SEP] 38, Knife, -0.650, 0.946, -3.581, 0, 0, 0, 46 [SEP] 39, PepperShaker, -1.477, 0.079, -3.555, 0, 0, 0, 62 [SEP] 40, ButterKnife, -0.419, 0.916, -0.524, 0, 0, 0, 73 [SEP] 41, Plate, -3.226, 1.866, -1.974, 0, 0, 0, 56 [SEP] 42, DishSponge, -0.328, 0.913, -2.911, 0, 0, 0, 46 [SEP] 43, Spoon, -0.338, 0.917, -1.370, 0, 0, 0, 73 [SEP] 44, Mug, -0.447, 0.908, -4.026, 0, 0, 0, 46 [SEP] 45, Bowl, -0.411, 0.079, -3.348, 0, 0, 0, 47 [SEP] 46, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 47, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 48, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 49, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 51, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 52, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 53, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 54, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 55, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 56, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 57, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 58, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 59, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 60, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 61, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 62, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 63, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 64, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 65, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 66, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 67, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 68, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 69, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 70, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 71, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 72, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 73, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 74, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 75, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 76, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 77, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 78, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 79, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 80, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 81, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 82, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 83, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 84, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 85, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 86, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 87, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 88, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 89, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 90, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 91, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 92, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: move left towards the shelf | STEP 2: pick up the potato  | STEP 3: move left towards the microwave | STEP 4: place the potato in the microwave and allow to cook and then take it out | STEP 5: turn around towards the fridge | STEP 6: place the potato in the fridge | END


Input: Put the two wrist watch on the center table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 4.5, 0, 270, 0,  [SEP] 1, Statue, -2.658, 0.554, 2.359, 0, 0, 0, 36 [SEP] 2, Statue, -2.532, 0.554, 2.744, 0, 0, 0, 36 [SEP] 3, Watch, 0.132, 0.707, 4.578, 0, 0, 0, 41 [SEP] 4, KeyChain, -2.939, 0.457, 0.752, 0, 0, 0, 39 [SEP] 5, KeyChain, -5.094, 0.989, 2.310, 0, 180, 0, 33 [SEP] 6, Box, -4.668, 0.405, 3.375, 0, 90, 0, 30 [SEP] 7, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 8, CreditCard, -0.240, 0.467, 3.449, 0, 0, 0, 37 [SEP] 9, KeyChain, -2.279, 0.453, 2.840, 0, 0, 0, 36 [SEP] 10, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 39 [SEP] 11, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 33 [SEP] 12, RemoteControl, -2.405, 0.455, 2.359, 0, 0, 0, 36 [SEP] 13, Watch, -4.744, 0.988, 2.595, 0, 0, 0, 33 [SEP] 14, Statue, -2.785, 0.554, 2.552, 0, 0, 0, 36 [SEP] 15, Curtains, -2.535, 2.596, 0.111, 0, 0, 0,  [SEP] 16, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0,  [SEP] 17, Television, -4.883, 1.472, 2.434, 0, 90, 0,  [SEP] 18, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0,  [SEP] 19, Painting, -0.293, 1.820, 0.016, 90, 0, 0,  [SEP] 20, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0,  [SEP] 21, Painting, -5.118, 1.480, 4.396, 90, 270, 0,  [SEP] 22, Painting, -5.118, 1.480, 0.656, 90, 270, 0,  [SEP] 23, Window, -1.715, 1.554, 0.006, 90, 180, 0,  [SEP] 24, Window, -3.244, 1.554, 0.006, 90, 180, 0,  [SEP] 25, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0,  [SEP] 26, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0,  [SEP] 27, Drawer, -4.497, 0.901, 2.854, 0, 90, 0,  [SEP] 28, Drawer, -4.497, 0.901, 2.339, 0, 90, 0,  [SEP] 29, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0,  [SEP] 30, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0,  [SEP] 31, Drawer, -4.497, 0.901, 3.372, 0, 90, 0,  [SEP] 32, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0,  [SEP] 33, Dresser, -4.744, 4.321, 2.595, 0, 90, 0,  [SEP] 34, Drawer, -4.497, 0.901, 1.818, 0, 90, 0,  [SEP] 35, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0,  [SEP] 36, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0,  [SEP] 37, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0,  [SEP] 38, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0,  [SEP] 39, Sofa, -2.464, -0.002, 0.700, 0, 0, 0,  [SEP] 40, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0,  [SEP] 41, SideTable, -0.041, 0.002, 4.619, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn left then head to the tv stand  | STEP 2: Pick up the wrist watch on the stand  | STEP 3: Turn right then head to the center table  | STEP 4: Put the wrist watch on the center table | STEP 5: Turn left then head to the side table with lamp  | STEP 6: Pick up the wrist watch beside the lamp | STEP 7: Turn right and head to the center table | STEP 8: Put the wrist watch on the center table | END


Input: To move two CD's to a drawer.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, -1.0, 0, 90, 0,  [SEP] 1, Mug, 1.394, 0.515, -1.591, 0, 0, 0, 37 [SEP] 2, Mug, 1.240, 0.513, -1.591, 0, 180, 0, 37 [SEP] 3, CD, 1.909, 0.797, -1.358, 0, 0, 0, 35 [SEP] 4, CellPhone, 1.240, 0.059, -1.614, 0, 180, 0, 38 [SEP] 5, CreditCard, 2.506, 0.798, -1.358, 0, 0, 0, 35 [SEP] 6, CreditCard, 1.296, 0.283, -1.635, 0, 180, 0, 36 [SEP] 7, Pillow, 0.064, 0.674, -0.905, 0, 0, 0, 22 [SEP] 8, Book, 2.881, 0.791, -1.623, 0, 39.196, 0, 35 [SEP] 9, KeyChain, 2.307, 0.799, -1.420, 0, 0, 0, 35 [SEP] 10, TissueBox, 3.067, 0.536, -1.421, 0, 0, 0, 34 [SEP] 11, TeddyBear, -0.075, 0.562, -0.274, 353.177, 297.143, 5.348, 22 [SEP] 12, Pencil, 3.162, 0.083, -0.267, 0, 270, 0, 24 [SEP] 13, CreditCard, 2.875, 0.545, -1.397, 0, 0, 0, 34 [SEP] 14, TennisRacket, -0.921, 0.344, 0.390, 13.911, 273.938, 195.992, Floor|+00.39| [SEP] 15, Laptop, 0.552, 0.568, -0.236, 0, 0, 0, 22 [SEP] 16, AlarmClock, 1.108, 0.510, -1.673, 0, 345.196, 0, 37 [SEP] 17, Pen, 2.307, 0.804, -1.728, 0, 0, 0, 35 [SEP] 18, Pillow, 0.299, 0.643, -1.557, 0, 0, 0, 22 [SEP] 19, CellPhone, 0.390, 0.570, -1.129, 0, 0, 0, 22 [SEP] 20, CD, 1.317, 0.515, -1.712, 0, 0, 0, 37 [SEP] 21, Mug, 2.059, 0.791, -1.681, 0, 18.478, 0, 35 [SEP] 22, Bed, 0.227, -0.003, -0.947, 0, 180, 0,  [SEP] 23, Mirror, 0.615, 1.264, 1.029, 0, 0, 0,  [SEP] 24, GarbageCan, 3.166, -0.011, -0.264, 4.636, 271.335, 0,  [SEP] 25, DeskLamp, 3.164, 0.794, -1.664, 0, 315, 0,  [SEP] 26, HousePlant, -0.833, 0.000, 0.843, 0, 0, 0,  [SEP] 27, LightSwitch, 2.010, 1.126, 1.029, 0, 180, 0,  [SEP] 28, Window, 1.794, 1.677, -1.939, 90, 180, 0,  [SEP] 29, Window, 0.691, 1.361, -1.938, 90, 180, 0,  [SEP] 30, Dumbbell, 2.628, 0.001, -1.613, 0, 346.954, 0,  [SEP] 31, Blinds, 1.776, 1.993, -1.858, 0, 0, 0,  [SEP] 32, Blinds, 0.670, 1.993, -1.858, 0, 0, 0,  [SEP] 33, Chair, 2.255, 0.004, -1.501, 0, 167.716, 0,  [SEP] 34, Shelf, 3.034, 0.637, -1.580, 0, 0, 0,  [SEP] 35, Desk, 2.500, 0.002, -1.596, 0, 0, 0,  [SEP] 36, Drawer, 1.240, 0.354, -1.553, 0, 0, 0,  [SEP] 37, SideTable, 1.239, 0.003, -1.551, 0, 0, 0,  [SEP] 38, Drawer, 1.240, 0.126, -1.553, 0, 0, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Walk to the desk with the black chair.  | STEP 2: Pick up the CD from the desk.  | STEP 3: Move to look at the drawers below the night stand.  | STEP 4: Open the bottom drawer, put the CD inside the drawer, close the drawer.  | STEP 5: Move closer to the night stand.  | STEP 6: Pick up the CD from behind the mugs.  | STEP 7: Move further away from the night stand and look at the drawers.  | STEP 8: Open the bottom drawer, put the CD in the drawer to the left of the other one, and close the drawer.  | END


Input: Placing a plate in the fridge with an egg on it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 0.5, 0, 0, 0,  [SEP] 1, SprayBottle, -0.754, 1.655, -0.847, 0, 270, 0, 62 [SEP] 2, Potato, -1.475, 0.793, 2.830, 0, 0, 0, 58 [SEP] 3, Potato, -1.361, 1.060, 0.098, 0, 90, 0, 103 [SEP] 4, CellPhone, 1.523, 0.909, 0.706, 0, 0, 0, 77 [SEP] 5, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 77 [SEP] 6, Glassbottle, -1.325, 2.154, 0.538, 0, 0, 0, 76 [SEP] 7, Glassbottle, 0.103, 0.759, -0.533, 0, 0, 0, 104 [SEP] 8, WineBottle, -0.919, 0.749, 2.644, 0, 0, 0, 58 [SEP] 9, WineBottle, -1.099, 0.342, 1.197, 0, 90, 0, 97 [SEP] 10, Kettle, 1.128, 0.912, 0.422, 0, 0, 0, 77 [SEP] 11, Fork, -1.060, 0.912, -0.817, 0, 90, 0, 83 [SEP] 12, Spatula, -1.135, 0.927, -0.732, 0, 270, 0, 83 [SEP] 13, Spatula, 1.117, 0.901, 2.369, 0, 180, 0, 109 [SEP] 14, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 15, Egg, -1.378, 1.322, 0.987, 0, 90, 0, 97 [SEP] 16, Egg, -0.919, 0.783, 3.015, 0, 0, 0, 58 [SEP] 17, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 109 [SEP] 18, Tomato, 1.049, 0.961, -0.144, 0, 0, 0, 77 [SEP] 19, Tomato, -1.194, 0.391, 0.988, 0, 90, 0, 97 [SEP] 20, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 109 [SEP] 21, SoapBottle, 1.450, 0.887, 2.584, 0, 90, 0, 109 [SEP] 22, Bowl, 1.286, 0.909, 0.139, 0, 0, 0, 77 [SEP] 23, Bowl, -1.012, 0.748, 2.273, 0, 0, 0, 58 [SEP] 24, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 25, Lettuce, -1.105, 0.820, 2.644, 0, 0, 0, 58 [SEP] 26, SaltShaker, -0.211, 0.112, -0.577, 0, 0, 0, 83 [SEP] 27, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 58 [SEP] 28, PepperShaker, -1.325, 2.149, 1.037, 0, 0, 0, 76 [SEP] 29, PepperShaker, -1.012, 0.745, 2.459, 0, 0, 0, 58 [SEP] 30, Mug, -1.206, 1.416, 0.778, 0, 90, 0, 97 [SEP] 31, Apple, 0.951, 0.946, 2.153, 0, 0, 0, 109 [SEP] 32, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 109 [SEP] 33, Glassbottle, -1.197, 0.749, 1.902, 0, 0, 0, 58 [SEP] 34, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 58 [SEP] 35, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 58 [SEP] 36, Tomato, -1.263, 0.800, 0.883, 0, 90, 0, 97 [SEP] 37, Plate, 1.131, 0.116, 0.732, 0, 0, 0, 74 [SEP] 38, CellPhone, 1.155, 0.774, 1.114, 0, 0, 0, 87 [SEP] 39, Lettuce, 1.049, 0.982, 0.139, 0, 0, 0, 77 [SEP] 40, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 86 [SEP] 41, SoapBottle, 1.293, 1.657, -0.453, 0, 0, 0, 59 [SEP] 42, WineBottle, -1.475, 0.750, 1.902, 0, 0, 0, 58 [SEP] 43, Spatula, 1.444, 0.926, -0.428, 0, 90, 0, 77 [SEP] 44, Bowl, -0.082, 0.756, -0.612, 0, 0, 0, 104 [SEP] 45, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 97 [SEP] 46, Cup, 0.103, 0.757, -0.691, 0, 0, 0, 104 [SEP] 47, Knife, -1.012, 0.771, 2.830, 0, 90, 0, 58 [SEP] 48, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 97 [SEP] 49, SaltShaker, -1.325, 1.652, 0.108, 0, 0, 0, 66 [SEP] 50, PepperShaker, 1.450, 0.882, 2.692, 0, 0, 0, 109 [SEP] 51, Potato, -1.378, 1.681, 0.883, 0, 90, 0, 97 [SEP] 52, ButterKnife, -1.105, 0.749, 2.830, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.383, 0.748, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 83 [SEP] 55, Spoon, 0.238, 0.913, -0.359, 0, 0, 0, 83 [SEP] 56, SprayBottle, 1.523, 0.910, 0.422, 0, 0, 0, 77 [SEP] 57, Mug, -1.427, 1.010, -0.057, 0, 180, 0, 103 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn around, and to the right to find the microwave. | STEP 2: Pick up the plate from the counter, on the left side of the microwave. | STEP 3: Take a step to the right and face the fridge. | STEP 4: Open the fridge, and place the plate inside. | STEP 5: Take the egg out of the fridge. | STEP 6: Place the egg on the plate inside the fridge. | END


Input: Put an egg in a pan 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, 0.25, 0.908, 0.5, 0, 0, 0,  [SEP] 1, SprayBottle, -0.754, 1.655, -0.847, 0, 270, 0, 62 [SEP] 2, Potato, -1.475, 0.793, 2.830, 0, 0, 0, 58 [SEP] 3, Potato, -1.361, 1.060, 0.098, 0, 90, 0, 103 [SEP] 4, CellPhone, 1.523, 0.909, 0.706, 0, 0, 0, 77 [SEP] 5, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 77 [SEP] 6, Glassbottle, -1.325, 2.154, 0.538, 0, 0, 0, 76 [SEP] 7, Glassbottle, 0.103, 0.759, -0.533, 0, 0, 0, 104 [SEP] 8, WineBottle, -0.919, 0.749, 2.644, 0, 0, 0, 58 [SEP] 9, WineBottle, -1.099, 0.342, 1.197, 0, 90, 0, 97 [SEP] 10, Kettle, 1.128, 0.912, 0.422, 0, 0, 0, 77 [SEP] 11, Fork, -1.060, 0.912, -0.817, 0, 90, 0, 83 [SEP] 12, Spatula, -1.135, 0.927, -0.732, 0, 270, 0, 83 [SEP] 13, Spatula, 1.117, 0.901, 2.369, 0, 180, 0, 109 [SEP] 14, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 15, Egg, -1.378, 1.322, 0.987, 0, 90, 0, 97 [SEP] 16, Egg, -0.919, 0.783, 3.015, 0, 0, 0, 58 [SEP] 17, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 109 [SEP] 18, Tomato, 1.049, 0.961, -0.144, 0, 0, 0, 77 [SEP] 19, Tomato, -1.194, 0.391, 0.988, 0, 90, 0, 97 [SEP] 20, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 109 [SEP] 21, SoapBottle, 1.450, 0.887, 2.584, 0, 90, 0, 109 [SEP] 22, Bowl, 1.286, 0.909, 0.139, 0, 0, 0, 77 [SEP] 23, Bowl, -1.012, 0.748, 2.273, 0, 0, 0, 58 [SEP] 24, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 25, Lettuce, -1.105, 0.820, 2.644, 0, 0, 0, 58 [SEP] 26, SaltShaker, -0.211, 0.112, -0.577, 0, 0, 0, 83 [SEP] 27, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 58 [SEP] 28, PepperShaker, -1.325, 2.149, 1.037, 0, 0, 0, 76 [SEP] 29, PepperShaker, -1.012, 0.745, 2.459, 0, 0, 0, 58 [SEP] 30, Mug, -1.206, 1.416, 0.778, 0, 90, 0, 97 [SEP] 31, Apple, 0.951, 0.946, 2.153, 0, 0, 0, 109 [SEP] 32, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 109 [SEP] 33, Glassbottle, -1.197, 0.749, 1.902, 0, 0, 0, 58 [SEP] 34, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 58 [SEP] 35, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 58 [SEP] 36, Tomato, -1.263, 0.800, 0.883, 0, 90, 0, 97 [SEP] 37, Plate, 1.131, 0.116, 0.732, 0, 0, 0, 74 [SEP] 38, CellPhone, 1.155, 0.774, 1.114, 0, 0, 0, 87 [SEP] 39, Lettuce, 1.049, 0.982, 0.139, 0, 0, 0, 77 [SEP] 40, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 86 [SEP] 41, SoapBottle, 1.293, 1.657, -0.453, 0, 0, 0, 59 [SEP] 42, WineBottle, -1.475, 0.750, 1.902, 0, 0, 0, 58 [SEP] 43, Spatula, 1.444, 0.926, -0.428, 0, 90, 0, 77 [SEP] 44, Bowl, -0.082, 0.756, -0.612, 0, 0, 0, 104 [SEP] 45, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 97 [SEP] 46, Cup, 0.103, 0.757, -0.691, 0, 0, 0, 104 [SEP] 47, Knife, -1.012, 0.771, 2.830, 0, 90, 0, 58 [SEP] 48, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 97 [SEP] 49, SaltShaker, -1.325, 1.652, 0.108, 0, 0, 0, 66 [SEP] 50, PepperShaker, 1.450, 0.882, 2.692, 0, 0, 0, 109 [SEP] 51, Potato, -1.378, 1.681, 0.883, 0, 90, 0, 97 [SEP] 52, ButterKnife, -1.105, 0.749, 2.830, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.383, 0.748, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 83 [SEP] 55, Spoon, 0.238, 0.913, -0.359, 0, 0, 0, 83 [SEP] 56, SprayBottle, 1.523, 0.910, 0.422, 0, 0, 0, 77 [SEP] 57, Mug, -1.427, 1.010, -0.057, 0, 180, 0, 103 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn around and stand in front of the microwave. | STEP 2: Pick up the pan to the left of the microwave. | STEP 3: Go to the fridge. | STEP 4: Put the pan in the fridge. | STEP 5: Pick up an egg from the fridge. | STEP 6: Put the egg in the pan. | END


Input: Put an egg into the cooking pan 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, 0.25, 0.908, 0.5, 0, 0, 0,  [SEP] 1, SprayBottle, -0.754, 1.655, -0.847, 0, 270, 0, 62 [SEP] 2, Potato, -1.475, 0.793, 2.830, 0, 0, 0, 58 [SEP] 3, Potato, -1.361, 1.060, 0.098, 0, 90, 0, 103 [SEP] 4, CellPhone, 1.523, 0.909, 0.706, 0, 0, 0, 77 [SEP] 5, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 77 [SEP] 6, Glassbottle, -1.325, 2.154, 0.538, 0, 0, 0, 76 [SEP] 7, Glassbottle, 0.103, 0.759, -0.533, 0, 0, 0, 104 [SEP] 8, WineBottle, -0.919, 0.749, 2.644, 0, 0, 0, 58 [SEP] 9, WineBottle, -1.099, 0.342, 1.197, 0, 90, 0, 97 [SEP] 10, Kettle, 1.128, 0.912, 0.422, 0, 0, 0, 77 [SEP] 11, Fork, -1.060, 0.912, -0.817, 0, 90, 0, 83 [SEP] 12, Spatula, -1.135, 0.927, -0.732, 0, 270, 0, 83 [SEP] 13, Spatula, 1.117, 0.901, 2.369, 0, 180, 0, 109 [SEP] 14, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 15, Egg, -1.378, 1.322, 0.987, 0, 90, 0, 97 [SEP] 16, Egg, -0.919, 0.783, 3.015, 0, 0, 0, 58 [SEP] 17, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 109 [SEP] 18, Tomato, 1.049, 0.961, -0.144, 0, 0, 0, 77 [SEP] 19, Tomato, -1.194, 0.391, 0.988, 0, 90, 0, 97 [SEP] 20, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 109 [SEP] 21, SoapBottle, 1.450, 0.887, 2.584, 0, 90, 0, 109 [SEP] 22, Bowl, 1.286, 0.909, 0.139, 0, 0, 0, 77 [SEP] 23, Bowl, -1.012, 0.748, 2.273, 0, 0, 0, 58 [SEP] 24, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 25, Lettuce, -1.105, 0.820, 2.644, 0, 0, 0, 58 [SEP] 26, SaltShaker, -0.211, 0.112, -0.577, 0, 0, 0, 83 [SEP] 27, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 58 [SEP] 28, PepperShaker, -1.325, 2.149, 1.037, 0, 0, 0, 76 [SEP] 29, PepperShaker, -1.012, 0.745, 2.459, 0, 0, 0, 58 [SEP] 30, Mug, -1.206, 1.416, 0.778, 0, 90, 0, 97 [SEP] 31, Apple, 0.951, 0.946, 2.153, 0, 0, 0, 109 [SEP] 32, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 109 [SEP] 33, Glassbottle, -1.197, 0.749, 1.902, 0, 0, 0, 58 [SEP] 34, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 58 [SEP] 35, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 58 [SEP] 36, Tomato, -1.263, 0.800, 0.883, 0, 90, 0, 97 [SEP] 37, Plate, 1.131, 0.116, 0.732, 0, 0, 0, 74 [SEP] 38, CellPhone, 1.155, 0.774, 1.114, 0, 0, 0, 87 [SEP] 39, Lettuce, 1.049, 0.982, 0.139, 0, 0, 0, 77 [SEP] 40, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 86 [SEP] 41, SoapBottle, 1.293, 1.657, -0.453, 0, 0, 0, 59 [SEP] 42, WineBottle, -1.475, 0.750, 1.902, 0, 0, 0, 58 [SEP] 43, Spatula, 1.444, 0.926, -0.428, 0, 90, 0, 77 [SEP] 44, Bowl, -0.082, 0.756, -0.612, 0, 0, 0, 104 [SEP] 45, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 97 [SEP] 46, Cup, 0.103, 0.757, -0.691, 0, 0, 0, 104 [SEP] 47, Knife, -1.012, 0.771, 2.830, 0, 90, 0, 58 [SEP] 48, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 97 [SEP] 49, SaltShaker, -1.325, 1.652, 0.108, 0, 0, 0, 66 [SEP] 50, PepperShaker, 1.450, 0.882, 2.692, 0, 0, 0, 109 [SEP] 51, Potato, -1.378, 1.681, 0.883, 0, 90, 0, 97 [SEP] 52, ButterKnife, -1.105, 0.749, 2.830, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.383, 0.748, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 83 [SEP] 55, Spoon, 0.238, 0.913, -0.359, 0, 0, 0, 83 [SEP] 56, SprayBottle, 1.523, 0.910, 0.422, 0, 0, 0, 77 [SEP] 57, Mug, -1.427, 1.010, -0.057, 0, 180, 0, 103 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Look down and turn around and go towards the sink and then turn right and walk to the microwave. | STEP 2: Pick up the cooking pan to the left of the microwave. | STEP 3: Turn right and then turn left at the fridge | STEP 4: open the fridge and put the pan inside of it | STEP 5: Pick up the egg from the bottom shelf | STEP 6: Put the egg into the pan in the fridge | END


Input: Put a chilled head of lettuce in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.900, -1.25, 0, 0, 0,  [SEP] 1, Glassbottle, -0.382, 0.081, -3.299, 0, 0, 0, 53 [SEP] 2, Glassbottle, -2.096, 0.924, -1.884, 0, 0, 0, 72 [SEP] 3, Pen, -2.666, 0.926, -1.193, 0, 0, 0, 72 [SEP] 4, DishSponge, -2.324, 0.923, -1.423, 0, 0, 0, 72 [SEP] 5, ButterKnife, -2.438, 0.923, -1.654, 0, 0, 0, 72 [SEP] 6, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 45 [SEP] 7, Spatula, -2.438, 0.938, -2.345, 0, 180, 0, 72 [SEP] 8, Fork, -0.600, 0.916, -3.839, 0, 0, 0, 47 [SEP] 9, Cup, -0.457, 0.914, -3.697, 0, 0, 0, 47 [SEP] 10, Egg, -0.508, 0.948, -3.167, 0, 0, 0, 47 [SEP] 11, Tomato, -0.365, 0.979, -3.368, 0, 0, 0, 47 [SEP] 12, Tomato, -2.552, 0.987, -2.115, 0, 0, 0, 72 [SEP] 13, SaltShaker, -0.528, 0.912, -3.909, 0, 0, 0, 47 [SEP] 14, PepperShaker, -0.391, 0.743, -3.267, 0, 0, 0, 58 [SEP] 15, PepperShaker, -2.438, 0.919, -1.423, 0, 0, 0, 72 [SEP] 16, Apple, -0.815, 0.989, -3.485, 0, 0, 0, 47 [SEP] 17, Apple, -1.309, 1.703, -3.837, 0, 0, 0, 60 [SEP] 18, Lettuce, -2.780, 1.016, -0.963, 0, 0, 0, 72 [SEP] 19, Glassbottle, -0.743, 0.916, -3.697, 0, 0, 0, 47 [SEP] 20, Egg, -1.151, 1.663, -3.936, 0, 0, 0, 60 [SEP] 21, Pen, -0.528, 0.918, -3.555, 0, 0, 0, 47 [SEP] 22, Fork, -0.295, 0.788, -1.858, 0, 0, 0, 65 [SEP] 23, SoapBottle, -2.438, 0.922, -1.193, 0, 0, 0, 72 [SEP] 24, Pencil, -2.096, 0.923, -1.423, 0, 0, 0, 72 [SEP] 25, WineBottle, -2.324, 0.924, -1.884, 0, 0, 0, 72 [SEP] 26, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 47 [SEP] 27, Bread, -2.666, 0.976, -2.345, 0, 0, 0, 72 [SEP] 28, Tomato, -2.006, 0.090, -3.763, 0, 0, 0, 63 [SEP] 29, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 72 [SEP] 30, Cup, -0.685, 0.081, -3.545, 0, 0, 0, 53 [SEP] 31, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 44 [SEP] 32, SaltShaker, -0.807, 0.743, -3.497, 0, 0, 0, 46 [SEP] 33, Potato, -2.780, 0.954, -1.654, 0, 0, 0, 72 [SEP] 34, PepperShaker, -0.499, 0.077, -3.205, 0, 0, 0, 53 [SEP] 35, ButterKnife, -0.365, 0.915, -2.764, 0, 90, 0, 47 [SEP] 36, DishSponge, -0.205, 1.970, -1.718, 0, 0, 0, 49 [SEP] 37, Spoon, -0.436, 0.916, -2.764, 0, 0, 0, 47 [SEP] 38, Plate, -2.121, 0.913, -2.422, 0, 0, 0, 72 [SEP] 39, Knife, -0.365, 0.938, -3.570, 0, 270, 0, 47 [SEP] 40, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 61 [SEP] 41, Bowl, -2.666, 0.922, -1.423, 0, 0, 0, 72 [SEP] 42, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 43, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 44, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 45, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 46, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 47, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 48, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 49, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 50, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 51, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 52, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 53, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 54, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 55, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 56, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 57, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 58, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 59, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 60, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 61, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 62, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 63, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 64, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 65, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 66, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 67, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 68, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 71, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 72, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 73, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 74, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 75, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 76, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 77, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 78, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 79, NorthWall, , , , , , ,  [SEP] 80, EastWall, , , , , , ,  [SEP] 81, SouthWall, , , , , , ,  [SEP] 82, WestWall, , , , , , ,

Output: STEP 1: Walk over to the wall, then turn right and walk over to the end of the kitchen island. | STEP 2: Pick up the head of lettuce off of the island. | STEP 3: Turn left and walk over to the fridge. | STEP 4: Open the fridge door and put the head of lettuce inside then close the door, after a couple seconds open the fridge back up and take out the now chilled head of lettuce, then close the fridge. | STEP 5: Turn right and walk forward, then turn left to face the sink. | STEP 6: Put the chilled head of lettuce on top of the fork in the sink basin. | END


Input: To wash a slice of lettuce 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, -2.0, 0.900, -0.25, 0, 270, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, DishSponge, -2.848, 1.794, -0.696, 0, 0, 0, 42 [SEP] 3, Kettle, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 4, Spoon, -2.671, 0.747, -0.027, 0, 90, 0, 69 [SEP] 5, Fork, -0.021, 1.112, 1.910, 0, 315, 0, 64 [SEP] 6, Spatula, -2.521, 0.926, 0.190, 0, 90, 0, 63 [SEP] 7, Plate, -0.443, 1.664, -1.322, 0, 0, 0, 59 [SEP] 8, Plate, -2.774, 2.045, 0.861, 0, 0, 0, 61 [SEP] 9, Knife, 0.221, 1.134, 1.499, 0, 45, 0, 64 [SEP] 10, Knife, 0.413, 1.134, 0.998, 0, 45, 0, 64 [SEP] 11, SoapBottle, -2.728, 0.038, 1.431, 0, 0, 0, 82 [SEP] 12, SoapBottle, -2.884, 1.666, -0.099, 0, 0, 0, 57 [SEP] 13, Bowl, -2.680, 1.672, 0.690, 0, 90, 0, 83 [SEP] 14, Bowl, -2.860, 1.672, 1.013, 0, 90, 0, 83 [SEP] 15, SaltShaker, 0.759, 1.108, 0.652, 0, 315, 0, 64 [SEP] 16, Bread, -2.800, 0.432, 0.932, 0, 90, 0, 83 [SEP] 17, Bread, -2.800, 0.874, 0.690, 0, 90, 0, 83 [SEP] 18, Mug, 0.398, 1.000, -1.414, 0, 90, 0, 84 [SEP] 19, Apple, -2.800, 0.430, 0.609, 0, 90, 0, 83 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.765, 0.963, -0.948, 0, 0, 0, 71 [SEP] 22, Fork, 0.254, 0.748, -1.095, 0, 90, 0, 72 [SEP] 23, Kettle, -2.236, 0.912, -1.282, 0, 0, 0, 71 [SEP] 24, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 71 [SEP] 25, Bread, 0.765, 0.965, -1.282, 0, 0, 0, 71 [SEP] 26, Plate, -0.103, 1.664, -1.322, 0, 0, 0, 58 [SEP] 27, SoapBottle, 0.663, 1.112, 0.902, 0, 315, 0, 64 [SEP] 28, Spatula, 1.317, 1.126, 0.864, 0, 45, 0, 64 [SEP] 29, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 83 [SEP] 30, SaltShaker, -2.885, 1.791, -0.483, 0, 0, 0, 43 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 63 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, 1.463, 1.100, 0.61, 0, 0, 0, 64 [SEP] 35, DishSponge, -2.060, 1.662, -1.284, 0, 0, 0, 46 [SEP] 36, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 64 [SEP] 37, Spoon, 0.997, 0.912, -1.282, 0, 0, 0, 71 [SEP] 38, Knife, -1.332, 0.872, -1.25, 0, 90, 0, 81 [SEP] 39, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 81 [SEP] 40, Mug, -2.680, 1.668, 1.094, 0, 180, 0, 83 [SEP] 41, Bowl, 0.990, 1.110, 0.883, 0, 315, 0, 64 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk forward and turn left to face the fridge. | STEP 4: Cut the lettuce in the fridge into slices. | STEP 5: Look up to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Look up to face the fridge. | STEP 8: Pick up the slice of lettuce in the fridge. | STEP 9: Turn left and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Turn around and walk to face the fridge. | STEP 12: Place the slice of lettuce in the fridge. | END


Input: Put two heads of lettuce 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, 0.0, 0.900, -1.0, 0, 0, 0,  [SEP] 1, Pan, 1.691, 0.929, -0.335, 0, 0, 0, 52 [SEP] 2, Potato, -2.439, 1.125, -0.696, 0, 90, 0, 76 [SEP] 3, Potato, -2.613, 0.214, -1.123, 0, 90, 0, 76 [SEP] 4, ButterKnife, 1.283, 0.919, -1.169, 0, 225, 0, 58 [SEP] 5, Kettle, -2.564, 1.538, 2.477, 0, 270, 0, 48 [SEP] 6, Cup, -2.638, 1.535, 0.918, 0, 0, 0, 68 [SEP] 7, Plate, -0.341, 0.913, 1.094, 0, 0, 0, 44 [SEP] 8, Plate, -2.372, 0.913, 0.931, 0, 0, 0, 72 [SEP] 9, Knife, -0.341, 0.936, 0.647, 0, 0, 0, 44 [SEP] 10, Knife, -2.196, 0.799, 0.391, 0, 90, 0, 61 [SEP] 11, Tomato, -2.485, 1.131, -1.074, 0, 90, 0, 76 [SEP] 12, Tomato, -2.439, 1.131, -0.507, 0, 90, 0, 76 [SEP] 13, SoapBottle, 1.399, 0.922, -1.123, 0, 135, 0, 58 [SEP] 14, PepperShaker, -0.211, 0.905, 1.317, 0, 0, 0, 44 [SEP] 15, SaltShaker, -2.313, 0.109, 1.216, 0, 0, 0, 50 [SEP] 16, Lettuce, -2.455, 0.994, 1.230, 0, 0, 0, 72 [SEP] 17, Lettuce, -0.471, 0.994, 1.764, 0, 0, 0, 44 [SEP] 18, Lettuce, -2.372, 0.994, 0.631, 0, 0, 0, 72 [SEP] 19, Bread, 0.048, 0.996, 0.647, 0, 0, 0, 44 [SEP] 20, Apple, 1.729, 0.246, 0.651, 0, 0, 0, 83 [SEP] 21, Pan, -2.621, 0.910, 0.031, 0, 270, 0, 72 [SEP] 22, Knife, -2.257, 0.799, 0.952, 0, 270, 0, 49 [SEP] 23, Apple, 1.562, 0.246, 0.651, 0, 0, 0, 83 [SEP] 24, Bowl, 1.697, 1.653, 0.239, 0, 0, 0, 63 [SEP] 25, Fork, -2.379, 0.774, -0.073, 0, 90, 0, 62 [SEP] 26, Bread, -0.081, 0.996, 1.540, 0, 0, 0, 44 [SEP] 27, Plate, -0.341, 0.913, 0.423, 0, 0, 0, 44 [SEP] 28, Egg, 1.256, 0.950, -1.196, 0, 225, 0, 58 [SEP] 29, Kettle, 1.412, 0.929, -0.335, 0, 0, 0, 45 [SEP] 30, Potato, -2.668, 1.051, 2.481, 0, 90, 0, 84 [SEP] 31, SaltShaker, -0.601, 0.905, 0.423, 0, 0, 0, 44 [SEP] 32, Lettuce, -2.455, 0.994, 1.530, 0, 0, 0, 72 [SEP] 33, Cup, -2.393, 1.087, -0.885, 0, 90, 0, 76 [SEP] 34, SoapBottle, 1.771, 1.658, 0.387, 0, 0, 0, 63 [SEP] 35, Spatula, -2.348, 0.788, 1.465, 0, 270, 0, 75 [SEP] 36, PaperTowelRoll, 1.599, 1.015, -0.768, 0, 0, 0, 54 [SEP] 37, ButterKnife, -2.289, 0.910, 1.530, 0, 0, 0, 75 [SEP] 38, PepperShaker, -2.277, 0.109, 1.319, 0, 0, 0, 50 [SEP] 39, DishSponge, -0.730, 0.910, 0.423, 0, 0, 0, 44 [SEP] 40, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 70 [SEP] 41, Spoon, 1.598, 0.912, 0.435, 0, 0, 0, 53 [SEP] 42, Tomato, 1.855, 0.953, 0.406, 0, 0, 0, 53 [SEP] 43, Mug, -2.621, 0.905, 1.530, 0, 0, 0, 72 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: move to the counter to the right of the fridge | STEP 2: pick up lettuce from the counter | STEP 3: move to the fridge to the left of you | STEP 4: put the lettuce in the fridge | STEP 5: move to the counter to the right of the fridge | STEP 6: pick up lettuce from the counter | STEP 7: move to the fridge to the left of you | STEP 8: put the lettuce in the fridge | END


Input: Put the urn and vase on the table by the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, -1.0, 0, 0, 0,  [SEP] 1, Bowl, -1.583, 0.972, -0.742, 0, 0, 0, 44 [SEP] 2, Statue, -1.509, 0.980, 0.062, 0, 90, 0, 44 [SEP] 3, CD, -1.436, 0.971, -0.339, 0, 0, 0, 44 [SEP] 4, CellPhone, -1.657, 0.972, 0.464, 0, 0, 0, 44 [SEP] 5, CellPhone, 2.592, 0.433, 1.584, 0, 90, 0, 60 [SEP] 6, CreditCard, -1.607, 0.036, -0.723, 0, 0, 0, 52 [SEP] 7, Book, -1.804, 0.971, 0.062, 0, 0, 0, 44 [SEP] 8, AlarmClock, -1.583, 0.970, 0.263, 0, 0, 0, 44 [SEP] 9, Laptop, 1.743, 0.773, -0.106, 0, 0, 0, 26 [SEP] 10, Book, -1.664, 0.604, -0.721, 0, 0, 0, 50 [SEP] 11, KeyChain, -1.509, 0.972, -0.339, 0, 0, 0, 44 [SEP] 12, AlarmClock, -1.583, 0.970, -0.138, 0, 0, 0, 44 [SEP] 13, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 26 [SEP] 14, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 26 [SEP] 15, Vase, -1.668, 1.147, -1.959, 0, 90, 0, 39 [SEP] 16, Laptop, 0.778, 0.773, -0.990, 0, 0, 0, 26 [SEP] 17, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 38 [SEP] 18, Pencil, -1.878, 0.976, -0.138, 0, 90, 0, 44 [SEP] 19, CreditCard, -1.730, 1.146, -2.187, 0, 90, 0, 39 [SEP] 20, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 21, Pen, -1.605, 1.643, -2.187, 0, 90, 0, 38 [SEP] 22, CellPhone, 1.02, 0.775, -0.106, 0, 0, 0, 26 [SEP] 23, CD, 1.576, 0.082, 2.153, 0, 0, 0, 55 [SEP] 24, Bowl, -1.699, 1.637, -2.073, 0, 90, 0, 38 [SEP] 25, Statue, -1.764, 0.965, -0.758, 0, 59.718, 0, 44 [SEP] 26, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 27, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 28, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 29, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 30, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 31, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 32, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 33, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 34, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 35, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 36, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 37, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 38, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 39, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 40, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 41, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 42, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 43, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 44, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 45, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 46, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 47, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 48, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 50, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 52, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 54, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 55, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 56, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 57, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 58, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 59, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 60, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, EastWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, WestWall, , , , , , ,

Output: STEP 1: Walk around the bed and go to the dresser closest to the window. | STEP 2: Pick up the urn on the shelf. | STEP 3: Turn around and walk to the small table by the chair. | STEP 4: Put the urn down next to the lamp. | STEP 5: Turn around and go back to the dresser by the window. | STEP 6: Pick up the yellow vase. | STEP 7: Turn around and return to the table by the chair. | STEP 8: Put the vase down next to the urn. | END


Input: Move two pencils from the dresser to the nightstand.  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, 2.0, 0, 270, 0,  [SEP] 1, CD, -1.878, 0.971, 0.464, 0, 0, 0, 46 [SEP] 2, CD, 1.808, 0.680, 2.172, 0, 0, 0, 56 [SEP] 3, CellPhone, -1.720, 0.664, -2.177, 0, 0, 0, 42 [SEP] 4, CellPhone, -1.663, 0.800, -0.629, 0, 0, 0, 47 [SEP] 5, Pen, -1.657, 0.976, -0.339, 0, 0, 0, 46 [SEP] 6, Pencil, -1.730, 1.151, -2.073, 0, 90, 0, 41 [SEP] 7, Pencil, -1.636, 1.151, -1.959, 0, 90, 0, 41 [SEP] 8, KeyChain, 1.808, 0.682, 2.308, 0, 0, 0, 56 [SEP] 9, KeyChain, -1.636, 1.639, -1.959, 0, 90, 0, 40 [SEP] 10, AlarmClock, 1.653, 0.680, 2.308, 0, 0, 0, 56 [SEP] 11, AlarmClock, 1.576, 0.680, 2.082, 0, 0, 0, 56 [SEP] 12, Book, -1.509, 0.971, -0.742, 0, 0, 0, 46 [SEP] 13, KeyChain, -1.608, 0.606, -0.443, 0, 0, 0, 50 [SEP] 14, AlarmClock, -1.699, 1.637, -2.073, 0, 90, 0, 40 [SEP] 15, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 28 [SEP] 16, Pillow, 1.502, 0.836, 0.188, 0, 0, 0, 28 [SEP] 17, Vase, -1.668, 1.147, -2.415, 0, 90, 0, 41 [SEP] 18, Laptop, 1.02, 0.773, -0.990, 0, 0, 0, 28 [SEP] 19, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 40 [SEP] 20, Pencil, -1.668, 1.643, -2.187, 0, 90, 0, 40 [SEP] 21, CreditCard, 2.133, 0.437, 1.929, 0, 90, 0, 62 [SEP] 22, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 23, Pen, -1.509, 0.977, -0.339, 0, 0, 0, 46 [SEP] 24, CellPhone, -1.552, 0.217, -0.257, 0, 0, 0, 54 [SEP] 25, CD, 2.689, 0.439, 1.837, 0, 90, 0, 62 [SEP] 26, Bowl, -1.509, 0.970, -0.138, 0, 0, 0, 46 [SEP] 27, Statue, 2.360, 0.691, -1.717, 0, 0, 0, 59 [SEP] 28, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 29, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 30, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 31, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 32, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 33, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 34, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 35, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 36, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 37, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 38, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 39, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 40, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 41, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 42, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 43, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 45, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 46, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 47, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 48, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 49, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 51, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 52, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 56, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 57, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 58, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 59, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 60, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 61, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 62, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 63, NorthWall, , , , , , ,  [SEP] 64, EastWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the dresser.  | STEP 2: Pick up a pencil on the dresser.  | STEP 3: Turn and go to the nightstand by the bed.  | STEP 4: Put the pencil on the nightstand by the bed.  | STEP 5: Turn and go to the dresser.  | STEP 6: Pick up a pencil on the dresser.  | STEP 7: Turn and go to the nightstand by the bed.  | STEP 8: Put the pencil on the nightstand by the bed.  | END


Input: To move two pens to the night stand.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.0, 0, 270, 0,  [SEP] 1, CD, -1.878, 0.971, 0.464, 0, 0, 0, 46 [SEP] 2, CD, 1.808, 0.680, 2.172, 0, 0, 0, 56 [SEP] 3, CellPhone, -1.720, 0.664, -2.177, 0, 0, 0, 42 [SEP] 4, CellPhone, -1.663, 0.800, -0.629, 0, 0, 0, 47 [SEP] 5, Pen, -1.657, 0.976, -0.339, 0, 0, 0, 46 [SEP] 6, Pencil, -1.730, 1.151, -2.073, 0, 90, 0, 41 [SEP] 7, Pencil, -1.636, 1.151, -1.959, 0, 90, 0, 41 [SEP] 8, KeyChain, 1.808, 0.682, 2.308, 0, 0, 0, 56 [SEP] 9, KeyChain, -1.636, 1.639, -1.959, 0, 90, 0, 40 [SEP] 10, AlarmClock, 1.653, 0.680, 2.308, 0, 0, 0, 56 [SEP] 11, AlarmClock, 1.576, 0.680, 2.082, 0, 0, 0, 56 [SEP] 12, Book, -1.509, 0.971, -0.742, 0, 0, 0, 46 [SEP] 13, KeyChain, -1.608, 0.606, -0.443, 0, 0, 0, 50 [SEP] 14, AlarmClock, -1.699, 1.637, -2.073, 0, 90, 0, 40 [SEP] 15, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 28 [SEP] 16, Pillow, 1.502, 0.836, 0.188, 0, 0, 0, 28 [SEP] 17, Vase, -1.668, 1.147, -2.415, 0, 90, 0, 41 [SEP] 18, Laptop, 1.02, 0.773, -0.990, 0, 0, 0, 28 [SEP] 19, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 40 [SEP] 20, Pencil, -1.668, 1.643, -2.187, 0, 90, 0, 40 [SEP] 21, CreditCard, 2.133, 0.437, 1.929, 0, 90, 0, 62 [SEP] 22, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 23, Pen, -1.509, 0.977, -0.339, 0, 0, 0, 46 [SEP] 24, CellPhone, -1.552, 0.217, -0.257, 0, 0, 0, 54 [SEP] 25, CD, 2.689, 0.439, 1.837, 0, 90, 0, 62 [SEP] 26, Bowl, -1.509, 0.970, -0.138, 0, 0, 0, 46 [SEP] 27, Statue, 2.360, 0.691, -1.717, 0, 0, 0, 59 [SEP] 28, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 29, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 30, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 31, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 32, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 33, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 34, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 35, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 36, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 37, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 38, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 39, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 40, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 41, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 42, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 43, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 45, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 46, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 47, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 48, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 49, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 51, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 52, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 56, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 57, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 58, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 59, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 60, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 61, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 62, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 63, NorthWall, , , , , , ,  [SEP] 64, EastWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the black dresser on the right.  | STEP 2: Pick up the pen from the dresser closest to the mirror.  | STEP 3: Turn around and walk around the bed to the night stand to the left of the bed.  | STEP 4: Put the pen down on the night stand in front of the lamp.  | STEP 5: Turn around and walk back to the black dresser.  | STEP 6: Pick up the remaining pen from the dresser.  | STEP 7: Walk back over to the night stand to the left of the bed.  | STEP 8: Put the pen down behind the first pen on the night stand.  | END


Input: Move a toilet paper roll and empty roll to the tank of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -1.5, 0, 270, 0,  [SEP] 1, SoapBar, -2.613, 0.065, -2.320, 0, 0, 0, 21 [SEP] 2, Candle, -0.037, 1.054, -2.983, 0, 270, 0, 33 [SEP] 3, Candle, -0.160, 1.054, -2.852, 0, 270, 0, 33 [SEP] 4, SprayBottle, -2.796, 0.807, -3.765, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.160, 1.047, -2.983, 0, 270, 0, 33 [SEP] 6, Candle, -2.443, 0.815, -2.525, 0, 0, 0, 24 [SEP] 7, Cloth, -2.537, 0.066, -2.494, 0, 0, 0, 21 [SEP] 8, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 27 [SEP] 9, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 10, SoapBar, -2.708, 0.806, -3.707, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -2.532, 0.803, -2.525, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -2.708, 0.803, -2.263, 0, 0, 0, 24 [SEP] 13, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 25 [SEP] 14, SoapBottle, -2.387, 0.068, -3.139, 0, 0, 0, 17 [SEP] 15, SprayBottle, -2.443, 0.807, -3.765, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 17, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0,  [SEP] 18, Mirror, -3.0, 1.659, -3.069, 0, 0, 0,  [SEP] 19, Sink, -2.661, 0.785, -3.069, 0, 90, 0,  [SEP] 20, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0,  [SEP] 21, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0,  [SEP] 22, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0,  [SEP] 24, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0,  [SEP] 25, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0,  [SEP] 26, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0,  [SEP] 27, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0,  [SEP] 28, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0,  [SEP] 29, Window, -0.567, 1.706, -4.002, 90, 0, 0,  [SEP] 30, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0,  [SEP] 31, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0,  [SEP] 32, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0,  [SEP] 33, Toilet, -0.452, 0.000, -3.052, 0, 0, 0,  [SEP] 34, Faucet, -3.0, 1.167, -3.073, 0, 180, 0,  [SEP] 35, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0,  [SEP] 36, EastWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,

Output: STEP 1: Turn to the left and face the counter on the right. | STEP 2: Pick up the toilet paper from the counter. | STEP 3: Carry the toilet paper and turn around to the toilet. | STEP 4: Place the toilet paper on the tank of the toilet. | STEP 5: Look down and then turn around. Face the sort side of the white counter. | STEP 6: Pick up the empty paper roll from the counter. | STEP 7: Carry the paper roll and turn to the left and then left again back to the toilet. | STEP 8: Place the paper roll on the tank of the toilet. | END


Input: Examine a bowl using the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, Mug, 1.310, 1.136, 1.558, 0, 90, 0, 40 [SEP] 2, Mug, 1.278, 1.136, 0.933, 0, 270, 0, 40 [SEP] 3, CD, 1.356, 0.728, 1.727, 0, 0, 0, 43 [SEP] 4, CD, 1.152, 0.728, 0.901, 0, 0, 0, 43 [SEP] 5, CellPhone, 0.579, 0.782, 0.107, 0, 0, 0, 32 [SEP] 6, CellPhone, 0.829, 0.782, 0.107, 0, 0, 0, 32 [SEP] 7, Pen, 0.255, 0.698, -1.572, 0, 0, 0, 45 [SEP] 8, Pencil, 1.310, 1.142, 1.089, 0, 270, 0, 40 [SEP] 9, CreditCard, -0.213, 0.693, -1.616, 0, 0, 0, 45 [SEP] 10, Book, 0.829, 0.780, -1.537, 0, 0, 0, 32 [SEP] 11, Pillow, 1.205, 0.849, 0.107, 0, 0, 0, 32 [SEP] 12, Book, 1.145, 0.721, 1.806, 0, 0, 0, 42 [SEP] 13, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 14, CellPhone, 0.955, 0.782, -0.714, 0, 0, 0, 32 [SEP] 15, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 16, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 43 [SEP] 17, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 18, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 43 [SEP] 19, CreditCard, -0.180, 0.098, -1.687, 0, 0, 0, 46 [SEP] 20, KeyChain, 1.356, 0.729, 1.562, 0, 180, 0, 43 [SEP] 21, AlarmClock, 1.310, 1.139, 1.246, 0, 270, 0, 40 [SEP] 22, Pencil, 1.084, 0.732, 1.066, 0, 0, 0, 43 [SEP] 23, Pillow, 0.829, 0.849, -0.988, 0, 0, 0, 32 [SEP] 24, CD, 1.373, 1.138, 1.089, 0, 270, 0, 40 [SEP] 25, Pen, 1.310, 1.144, 1.402, 0, 270, 0, 40 [SEP] 26, Mug, 0.164, 0.686, -1.805, 0, 348.715, 0, 45 [SEP] 27, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 28, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 29, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 30, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 31, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 32, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 33, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 34, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 35, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 36, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 37, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 38, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 39, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 40, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 41, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 42, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 43, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 44, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 45, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 46, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 47, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk a few steps, then turn right again and walk up to the desk.  | STEP 2: Pick up the bowl that is sitting on the desk.  | STEP 3: Turn around completely, walk a few steps forward, then turn left and walk up to the nightstand.  | STEP 4: Turn on the lamp that is sitting on the nightstand.  | END


Input: turn on a lamp while holding a pair of keys SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.907, 1.25, 0, 180, 0,  [SEP] 1, Bowl, -4.842, 0.756, -0.008, 0, 0, 0, 45 [SEP] 2, Newspaper, 0.578, 0.558, 2.153, 0, 0, 0, 36 [SEP] 3, Vase, 0.492, 0.554, 2.454, 0, 0, 0, 36 [SEP] 4, Pencil, 0.664, 0.555, 2.454, 0, 0, 0, 36 [SEP] 5, Pencil, 0.319, 0.555, 2.153, 0, 0, 0, 36 [SEP] 6, Book, -4.295, 0.755, -0.626, 0, 0, 0, 51 [SEP] 7, CellPhone, -1.320, 0.450, 1.849, 0, 0, 0, 52 [SEP] 8, CellPhone, -1.340, 0.881, 0.101, 0, 90, 0, 53 [SEP] 9, RemoteControl, -1.204, 0.452, 2.795, 0, 0, 0, 52 [SEP] 10, Book, -0.970, 0.455, 1.849, 0, 0, 0, 52 [SEP] 11, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 44 [SEP] 12, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 44 [SEP] 13, Bowl, -3.747, 0.756, -0.379, 0, 0, 0, 51 [SEP] 14, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0,  [SEP] 15, TissueBox, 0.233, 0.553, 2.304, 0, 0, 0, 36 [SEP] 16, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 52 [SEP] 17, CreditCard, -0.970, 0.453, 3.031, 0, 0, 0, 52 [SEP] 18, KeyChain, 0.386, 0.424, 4.434, 0, 90, 0, 43 [SEP] 19, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0,  [SEP] 20, Pencil, -4.842, 0.758, -0.131, 0, 0, 0, 51 [SEP] 21, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 36 [SEP] 22, Vase, -4.295, 0.757, -0.255, 0, 0, 0, 51 [SEP] 23, RemoteControl, 0.585, 0.042, 2.475, 0, 0, 0, 41 [SEP] 24, Watch, -0.936, 0.769, 0.254, 0, 90, 0, 54 [SEP] 25, CellPhone, 0.419, 0.431, 5.171, 0, 0, 0, 44 [SEP] 26, Plate, -4.659, 0.758, -0.626, 0, 0, 0, 49 [SEP] 27, Painting, -6.5, 1.759, -0.341, 0, 0, 0,  [SEP] 28, Painting, 0.704, 1.778, 0.782, 0, 0, 0,  [SEP] 29, Television, 1.5, 1.690, 2.562, 0, 270, 0,  [SEP] 30, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0,  [SEP] 31, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0,  [SEP] 32, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0,  [SEP] 33, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0,  [SEP] 34, Window, 1.496, 1.712, 4.454, 90, 90, 0,  [SEP] 35, Window, -4.210, 1.577, -1.980, 90, 180, 0,  [SEP] 36, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0,  [SEP] 37, Drawer, 0.597, 0.234, 2.604, 0, 270, 0,  [SEP] 38, Drawer, 0.214, 0.393, 2.604, 0, 270, 0,  [SEP] 39, Drawer, 0.214, 0.234, 2.609, 0, 270, 0,  [SEP] 40, Drawer, 0.214, 0.075, 2.604, 0, 270, 0,  [SEP] 41, Drawer, 0.597, 0.075, 2.604, 0, 270, 0,  [SEP] 42, Drawer, 0.597, 0.393, 2.604, 0, 270, 0,  [SEP] 43, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0,  [SEP] 44, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0,  [SEP] 45, Chair, -4.664, 0.008, 0.164, 0, 180, 0,  [SEP] 46, Chair, -3.424, 0.008, -0.321, 0, 270, 0,  [SEP] 47, Chair, -4.988, 0.008, -0.401, 0, 90, 0,  [SEP] 48, Chair, -3.904, 0.008, -0.827, 0, 0, 0,  [SEP] 49, Chair, -4.570, 0.008, -0.831, 0, 0, 0,  [SEP] 50, Chair, -3.996, 0.008, 0.091, 0, 180, 0,  [SEP] 51, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0,  [SEP] 52, Sofa, -1.527, 0.013, 2.559, 0, 90, 0,  [SEP] 53, SideTable, -1.030, 0.006, 0.160, 0, 0, 0,  [SEP] 54, Drawer, -1.030, 0.780, 0.225, 0, 0, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: turn around and walk over to the foot rest in front of the chair at the near end of the room on the right | STEP 2: grab the keys off of the foot rest | STEP 3: move around the chair in front of you to end up at the other side, but then face the wall with the lamp on it | STEP 4: turn on the lamp there | END


Input: Examine the keys under the light of the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.907, 1.25, 0, 180, 0,  [SEP] 1, Bowl, -4.842, 0.756, -0.008, 0, 0, 0, 45 [SEP] 2, Newspaper, 0.578, 0.558, 2.153, 0, 0, 0, 36 [SEP] 3, Vase, 0.492, 0.554, 2.454, 0, 0, 0, 36 [SEP] 4, Pencil, 0.664, 0.555, 2.454, 0, 0, 0, 36 [SEP] 5, Pencil, 0.319, 0.555, 2.153, 0, 0, 0, 36 [SEP] 6, Book, -4.295, 0.755, -0.626, 0, 0, 0, 51 [SEP] 7, CellPhone, -1.320, 0.450, 1.849, 0, 0, 0, 52 [SEP] 8, CellPhone, -1.340, 0.881, 0.101, 0, 90, 0, 53 [SEP] 9, RemoteControl, -1.204, 0.452, 2.795, 0, 0, 0, 52 [SEP] 10, Book, -0.970, 0.455, 1.849, 0, 0, 0, 52 [SEP] 11, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 44 [SEP] 12, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 44 [SEP] 13, Bowl, -3.747, 0.756, -0.379, 0, 0, 0, 51 [SEP] 14, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0,  [SEP] 15, TissueBox, 0.233, 0.553, 2.304, 0, 0, 0, 36 [SEP] 16, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 52 [SEP] 17, CreditCard, -0.970, 0.453, 3.031, 0, 0, 0, 52 [SEP] 18, KeyChain, 0.386, 0.424, 4.434, 0, 90, 0, 43 [SEP] 19, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0,  [SEP] 20, Pencil, -4.842, 0.758, -0.131, 0, 0, 0, 51 [SEP] 21, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 36 [SEP] 22, Vase, -4.295, 0.757, -0.255, 0, 0, 0, 51 [SEP] 23, RemoteControl, 0.585, 0.042, 2.475, 0, 0, 0, 41 [SEP] 24, Watch, -0.936, 0.769, 0.254, 0, 90, 0, 54 [SEP] 25, CellPhone, 0.419, 0.431, 5.171, 0, 0, 0, 44 [SEP] 26, Plate, -4.659, 0.758, -0.626, 0, 0, 0, 49 [SEP] 27, Painting, -6.5, 1.759, -0.341, 0, 0, 0,  [SEP] 28, Painting, 0.704, 1.778, 0.782, 0, 0, 0,  [SEP] 29, Television, 1.5, 1.690, 2.562, 0, 270, 0,  [SEP] 30, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0,  [SEP] 31, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0,  [SEP] 32, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0,  [SEP] 33, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0,  [SEP] 34, Window, 1.496, 1.712, 4.454, 90, 90, 0,  [SEP] 35, Window, -4.210, 1.577, -1.980, 90, 180, 0,  [SEP] 36, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0,  [SEP] 37, Drawer, 0.597, 0.234, 2.604, 0, 270, 0,  [SEP] 38, Drawer, 0.214, 0.393, 2.604, 0, 270, 0,  [SEP] 39, Drawer, 0.214, 0.234, 2.609, 0, 270, 0,  [SEP] 40, Drawer, 0.214, 0.075, 2.604, 0, 270, 0,  [SEP] 41, Drawer, 0.597, 0.075, 2.604, 0, 270, 0,  [SEP] 42, Drawer, 0.597, 0.393, 2.604, 0, 270, 0,  [SEP] 43, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0,  [SEP] 44, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0,  [SEP] 45, Chair, -4.664, 0.008, 0.164, 0, 180, 0,  [SEP] 46, Chair, -3.424, 0.008, -0.321, 0, 270, 0,  [SEP] 47, Chair, -4.988, 0.008, -0.401, 0, 90, 0,  [SEP] 48, Chair, -3.904, 0.008, -0.827, 0, 0, 0,  [SEP] 49, Chair, -4.570, 0.008, -0.831, 0, 0, 0,  [SEP] 50, Chair, -3.996, 0.008, 0.091, 0, 180, 0,  [SEP] 51, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0,  [SEP] 52, Sofa, -1.527, 0.013, 2.559, 0, 90, 0,  [SEP] 53, SideTable, -1.030, 0.006, 0.160, 0, 0, 0,  [SEP] 54, Drawer, -1.030, 0.780, 0.225, 0, 0, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk around the coffee table to the ottoman by the arm chair | STEP 2: Pick up the keys from the ottoman | STEP 3: Turn right and walk around the back of the chair to the floor lamp | STEP 4: Turn on the floor lamp | END


Input: place a  clean egg in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0,  [SEP] 1, Potato, -2.844, 0.960, 1.178, 0, 90, 0, 58 [SEP] 2, DishSponge, -0.832, 0.710, 0.411, 0, 0, 0, 42 [SEP] 3, DishSponge, -2.881, 1.435, 0.640, 0, 0, 0, 48 [SEP] 4, Spoon, -1.133, 0.699, 0.444, 0, 270, 0, 43 [SEP] 5, Spoon, -2.258, 0.824, 0.129, 0, 0, 0, 39 [SEP] 6, Spatula, -2.608, 0.838, 0.352, 0, 0, 0, 39 [SEP] 7, Plate, -2.648, 0.126, 1.550, 0, 0, 0, 50 [SEP] 8, SoapBottle, -2.358, 1.433, 0.114, 0, 0, 0, 46 [SEP] 9, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 45 [SEP] 10, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 57 [SEP] 11, Apple, -2.744, 0.994, 1.390, 0, 270, 0, 58 [SEP] 12, Fork, -2.664, 0.693, 1.547, 0, 270, 0, 44 [SEP] 13, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 41 [SEP] 14, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 38 [SEP] 15, SoapBottle, -0.362, 0.054, 2.606, 0, 0, 0, 59 [SEP] 16, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 36 [SEP] 17, Tomato, -2.671, 1.193, 1.957, 0, 90, 0, 57 [SEP] 18, Potato, -2.744, 0.960, 1.125, 0, 0, 0, 58 [SEP] 19, SaltShaker, -1.522, 0.120, 0.401, 0, 0, 0, 52 [SEP] 20, Plate, -2.057, 0.130, 0.440, 0, 0, 0, 51 [SEP] 21, Spatula, -2.504, 0.838, 0.625, 0, 90, 0, 39 [SEP] 22, Knife, -2.581, 0.849, 0.871, 0, 0, 0, 39 [SEP] 23, Egg, -2.504, 0.847, 0.462, 0, 0, 0, 39 [SEP] 24, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 57 [SEP] 25, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 39 [SEP] 26, Lettuce, -2.726, 1.529, 2.221, 0, 90, 0, 57 [SEP] 27, PepperShaker, -0.323, 0.818, 1.326, 0, 0, 0, 39 [SEP] 28, DishSponge, -2.501, 1.848, 2.316, 0, 0, 0, 49 [SEP] 29, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 39 [SEP] 30, Spoon, -0.400, 0.824, 0.881, 0, 270, 0, 39 [SEP] 31, Mug, -2.840, 0.818, 0.129, 0, 0, 0, 39 [SEP] 32, Bowl, -2.726, 0.821, 2.045, 0, 90, 0, 57 [SEP] 33, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 34, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 35, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 36, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 37, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 38, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 39, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 40, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 41, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 42, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 43, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 44, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 45, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 46, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 47, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 48, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 49, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 50, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 51, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 52, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 53, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 54, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 55, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 56, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 57, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 58, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 59, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 60, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 61, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 62, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 63, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 64, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 65, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 66, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 67, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 68, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 69, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 70, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: turn around towards the sink | STEP 2: pick up the egg | STEP 3: turn to the sink at  the left | STEP 4: wash the egg in the sink | STEP 5: turn around and head to the fridge | STEP 6: place the egg in the fridge | END


Input: wash the egg in the sink, put the egg in the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0,  [SEP] 1, Potato, -2.844, 0.960, 1.178, 0, 90, 0, 58 [SEP] 2, DishSponge, -0.832, 0.710, 0.411, 0, 0, 0, 42 [SEP] 3, DishSponge, -2.881, 1.435, 0.640, 0, 0, 0, 48 [SEP] 4, Spoon, -1.133, 0.699, 0.444, 0, 270, 0, 43 [SEP] 5, Spoon, -2.258, 0.824, 0.129, 0, 0, 0, 39 [SEP] 6, Spatula, -2.608, 0.838, 0.352, 0, 0, 0, 39 [SEP] 7, Plate, -2.648, 0.126, 1.550, 0, 0, 0, 50 [SEP] 8, SoapBottle, -2.358, 1.433, 0.114, 0, 0, 0, 46 [SEP] 9, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 45 [SEP] 10, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 57 [SEP] 11, Apple, -2.744, 0.994, 1.390, 0, 270, 0, 58 [SEP] 12, Fork, -2.664, 0.693, 1.547, 0, 270, 0, 44 [SEP] 13, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 41 [SEP] 14, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 38 [SEP] 15, SoapBottle, -0.362, 0.054, 2.606, 0, 0, 0, 59 [SEP] 16, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 36 [SEP] 17, Tomato, -2.671, 1.193, 1.957, 0, 90, 0, 57 [SEP] 18, Potato, -2.744, 0.960, 1.125, 0, 0, 0, 58 [SEP] 19, SaltShaker, -1.522, 0.120, 0.401, 0, 0, 0, 52 [SEP] 20, Plate, -2.057, 0.130, 0.440, 0, 0, 0, 51 [SEP] 21, Spatula, -2.504, 0.838, 0.625, 0, 90, 0, 39 [SEP] 22, Knife, -2.581, 0.849, 0.871, 0, 0, 0, 39 [SEP] 23, Egg, -2.504, 0.847, 0.462, 0, 0, 0, 39 [SEP] 24, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 57 [SEP] 25, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 39 [SEP] 26, Lettuce, -2.726, 1.529, 2.221, 0, 90, 0, 57 [SEP] 27, PepperShaker, -0.323, 0.818, 1.326, 0, 0, 0, 39 [SEP] 28, DishSponge, -2.501, 1.848, 2.316, 0, 0, 0, 49 [SEP] 29, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 39 [SEP] 30, Spoon, -0.400, 0.824, 0.881, 0, 270, 0, 39 [SEP] 31, Mug, -2.840, 0.818, 0.129, 0, 0, 0, 39 [SEP] 32, Bowl, -2.726, 0.821, 2.045, 0, 90, 0, 57 [SEP] 33, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 34, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 35, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 36, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 37, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 38, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 39, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 40, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 41, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 42, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 43, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 44, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 45, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 46, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 47, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 48, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 49, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 50, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 51, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 52, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 53, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 54, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 55, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 56, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 57, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 58, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 59, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 60, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 61, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 62, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 63, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 64, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 65, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 66, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 67, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 68, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 69, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 70, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: turn around, walk to the sink | STEP 2: grab the egg on the counter | STEP 3: walk to the left a little | STEP 4: put the egg in the left sink, wash it with water, take the egg out | STEP 5: turn around, walk to the refrigerator on the left | STEP 6: open the refrigerator, put the egg in | END


Input: Move a candle from a counter to the top of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 0.25, 0, 180, 0,  [SEP] 1, Cloth, -3.948, 0.038, 0.224, 0, 0, 0, 44 [SEP] 2, Cloth, -1.942, 0.176, -0.586, 0, 90, 0, 28 [SEP] 3, TissueBox, -1.665, 0.704, -0.755, 0, 90, 0, 30 [SEP] 4, TissueBox, -1.396, 0.442, -0.586, 0, 90, 0, 24 [SEP] 5, SprayBottle, -2.120, 0.700, -0.642, 0, 90, 0, 30 [SEP] 6, SprayBottle, -0.607, 0.951, -0.748, 0, 90, 0, 42 [SEP] 7, SoapBar, -2.575, 0.703, -0.812, 0, 90, 0, 30 [SEP] 8, DishSponge, -0.794, 0.955, -0.722, 0, 90, 0, 42 [SEP] 9, SoapBottle, -2.347, 0.706, -0.528, 0, 90, 0, 30 [SEP] 10, Towel, -3.66, 1.567, -0.459, 0, 0, 0, 37 [SEP] 11, Candle, -2.575, 0.702, -0.755, 0, 90, 0, 30 [SEP] 12, HandTowel, -2.576, 1.683, 2.244, 0, 0, 0, 39 [SEP] 13, SoapBar, -2.246, 0.177, -0.635, 0, 90, 0, 27 [SEP] 14, ToiletPaper, -3.145, 0.609, -0.328, 0, 0, 0, 35 [SEP] 15, Plunger, -1.088, 0.000, -0.526, 0, 0, 0, Floor|-02.42| [SEP] 16, SprayBottle, -1.665, 0.700, -0.642, 0, 90, 0, 30 [SEP] 17, SoapBottle, -1.892, 0.706, -0.585, 0, 90, 0, 30 [SEP] 18, TissueBox, -2.391, 0.442, -0.586, 0, 90, 0, 26 [SEP] 19, ToiletPaper, -3.284, 0.609, -0.443, 0, 0, 0, 35 [SEP] 20, PaperTowelRoll, -0.544, 1.060, -0.695, 0, 90, 0, 42 [SEP] 21, ScrubBrush, -1.041, 0.001, -0.707, 0, 0, 0, Floor|-02.42| [SEP] 22, Cloth, -3.602, 0.038, 0.224, 0, 0, 0, 44 [SEP] 23, DishSponge, -3.250, 0.613, 1.723, 0, 0, 0, 35 [SEP] 24, Drawer, -1.444, 0.531, -0.620, 0, 90, 0,  [SEP] 25, Sink, -1.919, 0.441, 2.032, 0, 180, 0,  [SEP] 26, Drawer, -2.343, 0.531, -0.620, 0, 90, 0,  [SEP] 27, Drawer, -2.343, 0.271, -0.620, 0, 90, 0,  [SEP] 28, Drawer, -1.894, 0.271, -0.620, 0, 90, 0,  [SEP] 29, Drawer, -2.791, 0.271, -0.620, 0, 90, 0,  [SEP] 30, CounterTop, -2.799, 0.001, -0.593, 0, 90, 0,  [SEP] 31, Drawer, -1.894, 0.531, -0.620, 0, 90, 0,  [SEP] 32, Mirror, -1.909, 1.748, 2.280, 0, 0, 0,  [SEP] 33, Drawer, -2.791, 0.531, -0.620, 0, 90, 0,  [SEP] 34, Drawer, -1.444, 0.271, -0.620, 0, 90, 0,  [SEP] 35, Bathtub, -3.706, 0.342, 0.636, 0, 0, 0,  [SEP] 36, Faucet, -1.919, 1.064, 2.182, 0, 180, 0,  [SEP] 37, TowelHolder, -3.660, 1.552, -0.558, 0, 0, 0,  [SEP] 38, GarbageCan, -1.560, -0.000, 1.909, 0, 164.999, 0,  [SEP] 39, HandTowelHolder, -2.575, 1.784, 2.282, 0, 90, 0,  [SEP] 40, HandTowelHolder, -1.274, 1.784, 2.282, 0, 90, 0,  [SEP] 41, LightSwitch, -0.558, 1.282, 2.281, 0, 180, 0,  [SEP] 42, Toilet, -0.720, 0.001, -0.310, 0, 0, 0,  [SEP] 43, ToiletPaperHanger, -0.427, 0.940, 0.187, 0, 270, 0,  [SEP] 44, BathtubBasin, -3.788, 0.028, 0.595, 0, 0, 0,  [SEP] 45, SinkBasin, -1.908, 1.011, 1.981, 0, 180, 0,  [SEP] 46, ShowerHead, -3.740, 1.858, 1.827, 0, 0, 0,  [SEP] 47, ShowerCurtain, -3.039, 2.229, 1.720, 0, 180, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Walk to the right side of the counter in front of you. | STEP 2: Pick up the candle near the bar of soap. | STEP 3: Turn left and walk forward to the toilet. | STEP 4: Put the candle on the top of the toilet, in front of and to the left of the sponge. | END


Input: Move a candlestick to the lid of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 0.25, 0, 180, 0,  [SEP] 1, Cloth, -3.948, 0.038, 0.224, 0, 0, 0, 44 [SEP] 2, Cloth, -1.942, 0.176, -0.586, 0, 90, 0, 28 [SEP] 3, TissueBox, -1.665, 0.704, -0.755, 0, 90, 0, 30 [SEP] 4, TissueBox, -1.396, 0.442, -0.586, 0, 90, 0, 24 [SEP] 5, SprayBottle, -2.120, 0.700, -0.642, 0, 90, 0, 30 [SEP] 6, SprayBottle, -0.607, 0.951, -0.748, 0, 90, 0, 42 [SEP] 7, SoapBar, -2.575, 0.703, -0.812, 0, 90, 0, 30 [SEP] 8, DishSponge, -0.794, 0.955, -0.722, 0, 90, 0, 42 [SEP] 9, SoapBottle, -2.347, 0.706, -0.528, 0, 90, 0, 30 [SEP] 10, Towel, -3.66, 1.567, -0.459, 0, 0, 0, 37 [SEP] 11, Candle, -2.575, 0.702, -0.755, 0, 90, 0, 30 [SEP] 12, HandTowel, -2.576, 1.683, 2.244, 0, 0, 0, 39 [SEP] 13, SoapBar, -2.246, 0.177, -0.635, 0, 90, 0, 27 [SEP] 14, ToiletPaper, -3.145, 0.609, -0.328, 0, 0, 0, 35 [SEP] 15, Plunger, -1.088, 0.000, -0.526, 0, 0, 0, Floor|-02.42| [SEP] 16, SprayBottle, -1.665, 0.700, -0.642, 0, 90, 0, 30 [SEP] 17, SoapBottle, -1.892, 0.706, -0.585, 0, 90, 0, 30 [SEP] 18, TissueBox, -2.391, 0.442, -0.586, 0, 90, 0, 26 [SEP] 19, ToiletPaper, -3.284, 0.609, -0.443, 0, 0, 0, 35 [SEP] 20, PaperTowelRoll, -0.544, 1.060, -0.695, 0, 90, 0, 42 [SEP] 21, ScrubBrush, -1.041, 0.001, -0.707, 0, 0, 0, Floor|-02.42| [SEP] 22, Cloth, -3.602, 0.038, 0.224, 0, 0, 0, 44 [SEP] 23, DishSponge, -3.250, 0.613, 1.723, 0, 0, 0, 35 [SEP] 24, Drawer, -1.444, 0.531, -0.620, 0, 90, 0,  [SEP] 25, Sink, -1.919, 0.441, 2.032, 0, 180, 0,  [SEP] 26, Drawer, -2.343, 0.531, -0.620, 0, 90, 0,  [SEP] 27, Drawer, -2.343, 0.271, -0.620, 0, 90, 0,  [SEP] 28, Drawer, -1.894, 0.271, -0.620, 0, 90, 0,  [SEP] 29, Drawer, -2.791, 0.271, -0.620, 0, 90, 0,  [SEP] 30, CounterTop, -2.799, 0.001, -0.593, 0, 90, 0,  [SEP] 31, Drawer, -1.894, 0.531, -0.620, 0, 90, 0,  [SEP] 32, Mirror, -1.909, 1.748, 2.280, 0, 0, 0,  [SEP] 33, Drawer, -2.791, 0.531, -0.620, 0, 90, 0,  [SEP] 34, Drawer, -1.444, 0.271, -0.620, 0, 90, 0,  [SEP] 35, Bathtub, -3.706, 0.342, 0.636, 0, 0, 0,  [SEP] 36, Faucet, -1.919, 1.064, 2.182, 0, 180, 0,  [SEP] 37, TowelHolder, -3.660, 1.552, -0.558, 0, 0, 0,  [SEP] 38, GarbageCan, -1.560, -0.000, 1.909, 0, 164.999, 0,  [SEP] 39, HandTowelHolder, -2.575, 1.784, 2.282, 0, 90, 0,  [SEP] 40, HandTowelHolder, -1.274, 1.784, 2.282, 0, 90, 0,  [SEP] 41, LightSwitch, -0.558, 1.282, 2.281, 0, 180, 0,  [SEP] 42, Toilet, -0.720, 0.001, -0.310, 0, 0, 0,  [SEP] 43, ToiletPaperHanger, -0.427, 0.940, 0.187, 0, 270, 0,  [SEP] 44, BathtubBasin, -3.788, 0.028, 0.595, 0, 0, 0,  [SEP] 45, SinkBasin, -1.908, 1.011, 1.981, 0, 180, 0,  [SEP] 46, ShowerHead, -3.740, 1.858, 1.827, 0, 0, 0,  [SEP] 47, ShowerCurtain, -3.039, 2.229, 1.720, 0, 180, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Make a right to walk towards the right side of the dresser. | STEP 2: Pick up the candlestick in front of the soap. | STEP 3: Turn around to walk towards the toilet. | STEP 4: Set the candlestick down on the lid of the toilet tank. | END


Input: Chill a slice of pepper and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, 3.25, 0, 0, 0,  [SEP] 1, Pencil, -0.181, 0.925, 5.932, 0, 0, 0, 54 [SEP] 2, Potato, -4.458, 0.956, 3.082, 0, 0, 0, 69 [SEP] 3, WineBottle, -3.859, 0.924, 1.875, 0, 0, 0, 69 [SEP] 4, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 84 [SEP] 5, Fork, -0.411, 0.925, 4.615, 0, 0, 0, 54 [SEP] 6, Egg, -3.374, 0.959, 5.106, 0, 90, 0, 69 [SEP] 7, Egg, -0.383, 1.721, 3.794, 0, 270, 0, 102 [SEP] 8, Knife, -1.860, 0.953, 1.724, 0, 180, 0, 51 [SEP] 9, SoapBottle, -3.639, 0.068, 6.292, 0, 270, 0, 95 [SEP] 10, Bowl, -0.454, 1.067, 3.355, 0, 270, 0, 102 [SEP] 11, Bowl, -4.159, 0.787, 3.410, 0, 270, 0, 101 [SEP] 12, SaltShaker, -0.334, 0.921, 4.944, 0, 0, 0, 54 [SEP] 13, SaltShaker, -4.517, 0.919, 3.665, 0, 0, 0, 69 [SEP] 14, PepperShaker, -0.532, 0.743, 4.538, 0, 270, 0, 59 [SEP] 15, Lettuce, -1.693, 1.018, 1.724, 0, 0, 0, 51 [SEP] 16, Lettuce, -1.943, 1.018, 1.875, 0, 0, 0, 51 [SEP] 17, Mug, -0.383, 1.575, 3.530, 0, 270, 0, 102 [SEP] 18, Apple, -2.688, 1.599, 1.666, 0, 0, 0, 99 [SEP] 19, Egg, -0.295, 1.106, 3.974, 0, 270, 0, 102 [SEP] 20, Apple, -3.784, 0.122, 6.416, 0, 270, 0, 95 [SEP] 21, Knife, -1.860, 0.953, 1.875, 0, 90, 0, 51 [SEP] 22, Potato, -0.565, 0.958, 5.603, 0, 0, 0, 54 [SEP] 23, Fork, -3.340, 0.924, 1.875, 0, 0, 0, 69 [SEP] 24, Bowl, -0.342, 1.332, 3.602, 0, 270, 0, 102 [SEP] 25, Plate, -0.342, 1.581, 3.349, 0, 270, 0, 102 [SEP] 26, Lettuce, -4.233, 0.886, 3.159, 0, 270, 0, 101 [SEP] 27, Bread, -0.411, 1.004, 5.273, 0, 0, 0, 54 [SEP] 28, Tomato, -0.383, 1.392, 3.231, 0, 270, 0, 102 [SEP] 29, WineBottle, -4.162, 1.457, 1.914, 0, 45, 0, 70 [SEP] 30, Spatula, -1.693, 0.938, 2.026, 0, 0, 0, 51 [SEP] 31, PaperTowelRoll, -3.639, 0.172, 6.498, 0, 270, 0, 95 [SEP] 32, Cup, -1.860, 0.922, 1.573, 0, 0, 0, 51 [SEP] 33, Pencil, -0.532, 0.747, 4.771, 0, 270, 0, 59 [SEP] 34, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 57 [SEP] 35, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 52 [SEP] 36, SaltShaker, -4.015, 0.073, 2.246, 0, 0, 0, 79 [SEP] 37, SoapBottle, -3.784, 0.068, 6.292, 0, 90, 0, 95 [SEP] 38, PepperShaker, -3.539, 0.079, 5.113, 0, 90, 0, 87 [SEP] 39, ButterKnife, -0.334, 0.925, 5.932, 0, 0, 0, 54 [SEP] 40, DishSponge, -0.565, 0.924, 5.932, 0, 0, 0, 54 [SEP] 41, Spoon, -3.374, 0.924, 5.259, 0, 90, 0, 69 [SEP] 42, Mug, -4.097, 0.075, 3.374, 0, 0, 0, 74 [SEP] 43, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 44, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 45, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 46, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 47, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 48, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 49, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 50, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 51, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 52, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 53, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 54, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 55, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 56, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 57, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 58, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 59, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 60, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 61, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 62, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 63, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 64, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 65, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 66, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 67, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 68, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 69, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 70, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 71, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 72, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 73, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 74, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 75, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 76, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 77, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 78, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 79, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 80, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 81, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 82, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 83, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 84, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 85, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 86, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 87, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 88, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 89, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 90, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 91, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 92, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 93, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 94, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 96, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 97, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 98, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 99, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 100, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 101, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 102, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Go to the right of the coffeemaker | STEP 2: pick up the knife | STEP 3: Go to the microwave | STEP 4: Cut the pepper in the microwave | STEP 5: Go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Go to the microwave | STEP 8: Take a slice of pepper out of the microwave | STEP 9: Go to the fridge | STEP 10: Chill the pepper slice | STEP 11: Go to the microwave | STEP 12: Put the slice of pepper back in the microwave | END


Input: Clean off a towel in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 2.25, 0, 270, 0,  [SEP] 1, Cloth, -2.962, 0.811, 0.279, 0, 0, 0, 28 [SEP] 2, Cloth, -3.653, 0.190, 1.273, 0, 270, 0, 42 [SEP] 3, Candle, -3.280, 0.544, 0.820, 0, 0, 0, 20 [SEP] 4, HandTowel, -0.034, 1.537, 2.309, 0, 90, 0, 37 [SEP] 5, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 38 [SEP] 6, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 32 [SEP] 7, Cloth, -0.348, 0.811, 3.000, 0, 0, 0, 31 [SEP] 8, SoapBar, -0.470, 0.518, 3.030, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -2.286, 0.825, 3.221, 0, 180, 270, 43 [SEP] 10, Plunger, -2.530, 0.000, 3.026, 0, 0, 0,  [SEP] 11, Candle, -0.147, 0.518, 2.894, 0, 0, 0, 21 [SEP] 12, SoapBottle, -0.309, 0.219, 2.638, 0, 0, 0, 19 [SEP] 13, ToiletPaper, -1.767, 0.014, 0.137, 0, 0, 0, 34 [SEP] 14, SprayBottle, -0.284, 0.813, 2.740, 0, 0, 0, 31 [SEP] 15, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0,  [SEP] 16, Drawer, -0.325, 0.319, 2.155, 0, 0, 0,  [SEP] 17, Mirror, 0.0, 1.473, 1.917, 0, 270, 0,  [SEP] 18, Drawer, -0.325, 0.319, 1.717, 0, 0, 0,  [SEP] 19, Drawer, -0.325, 0.319, 2.592, 0, 0, 0,  [SEP] 20, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0,  [SEP] 21, Drawer, -0.325, 0.619, 2.592, 0, 0, 0,  [SEP] 22, Drawer, -2.249, 0.319, 0.280, 0, 0, 0,  [SEP] 23, Drawer, -0.325, 0.319, 3.030, 0, 0, 0,  [SEP] 24, Mirror, 0.0, 1.473, 2.700, 0, 270, 0,  [SEP] 25, Drawer, -0.325, 0.619, 3.030, 0, 0, 0,  [SEP] 26, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0,  [SEP] 27, Sink, -2.539, 0.661, 0.252, 0, 0, 0,  [SEP] 28, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0,  [SEP] 29, Drawer, -2.844, 0.319, 0.280, 0, 0, 0,  [SEP] 30, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0,  [SEP] 31, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0,  [SEP] 32, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0,  [SEP] 33, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0,  [SEP] 34, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0,  [SEP] 35, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0,  [SEP] 36, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0,  [SEP] 37, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0,  [SEP] 38, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0,  [SEP] 39, Window, -4.127, 1.519, 1.495, 90, 270, 0,  [SEP] 40, Toilet, -2.842, 0.000, 2.755, 0, 180, 0,  [SEP] 41, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0,  [SEP] 42, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0,  [SEP] 43, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0,  [SEP] 44, Faucet, -2.540, 0.794, 0.111, 0, 0, 0,  [SEP] 45, Faucet, -0.111, 0.794, 1.921, 0, 270, 0,  [SEP] 46, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0,  [SEP] 47, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0,  [SEP] 48, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0,  [SEP] 49, Sink, -0.260, 0.661, 1.922, 0, 270, 0,  [SEP] 50, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,

Output: STEP 1: Walk to the tub with a towel in it. | STEP 2: Grab the towel from the tub. | STEP 3: Walk to the kitchen sink on your left. | STEP 4: Soak the towel in the sink to clean it. | STEP 5: Walk back to the tub. | STEP 6: Place the towel in the tub. | END