Input: wash the cloth from the tub, put it back 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, 1.0, 0.900, 3.0, 0, 270, 0,  [SEP] 1, Cloth, -1.789, 0.074, 0.470, 0, 90, 0, 23 [SEP] 2, SoapBar, -1.668, 0.067, 2.601, 0, 0, 0, 24 [SEP] 3, SoapBar, 0.060, 0.351, 3.815, 0, 0, 0, 44 [SEP] 4, Candle, 0.277, 0.617, 3.839, 0, 0, 0, 45 [SEP] 5, Candle, -1.695, 0.772, 3.098, 0, 0, 0, 22 [SEP] 6, SprayBottle, -1.921, 1.045, 2.009, 0, 90, 0, 40 [SEP] 7, SoapBottle, 0.204, 1.160, 3.797, 0, 0, 0, 51 [SEP] 8, SoapBottle, -0.500, 0.447, 0.163, 0, 270, 0, 21 [SEP] 9, ToiletPaper, 0.204, 0.873, 3.839, 0, 0, 0, 41 [SEP] 10, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.825, 0.013, 2.22, 0, 0, 0, 24 [SEP] 13, ToiletPaper, -0.414, 0.443, 0.126, 0, 0, 0, 21 [SEP] 14, ToiletPaper, -1.703, 0.010, 2.246, 0, 0, 0, 24 [SEP] 15, Cloth, -1.823, 0.068, 3.575, 0, 0, 0, 27 [SEP] 16, SprayBottle, -1.839, 0.772, 3.147, 0, 0, 0, 22 [SEP] 17, Candle, -1.935, 0.772, 3.122, 0, 0, 0, 22 [SEP] 18, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 19, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 20, SoapBottle, -1.829, 1.046, 1.943, 0, 90, 0, 40 [SEP] 21, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0,  [SEP] 22, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0,  [SEP] 23, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0,  [SEP] 24, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0,  [SEP] 25, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0,  [SEP] 26, Mirror, -1.993, 1.424, 3.107, 0, 0, 0,  [SEP] 27, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0,  [SEP] 28, Faucet, -1.873, 0.461, 0.641, 0, 0, 0,  [SEP] 29, Sink, -1.834, 0.685, 2.777, 0, 90, 0,  [SEP] 30, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0,  [SEP] 31, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0,  [SEP] 32, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0,  [SEP] 33, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0,  [SEP] 34, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0,  [SEP] 35, Window, -1.039, 1.393, 0.018, 90, 0, 0,  [SEP] 36, Window, -1.986, 1.392, 0.706, 90, 90, 0,  [SEP] 37, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0,  [SEP] 38, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0,  [SEP] 39, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0,  [SEP] 40, Toilet, -1.567, -0.000, 1.815, 0, 180, 0,  [SEP] 41, Drawer, 0.204, 0.940, 3.807, 0, 180, 0,  [SEP] 42, Dresser, 0.204, 0.000, 3.832, 0, 180, 0,  [SEP] 43, Drawer, 0.204, 0.160, 3.807, 0, 180, 0,  [SEP] 44, Drawer, 0.204, 0.420, 3.807, 0, 180, 0,  [SEP] 45, Drawer, 0.204, 0.680, 3.807, 0, 180, 0,  [SEP] 46, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0,  [SEP] 47, Sink, -1.833, 0.685, 3.472, 0, 90, 0,  [SEP] 48, Faucet, -1.988, 0.947, 3.472, 0, 180, 0,  [SEP] 49, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0,  [SEP] 50, Faucet, -1.988, 0.947, 2.776, 0, 180, 0,  [SEP] 51, , , , , , , ,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: turn left, walk to the tub in the corner | STEP 2: grab the dirty cloth in the tub | STEP 3: turn right, walk to the vanity | STEP 4: put the cloth in the vanity, wash it with water, take it out | STEP 5: turn left, walk to the tub | STEP 6: put the cloth in the tub | END


Input: Move a tea pot to the lamp, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -4.25, 0, 270, 0,  [SEP] 1, Vase, -2.977, 0.790, -4.057, 0, 270, 0, 35 [SEP] 2, Vase, -2.110, 0.183, 0.764, 0, 90, 0, 31 [SEP] 3, Vase, -0.701, 0.892, -2.700, 0, 0, 0, 18 [SEP] 4, KeyChain, -2.476, 0.757, 0.464, 0, 180, 0, 29 [SEP] 5, CreditCard, 1.846, 0.876, 0.988, 0, 0, 0, 42 [SEP] 6, RemoteControl, -3.471, 0.784, -3.170, 0, 270, 0, 35 [SEP] 7, Pillow, 0.577, 0.603, -0.537, 0, 225, 0, 36 [SEP] 8, Box, -0.564, 0.122, -2.747, 0, 0, 0, 35 [SEP] 9, KeyChain, -0.361, 0.426, 0.990, 0, 90, 0, 37 [SEP] 10, Laptop, -2.915, 0.779, -3.09, 0, 23.890, 0, 35 [SEP] 11, Statue, -3.035, 0.78, -3.752, 0, 0, 0, 35 [SEP] 12, Pillow, 1.036, 0.581, -0.213, 0, 325.391, 0, 36 [SEP] 13, RemoteControl, -2.400, 0.758, 0.314, 0, 90, 0, 29 [SEP] 14, Statue, -0.734, 1.320, -2.723, 0, 0, 0, 19 [SEP] 15, CreditCard, 0.717, 0.467, -0.397, 0, 225, 0, 36 [SEP] 16, Vase, -3.224, 0.787, -2.948, 0, 270, 0, 35 [SEP] 17, Statue, -3.348, 0.796, -4.057, 0, 270, 0, 35 [SEP] 18, Shelf, -0.612, 0.880, -2.832, 0, 0, 0,  [SEP] 19, Shelf, -0.612, 1.317, -2.832, 0, 0, 0,  [SEP] 20, LightSwitch, -2.599, 1.254, -0.774, 0, 90, 0,  [SEP] 21, GarbageCan, -1.343, 0.015, -4.825, 0, 0, 0,  [SEP] 22, HousePlant, 0.506, 1.097, 2.235, 0, 0, 0,  [SEP] 23, Painting, -0.509, 1.742, 2.404, 90, 0, 0,  [SEP] 24, FloorLamp, 1.712, 0.001, 0.374, 0, 0, 0,  [SEP] 25, Painting, -5.0, 1.626, -3.548, 90, 270, 0,  [SEP] 26, Television, -2.258, 1.245, 0.755, 0, 90, 0,  [SEP] 27, Shelf, -2.238, 0.474, 0.396, 0, 90, 0,  [SEP] 28, Shelf, -2.238, 0.273, 0.396, 0, 90, 0,  [SEP] 29, TVStand, -2.244, -0.000, 0.762, 0, 90, 0,  [SEP] 30, Shelf, -2.238, 0.302, 1.130, 0, 90, 0,  [SEP] 31, Shelf, -2.238, 0.442, 0.764, 0, 90, 0,  [SEP] 32, Shelf, -2.238, 0.597, 1.130, 0, 90, 0,  [SEP] 33, Shelf, -2.238, 0.643, 0.396, 0, 90, 0,  [SEP] 34, ArmChair, -0.559, 0.000, 1.951, 0, 180, 0,  [SEP] 35, DiningTable, -3.101, 0.000, -3.613, 0, 270, 0,  [SEP] 36, Sofa, 0.880, 0.007, -0.591, 0, 315, 0,  [SEP] 37, Ottoman, -0.576, 0.008, 1.052, 0, 180, 0,  [SEP] 38, Chair, -3.501, 0.002, -3.716, 0, 90, 0,  [SEP] 39, Chair, -3.182, 0.002, -2.813, 0, 165.000, 0,  [SEP] 40, Chair, -3.130, 0.002, -4.418, 0, 345.001, 0,  [SEP] 41, Chair, -2.686, 0.002, -3.301, 0, 285.000, 0,  [SEP] 42, SideTable, 1.825, 0.000, 1.092, 0, 270, 0,  [SEP] 43, Drawer, 1.761, 0.774, 1.092, 0, 270, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Move across the room to the wood TV stand | STEP 2: Pick up the vase that is on the shelf in the middle of the TV stand | STEP 3: Carry the vase to the floor lamp to the left of the chair | STEP 4: Turn on the lamp | END


Input: Wash a rag and put it in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.25, 0, 0, 0,  [SEP] 1, Cloth, -0.543, 0.806, 0.417, 0, 90, 0, 25 [SEP] 2, TissueBox, -1.951, 0.508, 0.294, 0, 90, 0, 31 [SEP] 3, Candle, -2.193, 0.953, 2.452, 0, 180, 0, 39 [SEP] 4, Candle, -2.193, 0.953, 2.327, 0, 180, 0, 39 [SEP] 5, SprayBottle, -1.329, 0.805, 0.221, 0, 90, 0, 25 [SEP] 6, SoapBottle, -0.281, 0.809, 0.155, 0, 90, 0, 25 [SEP] 7, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 32 [SEP] 8, Cloth, -3.383, 0.219, 1.124, 0, 0, 0, 41 [SEP] 9, Candle, -1.591, 0.807, 0.221, 0, 90, 0, 25 [SEP] 10, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 36 [SEP] 11, SoapBar, -3.071, 0.691, 0.776, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 39 [SEP] 13, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 14, SprayBottle, -1.853, 0.805, 0.482, 0, 90, 0, 25 [SEP] 15, TissueBox, -1.853, 0.808, 0.221, 0, 90, 0, 25 [SEP] 16, ToiletPaper, -1.567, 0.843, 3.221, 0, 180, 270, 35 [SEP] 17, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 18, SoapBottle, -1.067, 0.809, 0.155, 0, 90, 0, 25 [SEP] 19, Drawer, -1.324, 0.312, 0.311, 0, 90, 0,  [SEP] 20, Drawer, -0.290, 0.312, 0.311, 0, 90, 0,  [SEP] 21, Sink, -0.463, -0.013, 3.046, 0, 180, 0,  [SEP] 22, Mirror, -0.504, 1.741, 3.304, 0, 0, 0,  [SEP] 23, Drawer, -0.808, 0.611, 0.311, 0, 90, 0,  [SEP] 24, Drawer, -0.808, 0.312, 0.311, 0, 90, 0,  [SEP] 25, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0,  [SEP] 26, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0,  [SEP] 27, Drawer, -1.840, 0.312, 0.311, 0, 90, 0,  [SEP] 28, Faucet, -0.463, 0.969, 3.212, 0, 180, 0,  [SEP] 29, Drawer, -0.290, 0.611, 0.311, 0, 90, 0,  [SEP] 30, Drawer, -1.324, 0.611, 0.311, 0, 90, 0,  [SEP] 31, Drawer, -1.840, 0.611, 0.311, 0, 90, 0,  [SEP] 32, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0,  [SEP] 33, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0,  [SEP] 34, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0,  [SEP] 35, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0,  [SEP] 36, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0,  [SEP] 37, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0,  [SEP] 38, Window, -4.083, 1.735, 1.162, 90, 270, 0,  [SEP] 39, Toilet, -1.835, 0.000, 2.503, 0, 90, 0,  [SEP] 40, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0,  [SEP] 41, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0,  [SEP] 42, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0,  [SEP] 43, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Walk over to the tub | STEP 2: Grab the rag. | STEP 3: Walk over to the sink | STEP 4: Wash the rag | STEP 5: Grab the rag and go to the counter | STEP 6: Place the rag in the drawer | END


Input: Put a wet green cloth in one of the bottom drawers of the bathroom cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.25, 0, 0, 0,  [SEP] 1, Cloth, -0.543, 0.806, 0.417, 0, 90, 0, 25 [SEP] 2, TissueBox, -1.951, 0.508, 0.294, 0, 90, 0, 31 [SEP] 3, Candle, -2.193, 0.953, 2.452, 0, 180, 0, 39 [SEP] 4, Candle, -2.193, 0.953, 2.327, 0, 180, 0, 39 [SEP] 5, SprayBottle, -1.329, 0.805, 0.221, 0, 90, 0, 25 [SEP] 6, SoapBottle, -0.281, 0.809, 0.155, 0, 90, 0, 25 [SEP] 7, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 32 [SEP] 8, Cloth, -3.383, 0.219, 1.124, 0, 0, 0, 41 [SEP] 9, Candle, -1.591, 0.807, 0.221, 0, 90, 0, 25 [SEP] 10, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 36 [SEP] 11, SoapBar, -3.071, 0.691, 0.776, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 39 [SEP] 13, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 14, SprayBottle, -1.853, 0.805, 0.482, 0, 90, 0, 25 [SEP] 15, TissueBox, -1.853, 0.808, 0.221, 0, 90, 0, 25 [SEP] 16, ToiletPaper, -1.567, 0.843, 3.221, 0, 180, 270, 35 [SEP] 17, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 18, SoapBottle, -1.067, 0.809, 0.155, 0, 90, 0, 25 [SEP] 19, Drawer, -1.324, 0.312, 0.311, 0, 90, 0,  [SEP] 20, Drawer, -0.290, 0.312, 0.311, 0, 90, 0,  [SEP] 21, Sink, -0.463, -0.013, 3.046, 0, 180, 0,  [SEP] 22, Mirror, -0.504, 1.741, 3.304, 0, 0, 0,  [SEP] 23, Drawer, -0.808, 0.611, 0.311, 0, 90, 0,  [SEP] 24, Drawer, -0.808, 0.312, 0.311, 0, 90, 0,  [SEP] 25, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0,  [SEP] 26, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0,  [SEP] 27, Drawer, -1.840, 0.312, 0.311, 0, 90, 0,  [SEP] 28, Faucet, -0.463, 0.969, 3.212, 0, 180, 0,  [SEP] 29, Drawer, -0.290, 0.611, 0.311, 0, 90, 0,  [SEP] 30, Drawer, -1.324, 0.611, 0.311, 0, 90, 0,  [SEP] 31, Drawer, -1.840, 0.611, 0.311, 0, 90, 0,  [SEP] 32, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0,  [SEP] 33, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0,  [SEP] 34, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0,  [SEP] 35, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0,  [SEP] 36, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0,  [SEP] 37, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0,  [SEP] 38, Window, -4.083, 1.735, 1.162, 90, 270, 0,  [SEP] 39, Toilet, -1.835, 0.000, 2.503, 0, 90, 0,  [SEP] 40, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0,  [SEP] 41, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0,  [SEP] 42, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0,  [SEP] 43, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Turn left until you face the sink, make one step towards the sink, then turn right and make a step towards the bath tub. | STEP 2: Take the green cloth from the bath tub. | STEP 3: Turn around, walk towards the door, then turn left and walk to the brown marble sink. | STEP 4: Put the green cloth in the sink, fill the sink with water, then drain the water and take the cloth. | STEP 5: Turn right, then walk towards the cabinet and open the second bottom drawer from the left. | STEP 6: Put the wet green cloth in the drawer and close it. | END


Input: stand a pillow up on a sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.998, -2.5, 0, 0, 0,  [SEP] 1, Plate, -4.094, 0.888, -1.385, 0, 0, 0, 33 [SEP] 2, Pen, -1.486, 0.459, -0.658, 0, 0, 0, 34 [SEP] 3, Pen, -1.486, 0.459, -0.817, 0, 0, 0, 34 [SEP] 4, KeyChain, -0.557, 0.525, 1.085, 0, 0, 0, 38 [SEP] 5, KeyChain, -1.222, 0.454, -0.498, 0, 0, 0, 34 [SEP] 6, CreditCard, 0.748, 0.304, -1.865, 0, 0, 0, 30 [SEP] 7, RemoteControl, -0.695, 0.455, -0.897, 0, 0, 0, 34 [SEP] 8, Laptop, -1.222, 0.452, -0.738, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.897, 0, 0, 0, 38 [SEP] 10, Box, -2.863, 1.03, -0.958, 0, 0, 0, 33 [SEP] 11, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 30 [SEP] 12, CreditCard, 0.577, 0.304, -1.782, 0, 0, 0, 30 [SEP] 13, Plate, -3.851, 0.875, -1.011, 0, 0, 0, 33 [SEP] 14, Laptop, -0.193, 0.966, -2.505, 0, 0, 0, 30 [SEP] 15, RemoteControl, -0.557, 0.526, 0.897, 0, 0, 0, 38 [SEP] 16, Vase, -3.493, 0.874, -1.182, 0, 0, 0, 33 [SEP] 17, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 42 [SEP] 18, KeyChain, -0.827, 0.454, -0.658, 0, 0, 0, 34 [SEP] 19, Pen, -1.923, 0.183, -3.006, 0, 225, 0, 25 [SEP] 20, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 21, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 22, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 23, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 24, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 25, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 26, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 27, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 28, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 29, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 30, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 31, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 32, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 33, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 34, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 35, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 36, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 37, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 38, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 39, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 40, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 41, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 42, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: go to the green chair | STEP 2: pick up the square pillow from the chair | STEP 3: take the pillow to the sofa | STEP 4: stand the pillow up on against the back of the sofa | END


Input: Put a purple pillow on the couch, right of a computer.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.998, -2.5, 0, 0, 0,  [SEP] 1, Plate, -4.094, 0.888, -1.385, 0, 0, 0, 33 [SEP] 2, Pen, -1.486, 0.459, -0.658, 0, 0, 0, 34 [SEP] 3, Pen, -1.486, 0.459, -0.817, 0, 0, 0, 34 [SEP] 4, KeyChain, -0.557, 0.525, 1.085, 0, 0, 0, 38 [SEP] 5, KeyChain, -1.222, 0.454, -0.498, 0, 0, 0, 34 [SEP] 6, CreditCard, 0.748, 0.304, -1.865, 0, 0, 0, 30 [SEP] 7, RemoteControl, -0.695, 0.455, -0.897, 0, 0, 0, 34 [SEP] 8, Laptop, -1.222, 0.452, -0.738, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.897, 0, 0, 0, 38 [SEP] 10, Box, -2.863, 1.03, -0.958, 0, 0, 0, 33 [SEP] 11, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 30 [SEP] 12, CreditCard, 0.577, 0.304, -1.782, 0, 0, 0, 30 [SEP] 13, Plate, -3.851, 0.875, -1.011, 0, 0, 0, 33 [SEP] 14, Laptop, -0.193, 0.966, -2.505, 0, 0, 0, 30 [SEP] 15, RemoteControl, -0.557, 0.526, 0.897, 0, 0, 0, 38 [SEP] 16, Vase, -3.493, 0.874, -1.182, 0, 0, 0, 33 [SEP] 17, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 42 [SEP] 18, KeyChain, -0.827, 0.454, -0.658, 0, 0, 0, 34 [SEP] 19, Pen, -1.923, 0.183, -3.006, 0, 225, 0, 25 [SEP] 20, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 21, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 22, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 23, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 24, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 25, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 26, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 27, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 28, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 29, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 30, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 31, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 32, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 33, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 34, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 35, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 36, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 37, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 38, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 39, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 40, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 41, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 42, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn right, head across the room to the yellow chair.  | STEP 2: Pick up the purple pillow on the yellow chair.  | STEP 3: Turn around, bring the pillow over to the couch with the green cushion on the right.  | STEP 4: Put the pillow on the couch, right of the computer.  | END


Input: Put a chilled potato in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0,  [SEP] 1, Vase, 1.996, 0.550, -2.459, 0, 180, 0, 89 [SEP] 2, Egg, 0.079, 1.146, -0.253, 0, 0, 0, 59 [SEP] 3, Tomato, -1.962, 0.087, 1.981, 0, 270, 0, 90 [SEP] 4, PepperShaker, -0.995, 0.907, -2.253, 0, 0, 0, 84 [SEP] 5, Bread, -0.197, 1.184, 0.757, 0, 0, 0, 59 [SEP] 6, Apple, -1.856, 0.961, -2.256, 0, 0, 0, 84 [SEP] 7, Apple, -2.018, 0.820, -1.501, 0, 90, 0, 94 [SEP] 8, Knife, 0.355, 1.136, -0.253, 0, 0, 0, 59 [SEP] 9, Knife, -1.963, 0.795, -1.587, 0, 180, 0, 94 [SEP] 10, Spoon, -0.059, 1.112, -0.506, 0, 0, 0, 59 [SEP] 11, Spoon, 1.098, 0.911, -2.253, 0, 0, 0, 61 [SEP] 12, Mug, -2.038, 0.535, 1.168, 0, 90, 0, 92 [SEP] 13, Pot, -0.059, 1.115, -0.253, 0, 0, 0, 59 [SEP] 14, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 15, Kettle, -2.019, 0.912, -0.513, 0, 0, 0, 84 [SEP] 16, Glassbottle, -1.071, 1.657, -2.604, 0, 0, 0, 73 [SEP] 17, Glassbottle, -1.705, 0.137, -1.156, 0, 90, 0, 60 [SEP] 18, WineBottle, 0.355, 1.112, 0.251, 0, 0, 0, 59 [SEP] 19, WineBottle, -1.937, 0.912, -0.698, 0, 0, 0, 84 [SEP] 20, DishSponge, 0.217, 1.111, -0.759, 0, 0, 0, 59 [SEP] 21, DishSponge, -1.797, 0.769, -1.501, 0, 90, 0, 94 [SEP] 22, Bowl, -1.200, 0.133, -2.352, 0, 0, 0, 77 [SEP] 23, Bowl, 1.789, 0.877, -2.563, 0, 180, 0, 86 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, -0.912, 0.137, -2.453, 0, 0, 0, 77 [SEP] 26, Knife, 0.355, 1.136, -0.506, 0, 0, 0, 59 [SEP] 27, Bread, -0.473, 1.184, -0.506, 0, 0, 0, 59 [SEP] 28, Fork, -1.937, 0.911, -2.256, 0, 0, 0, 84 [SEP] 29, Potato, -0.277, 1.820, -2.578, 0, 0, 0, 85 [SEP] 30, SoapBottle, 2.100, 0.554, -2.666, 0, 180, 0, 89 [SEP] 31, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 62 [SEP] 32, Pan, -2.081, 1.502, 1.092, 0, 180, 0, 92 [SEP] 33, Plate, 0.969, 0.907, -2.484, 0, 0, 0, 61 [SEP] 34, Tomato, -1.935, 0.087, 2.124, 0, 270, 0, 90 [SEP] 35, Vase, -1.401, 1.660, -2.604, 0, 0, 0, 75 [SEP] 36, Egg, -1.908, 0.804, -1.501, 0, 90, 0, 94 [SEP] 37, CreditCard, -0.059, 1.108, -0.253, 0, 0, 0, 59 [SEP] 38, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 91 [SEP] 39, WineBottle, -0.197, 1.112, 0.251, 0, 0, 0, 59 [SEP] 40, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 84 [SEP] 41, Spatula, 1.065, 0.496, -2.282, 0, 270, 0, 67 [SEP] 42, PaperTowelRoll, -0.995, 1.015, -2.637, 0, 0, 0, 84 [SEP] 43, Cup, 0.840, 0.908, -2.714, 0, 0, 0, 61 [SEP] 44, Vase, -0.335, 1.109, -0.506, 0, 0, 0, 59 [SEP] 45, Bowl, -2.070, 1.305, 0.925, 0, 90, 0, 92 [SEP] 46, SaltShaker, -0.473, 1.107, 0.251, 0, 0, 0, 59 [SEP] 47, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 59 [SEP] 48, Lettuce, 0.711, 0.990, -2.330, 0, 0, 0, 61 [SEP] 49, ButterKnife, -1.852, 0.769, -1.328, 0, 90, 0, 94 [SEP] 50, Apple, -1.797, 0.820, -1.760, 0, 90, 0, 94 [SEP] 51, DishSponge, 0.324, 0.910, -2.714, 0, 0, 0, 61 [SEP] 52, Spoon, -1.908, 0.770, -1.328, 0, 90, 0, 94 [SEP] 53, Mug, -1.963, 0.764, -1.673, 0, 90, 0, 94 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn around, go across the room to the stove and look up at the microwave. | STEP 2: Pick up the potato in the microwave. | STEP 3: Turn around and go back across the room to the fridge. | STEP 4: Chill the potato in the fridge and pick it back up. | STEP 5: Turn right and go to the trash can in the corner. | STEP 6: Put the potato in the trash can to the left of the tomatoes. | END


Input: take potato out of the microwave, cool it inside of the fridge, throw it away in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0,  [SEP] 1, Vase, 1.996, 0.550, -2.459, 0, 180, 0, 89 [SEP] 2, Egg, 0.079, 1.146, -0.253, 0, 0, 0, 59 [SEP] 3, Tomato, -1.962, 0.087, 1.981, 0, 270, 0, 90 [SEP] 4, PepperShaker, -0.995, 0.907, -2.253, 0, 0, 0, 84 [SEP] 5, Bread, -0.197, 1.184, 0.757, 0, 0, 0, 59 [SEP] 6, Apple, -1.856, 0.961, -2.256, 0, 0, 0, 84 [SEP] 7, Apple, -2.018, 0.820, -1.501, 0, 90, 0, 94 [SEP] 8, Knife, 0.355, 1.136, -0.253, 0, 0, 0, 59 [SEP] 9, Knife, -1.963, 0.795, -1.587, 0, 180, 0, 94 [SEP] 10, Spoon, -0.059, 1.112, -0.506, 0, 0, 0, 59 [SEP] 11, Spoon, 1.098, 0.911, -2.253, 0, 0, 0, 61 [SEP] 12, Mug, -2.038, 0.535, 1.168, 0, 90, 0, 92 [SEP] 13, Pot, -0.059, 1.115, -0.253, 0, 0, 0, 59 [SEP] 14, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 15, Kettle, -2.019, 0.912, -0.513, 0, 0, 0, 84 [SEP] 16, Glassbottle, -1.071, 1.657, -2.604, 0, 0, 0, 73 [SEP] 17, Glassbottle, -1.705, 0.137, -1.156, 0, 90, 0, 60 [SEP] 18, WineBottle, 0.355, 1.112, 0.251, 0, 0, 0, 59 [SEP] 19, WineBottle, -1.937, 0.912, -0.698, 0, 0, 0, 84 [SEP] 20, DishSponge, 0.217, 1.111, -0.759, 0, 0, 0, 59 [SEP] 21, DishSponge, -1.797, 0.769, -1.501, 0, 90, 0, 94 [SEP] 22, Bowl, -1.200, 0.133, -2.352, 0, 0, 0, 77 [SEP] 23, Bowl, 1.789, 0.877, -2.563, 0, 180, 0, 86 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, -0.912, 0.137, -2.453, 0, 0, 0, 77 [SEP] 26, Knife, 0.355, 1.136, -0.506, 0, 0, 0, 59 [SEP] 27, Bread, -0.473, 1.184, -0.506, 0, 0, 0, 59 [SEP] 28, Fork, -1.937, 0.911, -2.256, 0, 0, 0, 84 [SEP] 29, Potato, -0.277, 1.820, -2.578, 0, 0, 0, 85 [SEP] 30, SoapBottle, 2.100, 0.554, -2.666, 0, 180, 0, 89 [SEP] 31, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 62 [SEP] 32, Pan, -2.081, 1.502, 1.092, 0, 180, 0, 92 [SEP] 33, Plate, 0.969, 0.907, -2.484, 0, 0, 0, 61 [SEP] 34, Tomato, -1.935, 0.087, 2.124, 0, 270, 0, 90 [SEP] 35, Vase, -1.401, 1.660, -2.604, 0, 0, 0, 75 [SEP] 36, Egg, -1.908, 0.804, -1.501, 0, 90, 0, 94 [SEP] 37, CreditCard, -0.059, 1.108, -0.253, 0, 0, 0, 59 [SEP] 38, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 91 [SEP] 39, WineBottle, -0.197, 1.112, 0.251, 0, 0, 0, 59 [SEP] 40, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 84 [SEP] 41, Spatula, 1.065, 0.496, -2.282, 0, 270, 0, 67 [SEP] 42, PaperTowelRoll, -0.995, 1.015, -2.637, 0, 0, 0, 84 [SEP] 43, Cup, 0.840, 0.908, -2.714, 0, 0, 0, 61 [SEP] 44, Vase, -0.335, 1.109, -0.506, 0, 0, 0, 59 [SEP] 45, Bowl, -2.070, 1.305, 0.925, 0, 90, 0, 92 [SEP] 46, SaltShaker, -0.473, 1.107, 0.251, 0, 0, 0, 59 [SEP] 47, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 59 [SEP] 48, Lettuce, 0.711, 0.990, -2.330, 0, 0, 0, 61 [SEP] 49, ButterKnife, -1.852, 0.769, -1.328, 0, 90, 0, 94 [SEP] 50, Apple, -1.797, 0.820, -1.760, 0, 90, 0, 94 [SEP] 51, DishSponge, 0.324, 0.910, -2.714, 0, 0, 0, 61 [SEP] 52, Spoon, -1.908, 0.770, -1.328, 0, 90, 0, 94 [SEP] 53, Mug, -1.963, 0.764, -1.673, 0, 90, 0, 94 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: turn right and move forwards to the counter and then face the stove and look up | STEP 2: take the potato out of the microwave and close the door | STEP 3: make 2 left turns  and head forward towards the fridge and face it | STEP 4: put the potato inside the fridge and cool it and then take it out and shot the door | STEP 5: turn right and move towards the trash can | STEP 6: throw the potato in the trash | END


Input: Place a chilled pan in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, 0.75, 0, 0, 0,  [SEP] 1, WineBottle, 1.917, 0.939, 0.806, 0, 0, 0, 60 [SEP] 2, Ladle, 1.872, 0.790, 0.446, 0, 90, 0, 58 [SEP] 3, DishSponge, 2.227, 0.937, 2.260, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.196, 0.790, 1.386, 0, 0, 0, 76 [SEP] 5, ButterKnife, -0.349, 0.782, 0.713, 0, 0, 0, 76 [SEP] 6, ButterKnife, 1.170, 0.795, 2.64, 0, 0, 0, 73 [SEP] 7, Spatula, -0.425, 0.805, 1.049, 0, 90, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.529, 0, 0, 0, 73 [SEP] 9, Egg, 2.071, 0.980, 0.361, 0, 0, 0, 60 [SEP] 10, Cup, -0.362, 1.034, 1.907, 0, 90, 0, 74 [SEP] 11, Knife, 0.033, 0.816, 0.881, 0, 270, 0, 76 [SEP] 12, Knife, -0.119, 0.816, 0.545, 0, 180, 0, 76 [SEP] 13, SoapBottle, -0.119, 0.791, 1.217, 0, 90, 0, 76 [SEP] 14, Bowl, -0.282, 0.934, 2.827, 0, 0, 0, 49 [SEP] 15, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 76 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 0, 0, 76 [SEP] 17, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 75 [SEP] 18, Egg, 1.840, 0.980, 0.435, 0, 0, 0, 60 [SEP] 19, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 49 [SEP] 20, Fork, -0.349, 0.791, 1.217, 0, 90, 0, 76 [SEP] 21, SoapBottle, 1.917, 0.939, 0.361, 0, 180, 0, 60 [SEP] 22, Ladle, 1.976, 0.791, 0.446, 0, 90, 0, 58 [SEP] 23, Ladle, -0.119, 0.835, 0.377, 0, 90, 0, 76 [SEP] 24, Bread, -0.201, 0.824, 0.828, 0, 0, 0, 76 [SEP] 25, SaltShaker, 0.033, 0.785, 1.049, 0, 0, 0, 76 [SEP] 26, Potato, 1.921, 0.968, 2.196, 0, 337.023, 0, 49 [SEP] 27, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 44 [SEP] 28, WineBottle, 2.301, 0.939, 0.361, 0, 0, 0, 60 [SEP] 29, Spatula, 0.060, 0.952, 2.757, 0, 0, 0, 49 [SEP] 30, Knife, -0.119, 0.816, 1.217, 0, 180, 0, 76 [SEP] 31, Tomato, -0.167, 0.983, 2.548, 0, 0, 0, 49 [SEP] 32, Apple, 0.033, 0.840, 1.386, 0, 0, 0, 76 [SEP] 33, ButterKnife, -0.350, 0.782, 0.882, 1.017, 0, 0, 76 [SEP] 34, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 53 [SEP] 35, PepperShaker, 2.148, 0.933, 0.361, 0, 0, 0, 60 [SEP] 36, Cup, 1.276, 0.793, 2.584, 0, 0, 0, 73 [SEP] 37, DishSponge, 1.919, 0.745, 2.060, 0, 0, 0, 64 [SEP] 38, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 76 [SEP] 39, Spoon, 1.941, 0.747, 0.721, 0, 0, 0, 58 [SEP] 40, Mug, 1.276, 0.790, 2.695, 0, 90, 0, 73 [SEP] 41, Bowl, -0.328, 1.032, 2.068, 0, 90, 0, 74 [SEP] 42, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 43, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 44, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 45, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 46, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 47, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 48, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 49, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 50, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 51, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 52, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 53, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 54, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 55, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 56, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 57, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 58, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 59, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 60, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 61, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 62, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 63, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 64, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 65, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 66, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 67, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 68, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 69, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 70, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 71, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 72, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 73, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 74, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 75, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 76, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 77, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 78, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 79, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Head towards the sink and walk to the white stove on the right. | STEP 2: Pick up the black pan from the front left corner of the stove. | STEP 3: Turn right and walk to the black fridge on the left. | STEP 4: Put the black pan inside the fridge on the middle shelf, chill it for seven seconds, remove it and close the door. | STEP 5: Turn around and walk to the sink across the room on the right. | STEP 6: Open the lower right cabinet under the sink, put the chilled pan inside and close the door. | END


Input: Get pot from stove, put in refrigerator to cool then put in cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, 0.75, 0, 0, 0,  [SEP] 1, WineBottle, 1.917, 0.939, 0.806, 0, 0, 0, 60 [SEP] 2, Ladle, 1.872, 0.790, 0.446, 0, 90, 0, 58 [SEP] 3, DishSponge, 2.227, 0.937, 2.260, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.196, 0.790, 1.386, 0, 0, 0, 76 [SEP] 5, ButterKnife, -0.349, 0.782, 0.713, 0, 0, 0, 76 [SEP] 6, ButterKnife, 1.170, 0.795, 2.64, 0, 0, 0, 73 [SEP] 7, Spatula, -0.425, 0.805, 1.049, 0, 90, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.529, 0, 0, 0, 73 [SEP] 9, Egg, 2.071, 0.980, 0.361, 0, 0, 0, 60 [SEP] 10, Cup, -0.362, 1.034, 1.907, 0, 90, 0, 74 [SEP] 11, Knife, 0.033, 0.816, 0.881, 0, 270, 0, 76 [SEP] 12, Knife, -0.119, 0.816, 0.545, 0, 180, 0, 76 [SEP] 13, SoapBottle, -0.119, 0.791, 1.217, 0, 90, 0, 76 [SEP] 14, Bowl, -0.282, 0.934, 2.827, 0, 0, 0, 49 [SEP] 15, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 76 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 0, 0, 76 [SEP] 17, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 75 [SEP] 18, Egg, 1.840, 0.980, 0.435, 0, 0, 0, 60 [SEP] 19, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 49 [SEP] 20, Fork, -0.349, 0.791, 1.217, 0, 90, 0, 76 [SEP] 21, SoapBottle, 1.917, 0.939, 0.361, 0, 180, 0, 60 [SEP] 22, Ladle, 1.976, 0.791, 0.446, 0, 90, 0, 58 [SEP] 23, Ladle, -0.119, 0.835, 0.377, 0, 90, 0, 76 [SEP] 24, Bread, -0.201, 0.824, 0.828, 0, 0, 0, 76 [SEP] 25, SaltShaker, 0.033, 0.785, 1.049, 0, 0, 0, 76 [SEP] 26, Potato, 1.921, 0.968, 2.196, 0, 337.023, 0, 49 [SEP] 27, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 44 [SEP] 28, WineBottle, 2.301, 0.939, 0.361, 0, 0, 0, 60 [SEP] 29, Spatula, 0.060, 0.952, 2.757, 0, 0, 0, 49 [SEP] 30, Knife, -0.119, 0.816, 1.217, 0, 180, 0, 76 [SEP] 31, Tomato, -0.167, 0.983, 2.548, 0, 0, 0, 49 [SEP] 32, Apple, 0.033, 0.840, 1.386, 0, 0, 0, 76 [SEP] 33, ButterKnife, -0.350, 0.782, 0.882, 1.017, 0, 0, 76 [SEP] 34, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 53 [SEP] 35, PepperShaker, 2.148, 0.933, 0.361, 0, 0, 0, 60 [SEP] 36, Cup, 1.276, 0.793, 2.584, 0, 0, 0, 73 [SEP] 37, DishSponge, 1.919, 0.745, 2.060, 0, 0, 0, 64 [SEP] 38, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 76 [SEP] 39, Spoon, 1.941, 0.747, 0.721, 0, 0, 0, 58 [SEP] 40, Mug, 1.276, 0.790, 2.695, 0, 90, 0, 73 [SEP] 41, Bowl, -0.328, 1.032, 2.068, 0, 90, 0, 74 [SEP] 42, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 43, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 44, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 45, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 46, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 47, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 48, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 49, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 50, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 51, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 52, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 53, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 54, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 55, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 56, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 57, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 58, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 59, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 60, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 61, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 62, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 63, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 64, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 65, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 66, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 67, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 68, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 69, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 70, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 71, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 72, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 73, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 74, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 75, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 76, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 77, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 78, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 79, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn right to face stove. | STEP 2: Pick up pot from left lower burner of stove. | STEP 3: Turn right, proceed to refrigerator on left.  Turn left to face refrigerator. | STEP 4: Open refrigerator, place pot on second shelf down, close door.  Wait four seconds.  Open refrigerator, get out pot, close door. | STEP 5: Turn left, go ahead to sink. | STEP 6: Open right cabinet under sink.  Place pot in cabinet, close door. | END


Input: Examine a pillow in 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, -3.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, TissueBox, -4.273, 1.066, 0.257, 0, 270, 0, 28 [SEP] 2, TissueBox, -0.175, 0.129, 1.202, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.589, 0.897, 1.234, 0, 0, 0, 40 [SEP] 4, KeyChain, -1.121, 0.634, 1.327, 0, 270, 0, 39 [SEP] 5, CreditCard, -0.806, 0.127, 1.274, 0, 0, 0, 38 [SEP] 6, Box, -3.780, 1.305, 0.457, 0, 0, 0, 28 [SEP] 7, Vase, -1.226, 0.128, 1.165, 0, 0, 0, 38 [SEP] 8, TissueBox, -1.047, 0.900, 1.187, 0, 0, 0, 40 [SEP] 9, Newspaper, -0.385, 0.127, 1.202, 0, 0, 0, 38 [SEP] 10, KeyChain, -0.396, 0.538, -0.983, 0, 0, 0, 37 [SEP] 11, Vase, 0.667, 0.668, 1.267, 0, 0, 0, 29 [SEP] 12, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 40 [SEP] 13, RemoteControl, 0.056, 0.483, -1.319, 0, 0, 0, 37 [SEP] 14, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 31 [SEP] 15, CreditCard, -0.169, 0.541, -0.983, 0, 0, 0, 37 [SEP] 16, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 37 [SEP] 17, Vase, 1.407, 0.660, -1.413, 0, 0, 0, 33 [SEP] 18, Statue, -0.359, 0.998, 1.140, 0, 0, 0, 40 [SEP] 19, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0,  [SEP] 20, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0,  [SEP] 21, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0,  [SEP] 22, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0,  [SEP] 23, Television, -0.549, 1.516, 1.450, 0, 180, 0,  [SEP] 24, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0,  [SEP] 25, Window, -2.012, 1.501, 1.468, 90, 0, 0,  [SEP] 26, Window, 0.986, 1.501, 1.468, 90, 0, 0,  [SEP] 27, Painting, -0.698, 1.835, -1.911, 90, 0, 0,  [SEP] 28, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0,  [SEP] 29, SideTable, 1.102, -0.000, 1.118, 0, 180, 0,  [SEP] 30, Drawer, 1.103, 0.519, 0.834, 0, 180, 0,  [SEP] 31, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0,  [SEP] 32, Drawer, 1.581, 0.523, -1.199, 0, 0, 0,  [SEP] 33, SideTable, 1.581, 0.003, -1.488, 0, 0, 0,  [SEP] 34, Painting, -4.910, 1.763, -0.098, 90, 270, 0,  [SEP] 35, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0,  [SEP] 36, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0,  [SEP] 37, Sofa, 0.057, -0.002, -1.386, 0, 0, 0,  [SEP] 38, Shelf, -0.552, 0.114, 1.252, 0, 180, 0,  [SEP] 39, Drawer, -1.020, 0.728, 1.032, 0, 180, 0,  [SEP] 40, SideTable, -0.589, 0.000, 1.227, 0, 180, 0,  [SEP] 41, Drawer, -0.157, 0.728, 1.032, 0, 180, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the chair on your right. | STEP 2: Pick up the pillow from the chair. | STEP 3: Walk to your left until you reach the end table with the lamp on it. | STEP 4: Turn on the lamp. | END


Input: Examine a pillow by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, TissueBox, -4.273, 1.066, 0.257, 0, 270, 0, 28 [SEP] 2, TissueBox, -0.175, 0.129, 1.202, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.589, 0.897, 1.234, 0, 0, 0, 40 [SEP] 4, KeyChain, -1.121, 0.634, 1.327, 0, 270, 0, 39 [SEP] 5, CreditCard, -0.806, 0.127, 1.274, 0, 0, 0, 38 [SEP] 6, Box, -3.780, 1.305, 0.457, 0, 0, 0, 28 [SEP] 7, Vase, -1.226, 0.128, 1.165, 0, 0, 0, 38 [SEP] 8, TissueBox, -1.047, 0.900, 1.187, 0, 0, 0, 40 [SEP] 9, Newspaper, -0.385, 0.127, 1.202, 0, 0, 0, 38 [SEP] 10, KeyChain, -0.396, 0.538, -0.983, 0, 0, 0, 37 [SEP] 11, Vase, 0.667, 0.668, 1.267, 0, 0, 0, 29 [SEP] 12, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 40 [SEP] 13, RemoteControl, 0.056, 0.483, -1.319, 0, 0, 0, 37 [SEP] 14, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 31 [SEP] 15, CreditCard, -0.169, 0.541, -0.983, 0, 0, 0, 37 [SEP] 16, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 37 [SEP] 17, Vase, 1.407, 0.660, -1.413, 0, 0, 0, 33 [SEP] 18, Statue, -0.359, 0.998, 1.140, 0, 0, 0, 40 [SEP] 19, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0,  [SEP] 20, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0,  [SEP] 21, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0,  [SEP] 22, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0,  [SEP] 23, Television, -0.549, 1.516, 1.450, 0, 180, 0,  [SEP] 24, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0,  [SEP] 25, Window, -2.012, 1.501, 1.468, 90, 0, 0,  [SEP] 26, Window, 0.986, 1.501, 1.468, 90, 0, 0,  [SEP] 27, Painting, -0.698, 1.835, -1.911, 90, 0, 0,  [SEP] 28, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0,  [SEP] 29, SideTable, 1.102, -0.000, 1.118, 0, 180, 0,  [SEP] 30, Drawer, 1.103, 0.519, 0.834, 0, 180, 0,  [SEP] 31, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0,  [SEP] 32, Drawer, 1.581, 0.523, -1.199, 0, 0, 0,  [SEP] 33, SideTable, 1.581, 0.003, -1.488, 0, 0, 0,  [SEP] 34, Painting, -4.910, 1.763, -0.098, 90, 270, 0,  [SEP] 35, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0,  [SEP] 36, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0,  [SEP] 37, Sofa, 0.057, -0.002, -1.386, 0, 0, 0,  [SEP] 38, Shelf, -0.552, 0.114, 1.252, 0, 180, 0,  [SEP] 39, Drawer, -1.020, 0.728, 1.032, 0, 180, 0,  [SEP] 40, SideTable, -0.589, 0.000, 1.227, 0, 180, 0,  [SEP] 41, Drawer, -0.157, 0.728, 1.032, 0, 180, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the chair containing a pillow. | STEP 2: Pick up the pillow from the chair. | STEP 3: Turn left and walk to the lamp on the desk in the corner of the room. | STEP 4: Turn on the lamp. | END


Input: move the spray bottle from the sink to the back 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, 0.25, 0.909, 0.5, 0, 90, 0,  [SEP] 1, Candle, -3.222, 0.597, 1.384, 0, 0, 0, 35 [SEP] 2, SoapBottle, -0.418, 1.106, 3.137, 0, 0, 0, 21 [SEP] 3, SoapBottle, -0.560, 1.073, 0.363, 0, 0, 0, 40 [SEP] 4, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 38 [SEP] 5, Plunger, -0.219, 0.026, 0.490, 0, 0, 0,  [SEP] 6, SoapBar, -1.639, 0.106, 0.544, 0, 0, 0, 34 [SEP] 7, ToiletPaper, -2.812, 0.595, 1.509, 0, 0, 0, 35 [SEP] 8, SoapBottle, -2.710, 0.600, 1.342, 0, 0, 0, 35 [SEP] 9, ToiletPaper, -0.757, 1.067, 0.363, 0, 0, 0, 40 [SEP] 10, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 32 [SEP] 11, PaperTowelRoll, -1.464, 0.705, 1.072, 0, 0, 0, 24 [SEP] 12, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0,  [SEP] 13, Cloth, -3.017, 0.603, 1.426, 0, 0, 0, 35 [SEP] 14, Candle, -2.364, 1.103, 2.983, 0, 0, 0, 21 [SEP] 15, DishSponge, -1.284, 1.106, 3.214, 0, 0, 0, 21 [SEP] 16, SprayBottle, -2.340, 1.105, 3.292, 0, 0, 0, 21 [SEP] 17, Window, -3.447, 1.593, 0.648, 0, 0, 0,  [SEP] 18, Mirror, -1.386, 1.595, 3.464, 0, 0, 0,  [SEP] 19, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0,  [SEP] 20, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0,  [SEP] 21, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0,  [SEP] 22, Sink, -0.846, 0.952, 3.144, 0, 180, 0,  [SEP] 23, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0,  [SEP] 24, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0,  [SEP] 25, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0,  [SEP] 26, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0,  [SEP] 27, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0,  [SEP] 28, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0,  [SEP] 29, Faucet, -0.853, 1.094, 3.367, 0, 180, 0,  [SEP] 30, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0,  [SEP] 31, Window, -2.190, 1.550, 0.086, 0, 0, 0,  [SEP] 32, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0,  [SEP] 33, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0,  [SEP] 34, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0,  [SEP] 35, Shelf, -2.930, 0.589, 1.425, 0, 0, 0,  [SEP] 36, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0,  [SEP] 37, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0,  [SEP] 38, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0,  [SEP] 39, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0,  [SEP] 40, Toilet, -0.694, 0.026, 0.656, 0, 90, 0,  [SEP] 41, Faucet, -1.944, 1.094, 3.367, 0, 180, 0,  [SEP] 42, Sink, -1.934, 0.952, 3.144, 0, 180, 0,  [SEP] 43, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0,  [SEP] 44, Faucet, -1.342, 0.638, 0.629, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: walk over to the front of the sink | STEP 2: pick up the spray bottle from the counter | STEP 3: take the spray bottle over to the toilet | STEP 4: put the bottle on the back of the toilet next to the lotion | END


Input: Examine a remote control by the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.906, 3.0, 0, 270, 0,  [SEP] 1, TissueBox, -0.178, 0.766, 2.228, 0, 270, 0, 45 [SEP] 2, TissueBox, -0.395, 0.183, 3.098, 0, 270, 0, 46 [SEP] 3, Watch, -0.253, 0.762, 2.378, 0, 270, 0, 45 [SEP] 4, Watch, -0.361, 0.183, 2.260, 0, 270, 0, 44 [SEP] 5, Newspaper, -0.178, 0.763, 2.528, 0, 270, 0, 45 [SEP] 6, Newspaper, -0.478, 0.766, 2.678, 0, 270, 0, 45 [SEP] 7, KeyChain, -0.553, 0.762, 2.378, 0, 270, 0, 45 [SEP] 8, KeyChain, -0.403, 0.762, 2.378, 0, 270, 0, 45 [SEP] 9, CreditCard, -1.740, 0.198, 2.757, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.969, 0.195, 2.528, 0, 0, 0, 38 [SEP] 11, Pillow, -2.865, 0.484, 4.412, 0, 0, 0, 48 [SEP] 12, Box, -2.111, 0.293, 2.930, 0, 0, 0, 38 [SEP] 13, CreditCard, -0.138, 0.184, 2.711, 0, 270, 0, 43 [SEP] 14, TissueBox, -0.403, 0.766, 2.978, 0, 270, 0, 45 [SEP] 15, Laptop, -4.503, 0.417, 2.640, 0, 270, 0, 47 [SEP] 16, Vase, -2.880, 1.518, 0.144, 0, 0, 0,  [SEP] 17, RemoteControl, -0.782, 0.378, 0.712, 0, 0, 0, 39 [SEP] 18, Pillow, -1.878, 0.484, 4.412, 0, 0, 0, 48 [SEP] 19, KeyChain, -0.403, 0.765, 2.528, 0, 270, 0, 45 [SEP] 20, Watch, -0.464, 0.576, 3.098, 0, 270, 0, 41 [SEP] 21, Newspaper, -4.266, 0.421, 1.406, 0, 270, 0, 47 [SEP] 22, Statue, -2.121, 0.205, 2.299, 0, 0, 0, 38 [SEP] 23, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 24, Curtains, -1.030, 2.113, 0.0, 0, 0, 0,  [SEP] 25, Curtains, -3.927, 2.113, 0.0, 0, 0, 0,  [SEP] 26, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0,  [SEP] 27, Television, 0.0, 1.376, 2.661, 0, 270, 0,  [SEP] 28, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0,  [SEP] 29, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0,  [SEP] 30, Painting, -2.507, 1.817, 0.108, 90, 0, 0,  [SEP] 31, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0,  [SEP] 32, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0,  [SEP] 33, Window, -1.011, 1.391, 0.029, 90, 180, 0,  [SEP] 34, Window, -3.900, 1.391, 0.029, 90, 180, 0,  [SEP] 35, Drawer, -4.433, 0.473, 3.344, 0, 90, 0,  [SEP] 36, SideTable, -4.612, 0.009, 3.346, 0, 90, 0,  [SEP] 37, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0,  [SEP] 38, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0,  [SEP] 39, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0,  [SEP] 40, Shelf, -0.340, 0.480, 3.046, 0, 270, 0,  [SEP] 41, Shelf, -0.340, 0.649, 3.046, 0, 270, 0,  [SEP] 42, Shelf, -0.340, 0.603, 2.312, 0, 270, 0,  [SEP] 43, Shelf, -0.340, 0.448, 2.678, 0, 270, 0,  [SEP] 44, Shelf, -0.340, 0.308, 2.312, 0, 270, 0,  [SEP] 45, TVStand, -0.335, 0.005, 2.679, 0, 270, 0,  [SEP] 46, Shelf, -0.340, 0.279, 3.046, 0, 270, 0,  [SEP] 47, Sofa, -4.566, 0.009, 1.880, 0, 90, 0,  [SEP] 48, Sofa, -2.124, 0.009, 4.558, 0, 180, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,

Output: STEP 1: Turn left, hang a left at the end of the couch and walk to the black chair on the right. | STEP 2: Pick up the remote control from the cushion on the chair. | STEP 3: Turn right and walk to the tall lamp in the corner next to the couch. | STEP 4: Turn on the tall lamp. | END


Input: Pick up a remote and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.906, 3.0, 0, 270, 0,  [SEP] 1, TissueBox, -0.178, 0.766, 2.228, 0, 270, 0, 45 [SEP] 2, TissueBox, -0.395, 0.183, 3.098, 0, 270, 0, 46 [SEP] 3, Watch, -0.253, 0.762, 2.378, 0, 270, 0, 45 [SEP] 4, Watch, -0.361, 0.183, 2.260, 0, 270, 0, 44 [SEP] 5, Newspaper, -0.178, 0.763, 2.528, 0, 270, 0, 45 [SEP] 6, Newspaper, -0.478, 0.766, 2.678, 0, 270, 0, 45 [SEP] 7, KeyChain, -0.553, 0.762, 2.378, 0, 270, 0, 45 [SEP] 8, KeyChain, -0.403, 0.762, 2.378, 0, 270, 0, 45 [SEP] 9, CreditCard, -1.740, 0.198, 2.757, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.969, 0.195, 2.528, 0, 0, 0, 38 [SEP] 11, Pillow, -2.865, 0.484, 4.412, 0, 0, 0, 48 [SEP] 12, Box, -2.111, 0.293, 2.930, 0, 0, 0, 38 [SEP] 13, CreditCard, -0.138, 0.184, 2.711, 0, 270, 0, 43 [SEP] 14, TissueBox, -0.403, 0.766, 2.978, 0, 270, 0, 45 [SEP] 15, Laptop, -4.503, 0.417, 2.640, 0, 270, 0, 47 [SEP] 16, Vase, -2.880, 1.518, 0.144, 0, 0, 0,  [SEP] 17, RemoteControl, -0.782, 0.378, 0.712, 0, 0, 0, 39 [SEP] 18, Pillow, -1.878, 0.484, 4.412, 0, 0, 0, 48 [SEP] 19, KeyChain, -0.403, 0.765, 2.528, 0, 270, 0, 45 [SEP] 20, Watch, -0.464, 0.576, 3.098, 0, 270, 0, 41 [SEP] 21, Newspaper, -4.266, 0.421, 1.406, 0, 270, 0, 47 [SEP] 22, Statue, -2.121, 0.205, 2.299, 0, 0, 0, 38 [SEP] 23, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 24, Curtains, -1.030, 2.113, 0.0, 0, 0, 0,  [SEP] 25, Curtains, -3.927, 2.113, 0.0, 0, 0, 0,  [SEP] 26, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0,  [SEP] 27, Television, 0.0, 1.376, 2.661, 0, 270, 0,  [SEP] 28, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0,  [SEP] 29, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0,  [SEP] 30, Painting, -2.507, 1.817, 0.108, 90, 0, 0,  [SEP] 31, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0,  [SEP] 32, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0,  [SEP] 33, Window, -1.011, 1.391, 0.029, 90, 180, 0,  [SEP] 34, Window, -3.900, 1.391, 0.029, 90, 180, 0,  [SEP] 35, Drawer, -4.433, 0.473, 3.344, 0, 90, 0,  [SEP] 36, SideTable, -4.612, 0.009, 3.346, 0, 90, 0,  [SEP] 37, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0,  [SEP] 38, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0,  [SEP] 39, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0,  [SEP] 40, Shelf, -0.340, 0.480, 3.046, 0, 270, 0,  [SEP] 41, Shelf, -0.340, 0.649, 3.046, 0, 270, 0,  [SEP] 42, Shelf, -0.340, 0.603, 2.312, 0, 270, 0,  [SEP] 43, Shelf, -0.340, 0.448, 2.678, 0, 270, 0,  [SEP] 44, Shelf, -0.340, 0.308, 2.312, 0, 270, 0,  [SEP] 45, TVStand, -0.335, 0.005, 2.679, 0, 270, 0,  [SEP] 46, Shelf, -0.340, 0.279, 3.046, 0, 270, 0,  [SEP] 47, Sofa, -4.566, 0.009, 1.880, 0, 90, 0,  [SEP] 48, Sofa, -2.124, 0.009, 4.558, 0, 180, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,

Output: STEP 1: Turn around and cross the room to face the black chair in the corner. | STEP 2: Pick the remote up from the chair. | STEP 3: Cross the room and face the floor lamp in the corner. | STEP 4: Turn the lamp on. | END


Input: Put a wet tea pot behind the lettuce on the black round table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 6.75, 0, 90, 0,  [SEP] 1, Potato, 0.544, 1.027, 0.670, 0, 0, 0, 54 [SEP] 2, ButterKnife, 1.236, 0.771, 3.360, 0, 0, 0, 47 [SEP] 3, ButterKnife, -0.611, 0.992, 0.395, 0, 0, 0, 54 [SEP] 4, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 48 [SEP] 5, Kettle, 0.885, 0.144, 0.260, 0, 0, 0, 60 [SEP] 6, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 52 [SEP] 7, Spatula, 0.600, 0.787, 0.395, 0, 90, 0, 46 [SEP] 8, Spatula, -0.346, 0.775, 6.323, 0, 90, 0, 90 [SEP] 9, Fork, -0.093, 0.760, 6.633, 0, 45, 0, 90 [SEP] 10, Plate, 2.051, 1.516, 5.376, 0, 270, 0, 76 [SEP] 11, Knife, 0.328, 0.801, 0.451, 0, 90, 0, 51 [SEP] 12, Tomato, 1.135, 1.042, 4.716, 0, 0, 0, 55 [SEP] 13, Tomato, 2.137, 1.565, 5.876, 0, 270, 0, 76 [SEP] 14, SoapBottle, -0.467, 0.760, 6.479, 0, 270, 0, 90 [SEP] 15, Bowl, -0.159, 0.759, 6.941, 0, 0, 0, 90 [SEP] 16, Bowl, 1.495, 2.206, 4.131, 0, 0, 0, 42 [SEP] 17, PepperShaker, 1.500, 1.572, 1.410, 0, 0, 0, 64 [SEP] 18, PepperShaker, 0.147, 0.755, 6.349, 0, 135, 0, 90 [SEP] 19, Bowl, 0.104, 0.759, 6.653, 0, 225, 0, 90 [SEP] 20, Bread, 1.117, 1.048, 0.440, 0, 356.157, 358.224, 54 [SEP] 21, Egg, 0.079, 0.810, 6.063, 0, 135, 0, 90 [SEP] 22, Knife, 0.921, 1.012, 0.300, 345.680, 0, 357.838, 54 [SEP] 23, Fork, -0.687, 0.993, 0.212, 0, 0, 0, 54 [SEP] 24, Apple, 0.305, 0.834, 6.291, 0, 270, 0, 90 [SEP] 25, Kettle, 0.305, 0.761, 6.479, 0, 270, 0, 90 [SEP] 26, Plate, 1.490, 0.141, 2.086, 0, 0, 0, 43 [SEP] 27, SaltShaker, 1.582, 0.987, 3.417, 0, 90, 0, 54 [SEP] 28, Lettuce, -0.159, 0.848, 6.169, 0, 0, 0, 90 [SEP] 29, SoapBottle, 1.019, 1.579, 0.339, 0, 90, 0, 61 [SEP] 30, Spatula, -0.685, 0.787, 0.507, 0, 90, 0, 50 [SEP] 31, PaperTowelRoll, 1.314, 1.096, 1.350, 0, 0, 0, 54 [SEP] 32, Pot, 0.734, 0.983, 0.38, 0, 0, 0, 54 [SEP] 33, Potato, 0.923, 1.027, 0.120, 0, 0, 0, 54 [SEP] 34, ButterKnife, -0.224, 0.760, 6.633, 0, 135, 0, 90 [SEP] 35, PepperShaker, -0.346, 0.755, 6.787, 0, 0, 0, 90 [SEP] 36, Pan, 1.493, 0.990, 0.440, 0, 0, 0, 54 [SEP] 37, Tomato, -0.034, 0.809, 6.323, 0, 0, 0, 90 [SEP] 38, DishSponge, -0.483, 0.143, 0.429, 0, 0, 0, 62 [SEP] 39, Cup, 2.009, 1.511, 5.626, 0, 270, 0, 76 [SEP] 40, Spoon, 1.293, 0.772, 4.717, 0, 0, 0, 44 [SEP] 41, Mug, 0.064, 1.092, 0.310, 0, 270, 0, 70 [SEP] 42, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 43, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 44, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 45, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 46, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 47, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 48, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 49, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 50, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 51, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 52, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 53, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 54, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 55, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 56, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 57, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 58, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 59, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 60, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 61, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 62, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 63, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 64, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 65, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 66, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 67, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 69, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 70, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 71, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 72, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 73, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 74, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 75, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 76, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 77, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 78, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 79, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 80, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 81, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 82, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 83, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 84, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 85, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 86, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 87, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 88, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 89, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 90, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 91, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 92, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Walk to the right, turn left near the table, walk towards the fridge and then turn left to go to the other side of the table.  | STEP 2: Pick up a tea pot from on top of the black round table.  | STEP 3: Turn around, walk forward and turn to the left to go to the sink.  | STEP 4: Put the tea pot in the sink, turn on the water for a few seconds, turn it off and pick up the tea pot again.  | STEP 5: Walk to the left, walk towards the wall and turn left to face the black round table. | STEP 6: Put the tea pot behind the lettuce on the round table.  | END


Input: Put a filled tea kettle on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 6.75, 0, 90, 0,  [SEP] 1, Potato, 0.544, 1.027, 0.670, 0, 0, 0, 54 [SEP] 2, ButterKnife, 1.236, 0.771, 3.360, 0, 0, 0, 47 [SEP] 3, ButterKnife, -0.611, 0.992, 0.395, 0, 0, 0, 54 [SEP] 4, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 48 [SEP] 5, Kettle, 0.885, 0.144, 0.260, 0, 0, 0, 60 [SEP] 6, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 52 [SEP] 7, Spatula, 0.600, 0.787, 0.395, 0, 90, 0, 46 [SEP] 8, Spatula, -0.346, 0.775, 6.323, 0, 90, 0, 90 [SEP] 9, Fork, -0.093, 0.760, 6.633, 0, 45, 0, 90 [SEP] 10, Plate, 2.051, 1.516, 5.376, 0, 270, 0, 76 [SEP] 11, Knife, 0.328, 0.801, 0.451, 0, 90, 0, 51 [SEP] 12, Tomato, 1.135, 1.042, 4.716, 0, 0, 0, 55 [SEP] 13, Tomato, 2.137, 1.565, 5.876, 0, 270, 0, 76 [SEP] 14, SoapBottle, -0.467, 0.760, 6.479, 0, 270, 0, 90 [SEP] 15, Bowl, -0.159, 0.759, 6.941, 0, 0, 0, 90 [SEP] 16, Bowl, 1.495, 2.206, 4.131, 0, 0, 0, 42 [SEP] 17, PepperShaker, 1.500, 1.572, 1.410, 0, 0, 0, 64 [SEP] 18, PepperShaker, 0.147, 0.755, 6.349, 0, 135, 0, 90 [SEP] 19, Bowl, 0.104, 0.759, 6.653, 0, 225, 0, 90 [SEP] 20, Bread, 1.117, 1.048, 0.440, 0, 356.157, 358.224, 54 [SEP] 21, Egg, 0.079, 0.810, 6.063, 0, 135, 0, 90 [SEP] 22, Knife, 0.921, 1.012, 0.300, 345.680, 0, 357.838, 54 [SEP] 23, Fork, -0.687, 0.993, 0.212, 0, 0, 0, 54 [SEP] 24, Apple, 0.305, 0.834, 6.291, 0, 270, 0, 90 [SEP] 25, Kettle, 0.305, 0.761, 6.479, 0, 270, 0, 90 [SEP] 26, Plate, 1.490, 0.141, 2.086, 0, 0, 0, 43 [SEP] 27, SaltShaker, 1.582, 0.987, 3.417, 0, 90, 0, 54 [SEP] 28, Lettuce, -0.159, 0.848, 6.169, 0, 0, 0, 90 [SEP] 29, SoapBottle, 1.019, 1.579, 0.339, 0, 90, 0, 61 [SEP] 30, Spatula, -0.685, 0.787, 0.507, 0, 90, 0, 50 [SEP] 31, PaperTowelRoll, 1.314, 1.096, 1.350, 0, 0, 0, 54 [SEP] 32, Pot, 0.734, 0.983, 0.38, 0, 0, 0, 54 [SEP] 33, Potato, 0.923, 1.027, 0.120, 0, 0, 0, 54 [SEP] 34, ButterKnife, -0.224, 0.760, 6.633, 0, 135, 0, 90 [SEP] 35, PepperShaker, -0.346, 0.755, 6.787, 0, 0, 0, 90 [SEP] 36, Pan, 1.493, 0.990, 0.440, 0, 0, 0, 54 [SEP] 37, Tomato, -0.034, 0.809, 6.323, 0, 0, 0, 90 [SEP] 38, DishSponge, -0.483, 0.143, 0.429, 0, 0, 0, 62 [SEP] 39, Cup, 2.009, 1.511, 5.626, 0, 270, 0, 76 [SEP] 40, Spoon, 1.293, 0.772, 4.717, 0, 0, 0, 44 [SEP] 41, Mug, 0.064, 1.092, 0.310, 0, 270, 0, 70 [SEP] 42, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 43, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 44, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 45, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 46, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 47, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 48, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 49, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 50, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 51, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 52, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 53, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 54, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 55, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 56, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 57, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 58, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 59, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 60, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 61, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 62, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 63, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 64, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 65, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 66, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 67, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 69, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 70, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 71, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 72, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 73, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 74, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 75, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 76, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 77, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 78, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 79, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 80, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 81, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 82, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 83, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 84, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 85, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 86, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 87, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 88, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 89, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 90, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 91, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 92, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Walk around the table, and face the table. | STEP 2: Pick up the tea kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the tea kettle in the sink, turn on the water, turn off the water, and pick up the tea kettle. | STEP 5: Turn left, walk to the wall, and face the table. | STEP 6: Put the tea kettle on the table. | END


Input: Inspect a remote 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, -1.75, 0.909, 2.75, 0, 270, 0,  [SEP] 1, Statue, -0.267, 0.843, 0.710, 0, 0, 0, 30 [SEP] 2, Candle, -0.301, 1.308, 3.610, 0, 0, 0, 36 [SEP] 3, Candle, -0.356, 0.115, 3.489, 0, 0, 0, 38 [SEP] 4, CreditCard, -3.055, 0.542, 4.138, 0, 0, 0, 39 [SEP] 5, RemoteControl, -2.936, 0.464, -0.040, 0, 0, 0, 44 [SEP] 6, RemoteControl, -0.133, 1.307, 3.444, 0, 0, 0, 36 [SEP] 7, RemoteControl, 0.120, 0.868, 1.699, 0, 0, 0, 32 [SEP] 8, Box, -2.264, 0.667, 1.251, 0, 0, 0, 46 [SEP] 9, TissueBox, -0.357, 1.307, 3.444, 0, 0, 0, 36 [SEP] 10, KeyChain, -0.245, 1.306, 3.278, 0, 0, 0, 36 [SEP] 11, Boots, -0.443, 0.009, -0.549, 0, 339.553, 0,  [SEP] 12, Candle, -2.814, 0.475, 0.973, 0, 0, 0, 46 [SEP] 13, RemoteControl, 0.120, 0.682, 1.847, 0, 0, 0, 33 [SEP] 14, CreditCard, -2.514, 0.473, 1.349, 0, 0, 0, 46 [SEP] 15, Laptop, -0.245, 1.303, 4.106, 0, 0, 0, 36 [SEP] 16, Pillow, -3.707, 0.635, 3.745, 0, 0, 0, 39 [SEP] 17, Statue, -2.514, 0.475, 1.161, 0, 180, 0, 46 [SEP] 18, GarbageCan, -5.166, -0.026, -0.382, 0, 0, 0,  [SEP] 19, Television, 0.145, 1.528, 1.996, 0, 270, 0,  [SEP] 20, LightSwitch, -6.0, 1.381, 2.882, 0, 90, 0,  [SEP] 21, Painting, -0.048, 1.912, 3.687, 90, 270, 0,  [SEP] 22, Painting, -5.353, 1.990, -0.694, 90, 180, 0,  [SEP] 23, HousePlant, -0.289, 0.840, 0.301, 0, 0, 0,  [SEP] 24, FloorLamp, -4.100, 0.013, -0.468, 0, 0, 0,  [SEP] 25, Window, -4.131, 1.557, -0.827, 90, 180, 0,  [SEP] 26, Window, -0.972, 1.557, -0.827, 90, 180, 0,  [SEP] 27, Window, -2.553, 1.557, -0.827, 90, 180, 0,  [SEP] 28, Drawer, -0.359, 0.583, 0.516, 0, 270, 0,  [SEP] 29, Drawer, -0.359, 0.220, 0.516, 0, 270, 0,  [SEP] 30, SideTable, -0.276, 0.015, 0.516, 0, 270, 0,  [SEP] 31, TVStand, 0.172, 0.591, 1.982, 0, 270, 0,  [SEP] 32, DiningTable, 0.172, 0.859, 1.982, 0, 270, 0,  [SEP] 33, DiningTable, 0.172, 0.673, 1.982, 0, 270, 0,  [SEP] 34, Drawer, -0.309, 1.052, 3.610, 0, 270, 0,  [SEP] 35, Drawer, -0.309, 0.761, 3.610, 0, 270, 0,  [SEP] 36, Dresser, -0.265, 0.007, 3.609, 0, 270, 0,  [SEP] 37, Drawer, -0.309, 0.471, 3.610, 0, 270, 0,  [SEP] 38, Drawer, -0.309, 0.181, 3.610, 0, 270, 0,  [SEP] 39, Sofa, -3.786, 0.015, 3.893, 0, 180, 0,  [SEP] 40, RoomDecor, -5.815, 0.010, 4.406, 0, 0, 0,  [SEP] 41, RoomDecor, -0.333, 0.010, 4.396, 0, 0, 0,  [SEP] 42, RoomDecor, -0.178, 0.010, -0.448, 0, 0, 0,  [SEP] 43, RoomDecor, -5.805, 0.010, -0.486, 0, 0, 0,  [SEP] 44, Sofa, -2.683, 0.011, -0.124, 0, 0, 0,  [SEP] 45, ArmChair, -2.062, 0.014, 4.216, 0, 180, 0,  [SEP] 46, CoffeeTable, -2.646, 0.007, 1.150, 0, 0, 0,  [SEP] 47, Chair, -1.347, 0.009, 4.243, 0, 180, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Turn to your left and walk over to face the striped green couch.  | STEP 2: Pick up the remote that is sitting on the couch.  | STEP 3: Walk over to the floor lamp that sits to the right of the striped green couch.  | STEP 4: Turn on the lamp. | END


Input: put a slice of a potato in a trash can  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Kettle, -2.477, 0.953, 0.435, 0, 90, 0, 85 [SEP] 2, Kettle, 0.021, 0.107, 0.320, 0, 0, 0, 62 [SEP] 3, DishSponge, 0.341, 0.782, -1.648, 0, 270, 0, 75 [SEP] 4, DishSponge, 0.804, 0.919, -1.649, 0, 270, 0, 50 [SEP] 5, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 52 [SEP] 6, ButterKnife, -2.203, 0.952, 0.524, 0, 90, 0, 85 [SEP] 7, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 54 [SEP] 8, Fork, 1.903, 0.912, -1.489, 0, 0, 0, 52 [SEP] 9, Fork, -2.203, 0.952, 0.345, 0, 90, 0, 85 [SEP] 10, Spoon, 1.785, 0.913, 0.292, 0, 0, 0, 67 [SEP] 11, Spatula, 0.167, 0.927, 0.540, 0, 0, 0, 51 [SEP] 12, Spatula, 0.649, 0.934, -1.582, 0, 270, 0, 50 [SEP] 13, Egg, -2.31, 1.086, -1.849, 0, 0, 0, 82 [SEP] 14, Egg, -0.451, 0.947, -1.820, 0, 0, 0, 52 [SEP] 15, Knife, 0.856, 0.944, -1.649, 0, 90, 0, 50 [SEP] 16, SoapBottle, 0.432, 0.910, 0.292, 0, 0, 0, 51 [SEP] 17, SoapBottle, 1.781, 0.910, -1.571, 0, 0, 0, 52 [SEP] 18, Bowl, -2.222, 1.492, -1.806, 0, 0, 0, 82 [SEP] 19, Bowl, -1.959, 1.492, -1.806, 0, 0, 0, 82 [SEP] 20, SaltShaker, -0.096, 0.908, 0.209, 0, 0, 0, 51 [SEP] 21, PepperShaker, -2.203, 0.948, 0.255, 0, 90, 0, 85 [SEP] 22, Lettuce, -1.791, 1.042, 0.614, 0, 90, 0, 85 [SEP] 23, Bread, -2.065, 1.035, 0.165, 0, 90, 0, 85 [SEP] 24, Knife, -1.928, 0.977, 0.345, 0, 270, 0, 85 [SEP] 25, Fork, -2.614, 0.952, 0.524, 0, 270, 0, 85 [SEP] 26, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 68 [SEP] 27, Kettle, -0.538, 0.111, -1.508, 0, 0, 0, 66 [SEP] 28, Cup, 0.753, 0.917, -1.782, 0, 270, 0, 50 [SEP] 29, Tomato, -2.614, 1.001, 0.165, 0, 90, 0, 85 [SEP] 30, SoapBottle, -0.394, 0.068, 0.612, 0, 90, 0, 81 [SEP] 31, Plate, -0.147, 0.111, -1.508, 0, 0, 0, 61 [SEP] 32, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 57 [SEP] 33, Spatula, -0.267, 0.927, -1.571, 0, 90, 0, 52 [SEP] 34, PaperTowelRoll, -2.065, 1.056, 0.704, 0, 90, 0, 85 [SEP] 35, Egg, -1.872, 1.086, -1.763, 0, 0, 0, 82 [SEP] 36, Lettuce, 1.846, 1.002, 0.458, 0, 0, 0, 67 [SEP] 37, SaltShaker, 1.907, 0.908, 0.623, 0, 0, 0, 67 [SEP] 38, PepperShaker, 1.167, 0.908, -1.489, 0, 0, 0, 52 [SEP] 39, Apple, -0.975, 1.082, -1.704, 0, 0, 0, 74 [SEP] 40, ButterKnife, 0.167, 0.912, 0.540, 0, 90, 0, 51 [SEP] 41, Potato, -0.544, 0.942, -1.489, 0, 0, 0, 52 [SEP] 42, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 64 [SEP] 43, DishSponge, 1.724, 0.911, 0.623, 0, 0, 0, 67 [SEP] 44, Spoon, 1.924, 0.775, 0.339, 0, 270, 0, 53 [SEP] 45, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 76 [SEP] 46, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 47, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 48, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 49, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 50, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 51, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 52, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 53, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 54, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 55, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 56, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 57, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 58, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 59, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 60, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 61, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 62, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 63, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 64, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 65, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 66, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 67, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 68, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 69, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 70, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 71, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 72, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 73, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 74, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 75, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 76, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 77, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 78, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 79, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 80, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 81, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 82, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 83, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 84, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 85, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: turn to the left go right towards the table | STEP 2: pick up the knife from the table | STEP 3: turn to the left go forward go right towards the counter | STEP 4: slice a potato that is on top of the counter | STEP 5: turn around to the left open the bottom cabinet and put the knife inside of it  | STEP 6: turn to the right  | STEP 7: pick up a slice of the potato that is on the counter | STEP 8: turn to the right | STEP 9: turn to the left towards the refrigerator  | STEP 10: put the slice of potato inside of the refrigerator get it back out  | STEP 11: turn to the left go left go right towards the trash can | STEP 12: put the slice of potato inside the trash can | END


Input: Put a mug with a pencil in it on a desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0,  [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0,  [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0,  [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714,  [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0,  [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0,  [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0,  [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0,  [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0,  [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0,  [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0,  [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0,  [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0,  [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0,  [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0,  [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0,  [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0,  [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0,  [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0,  [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0,  [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0,  [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0,  [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0,  [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0,  [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412,  [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0,  [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0,  [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0,  [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0,  [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0,  [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0,  [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0,  [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0,  [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0,  [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0,  [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0,  [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0,  [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, EastWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, WestWall, , , , , , ,

Output: STEP 1: Turn to your left and face the chest of drawers | STEP 2: Pick up a pencil from the top of the drawers | STEP 3: Move to your right and face left on the desk | STEP 4: Drop the pencil in to the mug | STEP 5: Pick up the mug with the pencil in it | STEP 6: Turn around and head to the left so you are facing the desk | STEP 7: Place the mug on to the desk | END


Input: Put a mug with a pencil in it on a wooden table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0,  [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0,  [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0,  [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714,  [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0,  [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0,  [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0,  [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0,  [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0,  [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0,  [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0,  [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0,  [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0,  [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0,  [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0,  [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0,  [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0,  [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0,  [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0,  [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0,  [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0,  [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0,  [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0,  [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0,  [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412,  [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0,  [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0,  [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0,  [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0,  [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0,  [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0,  [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0,  [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0,  [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0,  [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0,  [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0,  [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0,  [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, EastWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, WestWall, , , , , , ,

Output: STEP 1: Turn left ad walk up to the dresser with the two analog clocks on it. | STEP 2: Pick up the white pencil off of the dresser. | STEP 3: Turn right and walk up to the bed, then turn left to face the dresser. | STEP 4: Put the pencil in the white mug on the dresser. | STEP 5: Pick up the mug with the pencil in it off of the dresser. | STEP 6: Turn around and walk towards the door, then turn left and walk up to the wooden table. | STEP 7: Put the mug with the pencil in it on the table in front of the phone. | END


Input: Place a mug with a pencil in it on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0,  [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0,  [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0,  [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714,  [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0,  [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0,  [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0,  [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0,  [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0,  [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0,  [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0,  [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0,  [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0,  [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0,  [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0,  [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0,  [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0,  [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0,  [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0,  [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0,  [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0,  [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0,  [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0,  [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0,  [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412,  [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0,  [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0,  [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0,  [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0,  [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0,  [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0,  [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0,  [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0,  [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0,  [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0,  [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0,  [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0,  [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, EastWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the mirror. | STEP 2: Pick up the white pencil on the counter. | STEP 3: Take a step right. | STEP 4: Put the pencil in the white mug on the counter. | STEP 5: Pick up the mug. | STEP 6: Turn around and veer left towards the desk. | STEP 7: Place the mug on the desk in front of the cell phone. | END


Input: Put the pencil and the cup on the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0,  [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0,  [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0,  [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714,  [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0,  [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0,  [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0,  [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0,  [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0,  [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0,  [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0,  [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0,  [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0,  [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0,  [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0,  [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0,  [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0,  [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0,  [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0,  [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0,  [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0,  [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0,  [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0,  [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0,  [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412,  [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0,  [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0,  [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0,  [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0,  [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0,  [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0,  [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0,  [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0,  [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0,  [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0,  [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0,  [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0,  [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, EastWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, WestWall, , , , , , ,

Output: STEP 1: turn around and approach the left side of the dresser dresser | STEP 2: pick up the pencil from on top the dresser | STEP 3: move to the right side of the dresser | STEP 4: put the pencil in the cup | STEP 5: pick up the cup from the dresser | STEP 6: turn around and head towards the desk | STEP 7: put the cup with the pencil on the desk | END


Input: Take the toilet paper off the holder and move it to the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.5, 0, 270, 0,  [SEP] 1, TissueBox, 0.852, 0.818, -1.773, 0, 90, 0, 29 [SEP] 2, SoapBottle, -0.008, 0.955, -3.847, 0, 90, 0, 23 [SEP] 3, SoapBottle, 0.839, 0.821, -0.522, 0, 90, 0, 28 [SEP] 4, Cloth, -1.640, 0.042, -1.822, 0, 270, 0, 25 [SEP] 5, Candle, 0.824, 0.817, -1.571, 0, 90, 0, 29 [SEP] 6, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 20 [SEP] 7, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 18 [SEP] 8, SoapBar, -2.173, 0.834, -0.659, 0, 0, 0, 24 [SEP] 9, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 26 [SEP] 10, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 11, SprayBottle, -1.555, 0.815, -0.108, 0, 0, 0, 27 [SEP] 12, TissueBox, 0.754, 0.818, -0.825, 0, 90, 0, 28 [SEP] 13, ToiletPaper, -0.444, 0.039, -3.793, 0, 0, 0, 19 [SEP] 14, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 15, Sink, -2.171, 0.294, -0.660, 0, 90, 0,  [SEP] 16, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0,  [SEP] 17, Mirror, -2.503, 1.423, -0.703, 0, 0, 0,  [SEP] 18, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0,  [SEP] 19, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0,  [SEP] 20, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0,  [SEP] 21, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0,  [SEP] 22, Window, -0.540, 1.625, -3.996, 90, 0, 0,  [SEP] 23, Toilet, 0.004, -0.000, -3.436, 0, 0, 0,  [SEP] 24, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0,  [SEP] 25, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0,  [SEP] 26, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0,  [SEP] 27, SideTable, -1.526, 0.001, -0.172, 0, 0, 0,  [SEP] 28, SideTable, 0.780, 0.001, -0.667, 0, 90, 0,  [SEP] 29, SideTable, 0.793, 0.001, -1.817, 0, 90, 0,  [SEP] 30, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987,  [SEP] 31, Faucet, -2.431, 0.982, -0.660, 0, 90, 0,  [SEP] 32, Faucet, -1.909, 0.666, -3.855, 0, 180, 0,  [SEP] 33, NorthWall, , , , , , ,  [SEP] 34, EastWall, , , , , , ,  [SEP] 35, SouthWall, , , , , , ,  [SEP] 36, WestWall, , , , , , ,

Output: STEP 1: Turn around and cross the room to the toilet | STEP 2: take the toilet paper from off the holder | STEP 3: Turn around and cross the room to the cabinet | STEP 4: place toilet paper on the cabinet | END


Input: Put a fork in a mug on the counter.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, -2.485, 1.125, -0.885, 0, 90, 0, 78 [SEP] 2, Potato, -2.668, 1.051, 2.278, 0, 90, 0, 86 [SEP] 3, ButterKnife, -0.341, 0.910, 0.423, 0, 0, 0, 46 [SEP] 4, Kettle, -0.211, 0.911, 0.423, 0, 0, 0, 46 [SEP] 5, Fork, -2.289, 0.911, 1.230, 0, 0, 0, 74 [SEP] 6, Fork, 1.769, 0.911, 0.465, 0, 180, 0, 55 [SEP] 7, Fork, -2.372, 0.911, 0.331, 0, 0, 0, 63 [SEP] 8, Spoon, 0.048, 0.912, 0.647, 0, 0, 0, 46 [SEP] 9, Spatula, -2.348, 0.788, 0.022, 0, 270, 0, 64 [SEP] 10, Spatula, 1.684, 0.926, 0.465, 0, 0, 0, 55 [SEP] 11, Pot, 1.412, 0.929, -0.335, 0, 0, 0, 47 [SEP] 12, Egg, -2.558, 0.209, -1.123, 0, 90, 0, 78 [SEP] 13, Cup, -2.390, 0.207, -0.570, 0, 90, 0, 78 [SEP] 14, Cup, -2.570, 1.013, 2.278, 0, 90, 0, 86 [SEP] 15, Cup, 1.426, 0.916, -1.096, 0, 225, 0, 60 [SEP] 16, SoapBottle, -2.206, 0.912, 1.830, 0, 0, 0, 74 [SEP] 17, PepperShaker, -0.471, 0.905, 1.764, 0, 0, 0, 46 [SEP] 18, SaltShaker, 0.048, 0.905, 1.540, 0, 0, 0, 46 [SEP] 19, SaltShaker, -2.704, 0.905, 1.530, 0, 0, 0, 74 [SEP] 20, Lettuce, -2.455, 0.994, 0.931, 0, 0, 0, 74 [SEP] 21, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 46 [SEP] 22, Mug, -2.559, 0.589, -0.962, 0, 90, 0, 78 [SEP] 23, Pan, 0.0, 0.9, 0.948, 0, 29.999, 0, 46 [SEP] 24, Knife, -2.227, 0.798, 0.022, 0, 270, 0, 64 [SEP] 25, Apple, 1.729, 0.246, 0.679, 0, 0, 0, 85 [SEP] 26, Bowl, -2.572, 1.930, -0.918, 0, 0, 0, 67 [SEP] 27, Fork, -0.601, 0.911, 0.870, 0, 0, 0, 46 [SEP] 28, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 74 [SEP] 29, Plate, -0.081, 0.913, 1.764, 0, 0, 0, 46 [SEP] 30, Egg, 1.396, 0.952, -1.336, 0, 225, 0, 60 [SEP] 31, Kettle, 0.516, 1.664, -1.729, 0, 90, 0, 53 [SEP] 32, Potato, 1.513, 0.947, -0.726, 0, 0, 0, 56 [SEP] 33, SaltShaker, -2.313, 0.109, 0.541, 0, 0, 0, 71 [SEP] 34, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 46 [SEP] 35, Cup, 1.380, 0.916, -1.212, 0, 225, 0, 60 [SEP] 36, SoapBottle, 0.765, 0.912, -1.478, 0, 45, 0, 56 [SEP] 37, Spatula, -2.538, 0.925, 1.530, 0, 0, 0, 74 [SEP] 38, PaperTowelRoll, 1.604, 0.289, 0.651, 0, 0, 0, 85 [SEP] 39, ButterKnife, -0.471, 0.910, 0.647, 0, 0, 0, 46 [SEP] 40, PepperShaker, -2.564, 1.532, 0.052, 0, 0, 0, 69 [SEP] 41, DishSponge, 1.145, 0.770, -1.376, 0, 225, 0, 84 [SEP] 42, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 54 [SEP] 43, Spoon, 1.291, 0.922, -1.231, 0, 45, 0, 60 [SEP] 44, Tomato, 1.684, 0.953, 0.376, 0, 0, 0, 55 [SEP] 45, Mug, -2.390, 0.205, -1.012, 0, 180, 0, 78 [SEP] 46, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 47, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 48, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 49, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 50, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 51, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 52, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 53, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 54, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 55, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 56, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 57, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 58, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 59, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 60, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 61, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 62, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 63, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 64, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 65, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 66, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 67, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 68, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 69, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 70, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 71, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 72, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 73, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 74, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 75, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 76, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 77, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 78, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 79, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 80, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 81, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 82, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 83, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 84, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 85, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 86, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 87, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 88, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 89, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the sink. | STEP 2: Pick up the right mug on the counter.  | STEP 3: Head to the left to the counter left of the stove.  | STEP 4: Put the the mug on the counter next to the trash can. | STEP 5: Pick up the fork from the counter.  | STEP 6: Put the fork in the mug.  | END