Input: Slice a bread, cool a slice, put it in the bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.5, 0, 90, 0,  [SEP] 1, Pan, 3.044, 1.464, -1.599, 0, 270, 0, 65 [SEP] 2, Potato, 0.773, 1.111, -1.448, 0, 0, 0, 113 [SEP] 3, Ladle, -0.717, 0.937, 0.623, 0, 90, 0, 71 [SEP] 4, DishSponge, 0.330, 0.130, -1.515, 0, 0, 0, 57 [SEP] 5, ButterKnife, 3.277, 0.900, -0.698, 0, 0, 0, 66 [SEP] 6, Glassbottle, 3.244, 1.465, -1.284, 0, 0, 0, 81 [SEP] 7, Glassbottle, 3.141, 0.176, -0.356, 0, 0, 0, 78 [SEP] 8, Spatula, 3.07, 0.768, 0.098, 0, 90, 0, 112 [SEP] 9, Spatula, -0.285, 0.915, -1.450, 0, 135, 0, 88 [SEP] 10, Fork, 0.012, 0.900, -1.337, 0, 45, 0, 88 [SEP] 11, Fork, -0.991, 0.707, 1.605, 0, 90, 0, 60 [SEP] 12, CellPhone, -0.987, 0.897, -0.746, 0, 45, 0, 67 [SEP] 13, CellPhone, 0.336, 0.897, -1.588, 0, 0, 0, 88 [SEP] 14, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 83 [SEP] 15, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 110 [SEP] 16, Apple, 0.851, 1.321, -1.475, 0, 0, 0, 113 [SEP] 17, Apple, 0.356, 0.981, 0.426, 0, 0, 0, 98 [SEP] 18, Lettuce, 1.086, 1.139, -1.503, 0, 0, 0, 113 [SEP] 19, SaltShaker, 0.710, 0.904, 0.426, 0, 0, 0, 98 [SEP] 20, PepperShaker, 0.239, 0.317, -1.393, 0, 0, 0, 73 [SEP] 21, Bowl, 1.160, 1.671, -1.689, 0, 0, 0, 58 [SEP] 22, Bowl, 3.031, 1.461, -1.186, 0, 0, 0, 81 [SEP] 23, SoapBottle, 0.022, 0.909, -1.445, 0, 0, 0, 88 [SEP] 24, SoapBottle, -0.935, 0.909, 0.623, 0, 0, 0, 67 [SEP] 25, Egg, -1.018, 1.050, 1.364, 0, 90, 0, 115 [SEP] 26, Knife, 0.179, 0.925, -1.660, 0, 0, 0, 88 [SEP] 27, Knife, 3.200, 0.926, -0.399, 0, 0, 0, 66 [SEP] 28, Plate, 0.808, 1.687, -1.550, 0, 0, 0, 82 [SEP] 29, Glassbottle, -0.214, 1.264, -1.619, 0, 45, 0, 84 [SEP] 30, SoapBottle, 0.710, 0.917, 0.527, 0, 0, 0, 98 [SEP] 31, Potato, 3.069, 0.785, -0.100, 0, 90, 0, 112 [SEP] 32, Fork, 0.445, 0.911, 0.627, 0, 270, 0, 98 [SEP] 33, Ladle, -1.008, 0.937, 0.176, 0, 0, 0, 67 [SEP] 34, Pot, 1.229, 0.908, 0.322, 0, 270, 0, 98 [SEP] 35, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 69 [SEP] 36, Spatula, 1.360, 0.923, 0.605, 0, 0, 0, 98 [SEP] 37, Knife, -0.862, 0.925, -0.270, 0, 180, 0, 67 [SEP] 38, Lettuce, 0.967, 0.973, 0.464, 0, 0, 0, 98 [SEP] 39, Cup, 0.622, 0.905, 0.727, 0, 0, 0, 98 [SEP] 40, SaltShaker, 3.070, 0.709, -0.268, 0, 180, 0, 63 [SEP] 41, Egg, -1.052, 1.050, 1.258, 0, 90, 0, 115 [SEP] 42, PepperShaker, 3.212, 1.260, -0.885, 0, 0, 0, 80 [SEP] 43, ButterKnife, 2.966, 0.900, 0.947, 0, 180, 0, 66 [SEP] 44, Apple, 1.164, 0.787, -1.407, 0, 0, 0, 113 [SEP] 45, Pan, -0.420, 0.902, -0.920, 0, 135, 0, 62 [SEP] 46, Bread, 0.836, 0.989, 0.747, 0, 0, 0, 98 [SEP] 47, CellPhone, -0.909, 0.515, -0.098, 0, 0, 0, 94 [SEP] 48, DishSponge, 3.152, 0.746, 0.165, 0, 90, 0, 112 [SEP] 49, Tomato, 3.373, 0.937, -0.279, 0, 0, 0, 66 [SEP] 50, Spoon, 0.513, 0.513, -1.515, 0, 90, 0, 53 [SEP] 51, Bowl, -0.789, 0.897, 0.399, 0, 0, 0, 67 [SEP] 52, Mug, 1.086, 1.242, -1.475, 0, 0, 0, 113 [SEP] 53, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 54, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 55, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 56, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 57, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 58, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 59, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 60, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 61, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 62, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 63, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 64, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 65, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 66, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 67, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 69, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 70, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 72, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 73, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 74, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 75, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 77, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 78, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 79, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 80, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 81, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 82, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 83, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 84, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 85, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 86, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 87, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 88, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 89, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 90, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 92, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 93, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 94, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 95, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 96, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 97, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 98, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 99, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 100, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 101, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 102, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 103, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 104, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 105, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 106, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 107, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 108, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 109, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 110, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 111, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 112, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 113, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 114, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 115, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 116, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 117, NorthWall, , , , , , ,  [SEP] 118, EastWall, , , , , , ,  [SEP] 119, SouthWall, , , , , , ,  [SEP] 120, WestWall, , , , , , ,

Output: STEP 1: Turn around, go to the counter  | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward, turn right at the table | STEP 4: Slice the bread on the table | STEP 5: Turn right, go forward, turn right and go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn right and go to the table | STEP 8: Pick up a bread slice from the table | STEP 9: Turn right, go forward, turn right and go to the fridge | STEP 10: Put the bread slice in the fridge, wait, pick up the bread slice from the fridge | STEP 11: Turn left, go forward, turn left go forward, turn right in front of the bin | STEP 12: Put the bread slice in the bin | END


Input: Put a clean apple on the top shelf of the refrigerator.  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, 2.75, 0, 270, 0,  [SEP] 1, Potato, -2.710, 1.451, 2.165, 0, 90, 0, 83 [SEP] 2, Potato, -1.468, 0.740, 3.691, 0, 180, 0, 86 [SEP] 3, DishSponge, 0.725, 0.822, 1.072, 0, 0, 0, 51 [SEP] 4, DishSponge, -2.136, 1.398, 3.818, 0, 0, 0, 52 [SEP] 5, Pot, 0.642, 0.850, 1.375, 0, 0, 0, 68 [SEP] 6, Spatula, 1.099, 0.838, 1.072, 0, 270, 0, 51 [SEP] 7, Spatula, 0.875, 0.838, 1.072, 0, 270, 0, 51 [SEP] 8, Spoon, -0.921, 0.901, 1.349, 0, 180, 0, 92 [SEP] 9, Spoon, -1.317, 0.901, 1.349, 0, 90, 0, 92 [SEP] 10, Fork, 1.025, 0.813, 2.458, 0, 0, 0, 48 [SEP] 11, Fork, 0.635, 0.691, 0.944, 0, 90, 0, 62 [SEP] 12, Cup, -0.657, 0.900, 0.937, 0, 90, 0, 92 [SEP] 13, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 56 [SEP] 14, Knife, -1.698, 0.846, 3.556, 0, 0, 0, 74 [SEP] 15, SoapBottle, -0.921, 0.900, 1.555, 0, 90, 0, 92 [SEP] 16, PepperShaker, -2.619, 1.845, 1.526, 0, 0, 0, 69 [SEP] 17, PepperShaker, -2.473, 0.123, 3.273, 0, 0, 0, 75 [SEP] 18, SaltShaker, -0.657, 0.896, 1.555, 0, 90, 0, 92 [SEP] 19, SaltShaker, -2.175, 1.395, 3.897, 0, 0, 0, 49 [SEP] 20, Lettuce, -2.677, 1.483, 2.333, 0, 90, 0, 83 [SEP] 21, Mug, -0.524, 0.895, 1.555, 0, 90, 0, 92 [SEP] 22, Apple, 0.902, 0.085, 2.918, 0, 0, 0, 85 [SEP] 23, Plate, -1.697, 1.687, 3.897, 0, 0, 0, 46 [SEP] 24, Fork, 0.725, 0.823, 0.939, 0, 0, 0, 51 [SEP] 25, Bread, 0.830, 0.862, 2.443, 0, 358.596, 0, 51 [SEP] 26, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 51 [SEP] 27, PaperTowelRoll, -2.923, 0.927, 3.331, 0, 0, 0, 74 [SEP] 28, Potato, -2.577, 0.810, 2.165, 0, 90, 0, 83 [SEP] 29, SoapBottle, -0.524, 0.900, 1.143, 0, 90, 0, 92 [SEP] 30, Egg, -0.789, 0.936, 1.555, 0, 90, 0, 92 [SEP] 31, Cup, -0.657, 0.900, 1.246, 0, 90, 0, 92 [SEP] 32, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 78 [SEP] 33, SaltShaker, -1.185, 0.896, 1.452, 0, 90, 0, 92 [SEP] 34, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 74 [SEP] 35, PepperShaker, -1.053, 0.896, 1.349, 0, 90, 0, 92 [SEP] 36, ButterKnife, -2.851, 0.823, 3.554, 0, 0, 0, 74 [SEP] 37, Tomato, -0.524, 0.969, 1.349, 0, 90, 0, 92 [SEP] 38, DishSponge, -2.541, 1.848, 1.288, 0, 0, 0, 69 [SEP] 39, Lettuce, -1.317, 0.976, 1.246, 0, 90, 0, 92 [SEP] 40, Spoon, -1.053, 0.901, 1.452, 0, 180, 0, 92 [SEP] 41, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 80 [SEP] 42, Knife, -0.789, 0.923, 1.349, 0, 270, 0, 92 [SEP] 43, Mug, -2.465, 1.844, 1.956, 0, 0, 0, 76 [SEP] 44, Bowl, -2.577, 0.993, 2.165, 0, 90, 0, 83 [SEP] 45, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 46, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 47, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 48, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 49, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 50, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 51, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 52, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 53, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 54, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 55, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 56, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 57, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 58, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 59, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 60, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 61, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 62, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 63, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 64, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 65, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 66, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 67, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 68, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 69, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 70, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 71, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 72, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 73, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 74, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 75, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 76, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 77, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 78, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 79, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 80, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 81, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 82, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 83, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 84, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 85, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 86, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 87, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 88, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 89, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 90, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 91, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 92, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 93, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 94, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 95, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn to your right and walk up to the microwave above the sink.  | STEP 2: Remove an apple from the microwave.  | STEP 3: Step back from the microwave.  | STEP 4: Place the apple in the larger, right sink, turn the water on, rinse the apple, turn the water off, and pick the apple back up.  | STEP 5: Turn around and go to the refrigerator.  | STEP 6: Place the apple in the refrigerator, on the top shelf.  | END


Input: Place a cleaned apple in a refrigerator. 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, 2.75, 0, 270, 0,  [SEP] 1, Potato, -2.710, 1.451, 2.165, 0, 90, 0, 83 [SEP] 2, Potato, -1.468, 0.740, 3.691, 0, 180, 0, 86 [SEP] 3, DishSponge, 0.725, 0.822, 1.072, 0, 0, 0, 51 [SEP] 4, DishSponge, -2.136, 1.398, 3.818, 0, 0, 0, 52 [SEP] 5, Pot, 0.642, 0.850, 1.375, 0, 0, 0, 68 [SEP] 6, Spatula, 1.099, 0.838, 1.072, 0, 270, 0, 51 [SEP] 7, Spatula, 0.875, 0.838, 1.072, 0, 270, 0, 51 [SEP] 8, Spoon, -0.921, 0.901, 1.349, 0, 180, 0, 92 [SEP] 9, Spoon, -1.317, 0.901, 1.349, 0, 90, 0, 92 [SEP] 10, Fork, 1.025, 0.813, 2.458, 0, 0, 0, 48 [SEP] 11, Fork, 0.635, 0.691, 0.944, 0, 90, 0, 62 [SEP] 12, Cup, -0.657, 0.900, 0.937, 0, 90, 0, 92 [SEP] 13, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 56 [SEP] 14, Knife, -1.698, 0.846, 3.556, 0, 0, 0, 74 [SEP] 15, SoapBottle, -0.921, 0.900, 1.555, 0, 90, 0, 92 [SEP] 16, PepperShaker, -2.619, 1.845, 1.526, 0, 0, 0, 69 [SEP] 17, PepperShaker, -2.473, 0.123, 3.273, 0, 0, 0, 75 [SEP] 18, SaltShaker, -0.657, 0.896, 1.555, 0, 90, 0, 92 [SEP] 19, SaltShaker, -2.175, 1.395, 3.897, 0, 0, 0, 49 [SEP] 20, Lettuce, -2.677, 1.483, 2.333, 0, 90, 0, 83 [SEP] 21, Mug, -0.524, 0.895, 1.555, 0, 90, 0, 92 [SEP] 22, Apple, 0.902, 0.085, 2.918, 0, 0, 0, 85 [SEP] 23, Plate, -1.697, 1.687, 3.897, 0, 0, 0, 46 [SEP] 24, Fork, 0.725, 0.823, 0.939, 0, 0, 0, 51 [SEP] 25, Bread, 0.830, 0.862, 2.443, 0, 358.596, 0, 51 [SEP] 26, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 51 [SEP] 27, PaperTowelRoll, -2.923, 0.927, 3.331, 0, 0, 0, 74 [SEP] 28, Potato, -2.577, 0.810, 2.165, 0, 90, 0, 83 [SEP] 29, SoapBottle, -0.524, 0.900, 1.143, 0, 90, 0, 92 [SEP] 30, Egg, -0.789, 0.936, 1.555, 0, 90, 0, 92 [SEP] 31, Cup, -0.657, 0.900, 1.246, 0, 90, 0, 92 [SEP] 32, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 78 [SEP] 33, SaltShaker, -1.185, 0.896, 1.452, 0, 90, 0, 92 [SEP] 34, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 74 [SEP] 35, PepperShaker, -1.053, 0.896, 1.349, 0, 90, 0, 92 [SEP] 36, ButterKnife, -2.851, 0.823, 3.554, 0, 0, 0, 74 [SEP] 37, Tomato, -0.524, 0.969, 1.349, 0, 90, 0, 92 [SEP] 38, DishSponge, -2.541, 1.848, 1.288, 0, 0, 0, 69 [SEP] 39, Lettuce, -1.317, 0.976, 1.246, 0, 90, 0, 92 [SEP] 40, Spoon, -1.053, 0.901, 1.452, 0, 180, 0, 92 [SEP] 41, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 80 [SEP] 42, Knife, -0.789, 0.923, 1.349, 0, 270, 0, 92 [SEP] 43, Mug, -2.465, 1.844, 1.956, 0, 0, 0, 76 [SEP] 44, Bowl, -2.577, 0.993, 2.165, 0, 90, 0, 83 [SEP] 45, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 46, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 47, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 48, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 49, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 50, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 51, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 52, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 53, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 54, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 55, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 56, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 57, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 58, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 59, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 60, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 61, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 62, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 63, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 64, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 65, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 66, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 67, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 68, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 69, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 70, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 71, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 72, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 73, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 74, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 75, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 76, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 77, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 78, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 79, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 80, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 81, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 82, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 83, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 84, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 85, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 86, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 87, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 88, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 89, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 90, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 91, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 92, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 93, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 94, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 95, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk forward to the microwave. | STEP 2: Open the microwave, take out the apple and close the microwave. | STEP 3: Walk slightly to the left and stand in between the two sink basins. | STEP 4: Put the apple in the right sink basin, rinse it off, and take it back out of the sink. | STEP 5: Turn around and walk to the refrigerator. | STEP 6: Open the refrigerator, put the apple in front of the bowl and close the refrigerator. | END


Input: Place an apple slice in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 5.5, 0, 90, 0,  [SEP] 1, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 48 [SEP] 2, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 52 [SEP] 3, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 43 [SEP] 4, Spoon, 0.871, 0.773, 0.563, 0, 0, 0, 45 [SEP] 5, Spatula, -0.384, 1.007, 0.486, 0, 0, 0, 53 [SEP] 6, Spatula, -0.345, 0.786, 0.620, 0, 270, 0, 49 [SEP] 7, Cup, 1.135, 0.988, 4.716, 0, 0, 0, 54 [SEP] 8, Plate, 1.406, 0.141, 3.143, 0, 0, 0, 64 [SEP] 9, Knife, -0.413, 0.801, 0.563, 0, 270, 0, 49 [SEP] 10, Knife, 1.403, 1.022, 3.231, 0, 0, 0, 53 [SEP] 11, SoapBottle, 1.225, 0.992, 3.044, 0, 270, 0, 53 [SEP] 12, PepperShaker, -0.621, 0.755, 6.604, 0, 270, 0, 89 [SEP] 13, SaltShaker, 0.046, 1.574, 0.119, 0, 0, 0, 66 [SEP] 14, Bread, -0.687, 1.062, 0.303, 0, 0, 0, 53 [SEP] 15, Bread, -0.096, 0.829, 6.787, 0, 0, 0, 89 [SEP] 16, Mug, 1.493, 0.987, 0.440, 0, 0, 0, 53 [SEP] 17, Apple, 2.009, 1.590, 6.001, 0, 270, 0, 75 [SEP] 18, Bowl, 1.493, 0.991, 0.213, 0, 0, 0, 53 [SEP] 19, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 89 [SEP] 20, Egg, 2.137, 1.565, 5.251, 0, 270, 0, 75 [SEP] 21, Knife, -0.377, 0.789, 6.261, 0, 225, 0, 89 [SEP] 22, Fork, 1.348, 0.772, 3.360, 0, 0, 0, 46 [SEP] 23, Apple, 1.497, 0.965, 2.474, 0, 90, 0, 76 [SEP] 24, Kettle, 1.228, 0.142, 4.763, 0, 0, 0, 55 [SEP] 25, Plate, 1.490, 0.141, 2.720, 0, 0, 0, 65 [SEP] 26, SaltShaker, 0.028, 0.755, 6.169, 0, 0, 0, 89 [SEP] 27, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 76 [SEP] 28, SoapBottle, 1.135, 0.992, 3.231, 0, 0, 0, 53 [SEP] 29, Spatula, -0.034, 0.775, 6.014, 0, 0, 0, 89 [SEP] 30, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 54 [SEP] 31, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 53 [SEP] 32, Potato, 0.123, 0.794, 6.107, 0, 135, 0, 89 [SEP] 33, ButterKnife, -0.312, 0.760, 6.354, 0, 0, 0, 89 [SEP] 34, PepperShaker, -0.422, 0.755, 6.653, 0, 135, 0, 89 [SEP] 35, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 51 [SEP] 36, Tomato, 1.966, 1.565, 5.876, 0, 270, 0, 75 [SEP] 37, DishSponge, -0.346, 0.759, 6.787, 0, 0, 0, 89 [SEP] 38, Cup, 0.847, 0.988, 0.120, 0, 0, 0, 53 [SEP] 39, Spoon, -0.549, 0.773, 0.563, 0, 0, 0, 49 [SEP] 40, Mug, 0.956, 0.138, 0.339, 0, 0, 0, 59 [SEP] 41, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 42, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 43, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 44, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 45, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 46, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 47, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 48, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 49, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 50, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 51, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 52, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 53, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 54, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 55, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 56, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 57, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 58, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 59, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 60, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 61, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 62, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 64, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 65, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 66, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 67, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 69, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 70, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 71, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 72, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 73, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 74, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 75, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 76, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 77, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 78, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 79, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 80, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 81, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 82, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 83, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 84, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 85, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 86, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 87, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 88, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 89, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 90, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 91, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 92, NorthWall, , , , , , ,  [SEP] 93, EastWall, , , , , , ,  [SEP] 94, SouthWall, , , , , , ,  [SEP] 95, WestWall, , , , , , ,

Output: STEP 1: Move forward and face the grey table to your right. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and head to the sink on your left. | STEP 4: Cut the apple in the sink. | STEP 5: Go left to and face the stove. | STEP 6: Put the knife in the pan. | STEP 7: Turn right and head back to face the sink | STEP 8: Take a slice of the apple in the sink. | STEP 9: Turn left and face the stove on your right. | STEP 10: Put the apple in the pan. | STEP 11: Pick up the pan from the stove. | STEP 12: Turn left and head to the fridge. | STEP 13: Put the pan in the fridge and close it. | END


Input: Put the two cd's in the vault SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 90, 0,  [SEP] 1, CD, -1.194, 0.792, -1.243, 0, 0, 0, 44 [SEP] 2, CD, 0.323, 0.676, -1.781, 0, 0, 0, 43 [SEP] 3, CD, -0.315, 0.836, -2.038, 0, 0, 0, 27 [SEP] 4, Pencil, 0.304, 0.677, 1.348, 0, 0, 0, 36 [SEP] 5, Pencil, 0.227, 0.684, 1.212, 0, 0, 0, 36 [SEP] 6, Pen, -0.315, 0.842, -1.968, 0, 0, 0, 27 [SEP] 7, Pen, 0.368, 0.679, -1.635, 0, 180, 0, 43 [SEP] 8, CreditCard, 0.486, 0.480, -1.546, 0, 0, 0, 42 [SEP] 9, Book, 1.098, 0.578, -0.166, 0, 0, 0, 45 [SEP] 10, Book, -1.265, 0.794, -0.600, 0, 180, 0, 44 [SEP] 11, Pencil, -0.981, 0.796, -0.385, 0, 0, 0, 44 [SEP] 12, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 44 [SEP] 13, Pen, 0.150, 0.679, 1.348, 0, 0, 0, 36 [SEP] 14, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180,  [SEP] 15, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 45 [SEP] 16, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 23 [SEP] 17, CellPhone, -1.256, 1.461, -0.339, 0, 0, 0, 29 [SEP] 18, KeyChain, 0.305, 0.082, 1.262, 0, 0, 0, 37 [SEP] 19, AlarmClock, -0.585, 0.838, -2.107, 0, 0, 0, 27 [SEP] 20, CreditCard, -0.670, 0.793, -1.440, 0, 0, 0, 44 [SEP] 21, CD, -0.964, 0.792, -1.824, 0, 0, 0, 44 [SEP] 22, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 27 [SEP] 23, Bed, 1.242, -0.001, -0.881, 0, 180, 0,  [SEP] 24, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0,  [SEP] 25, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168,  [SEP] 26, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0,  [SEP] 27, Shelf, -0.469, 0.828, -2.038, 0, 0, 0,  [SEP] 28, Shelf, -1.286, 1.451, -1.343, 0, 0, 0,  [SEP] 29, Shelf, -1.286, 1.451, -0.602, 0, 0, 0,  [SEP] 30, Shelf, -1.286, 1.814, -0.602, 0, 0, 0,  [SEP] 31, Shelf, -1.286, 1.814, -1.343, 0, 0, 0,  [SEP] 32, Painting, 1.111, 1.628, -1.865, 90, 0, 0,  [SEP] 33, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0,  [SEP] 34, Mirror, -1.383, 1.565, 0.512, 0, 270, 0,  [SEP] 35, Window, -0.472, 1.396, -2.252, 90, 0, 0,  [SEP] 36, SideTable, 0.304, -0.001, 1.225, 0, 180, 0,  [SEP] 37, Drawer, 0.304, 0.165, 1.159, 0, 180, 0,  [SEP] 38, Drawer, 0.304, 0.457, 1.159, 0, 180, 0,  [SEP] 39, Blinds, -0.453, 2.156, -2.242, 0, 0, 0,  [SEP] 40, Safe, 1.623, 5.960, 0.448, 0, 270, 0,  [SEP] 41, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0,  [SEP] 42, Drawer, 0.416, 0.532, -1.553, 0, 0, 0,  [SEP] 43, SideTable, 0.413, 0.000, -1.684, 0, 0, 0,  [SEP] 44, Desk, -0.788, 0.000, -1.032, 0, 90, 0,  [SEP] 45, , , , , , , ,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn right then head to the side table of the bed | STEP 2: Pick up the cd on the side table | STEP 3: Turn left then head to the vault | STEP 4: Open the vault and put in the cd then close the vault | STEP 5: Turn right then head t the left side of the desk | STEP 6: Pick up the cd behind the laptop | STEP 7: Turn right then head to the vault | STEP 8: Open the vault and put in the cd then close the vault | END


Input: drop a candle stand on a rack SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.913, 0.5, 0, 180, 0,  [SEP] 1, Candle, 0.073, 0.965, 2.330, 0, 270, 0, 42 [SEP] 2, SoapBar, -0.114, 0.965, 2.304, 0, 270, 0, 42 [SEP] 3, SprayBottle, -0.527, 0.959, -1.805, 0, 0, 0, 28 [SEP] 4, SprayBottle, -2.864, 0.240, 1.317, 0, 90, 0, 47 [SEP] 5, DishSponge, 2.204, 0.624, -2.389, 0, 0, 0, 36 [SEP] 6, SoapBottle, -2.808, 0.255, 1.551, 0, 90, 0, 47 [SEP] 7, SoapBottle, -0.048, 0.973, -1.993, 0, 0, 0, 28 [SEP] 8, ToiletPaper, -3.034, 0.243, 1.629, 0, 90, 0, 47 [SEP] 9, Candle, -0.208, 0.962, -2.087, 0, 0, 0, 28 [SEP] 10, HandTowel, -0.885, 1.617, -2.503, 0, 180, 0, 37 [SEP] 11, Towel, 0.465, 1.21, -1.095, 0, 270, 0, 33 [SEP] 12, SoapBottle, -0.368, 0.973, -1.805, 0, 0, 0, 28 [SEP] 13, SoapBar, -2.977, 0.874, 1.239, 0, 90, 0, 47 [SEP] 14, ToiletPaper, -0.208, 0.959, -1.899, 0, 0, 0, 28 [SEP] 15, Plunger, 0.506, 0.011, 2.268, 0, 0, 0, Floor|-00.35| [SEP] 16, SprayBottle, -0.527, 0.959, -2.369, 0, 0, 0, 28 [SEP] 17, TissueBox, 2.204, 0.624, -2.020, 0, 0, 0, 36 [SEP] 18, ToiletPaper, -3.034, 0.240, 1.707, 0, 90, 0, 47 [SEP] 19, ScrubBrush, 0.342, 0.012, 2.072, 0, 0, 0, Floor|-00.35| [SEP] 20, Cloth, -0.048, 0.961, -2.181, 0, 0, 0, 28 [SEP] 21, DishSponge, -2.879, 0.885, 0.839, 0, 90, 0, 44 [SEP] 22, Footstool, -0.325, 0.297, -1.98, 0, 0, 0, Floor|-00.35| [SEP] 23, Bathtub, -1.957, 0.494, -1.233, 0, 0, 0,  [SEP] 24, ShowerDoor, 0.650, 1.413, 2.169, 0, 0, 0,  [SEP] 25, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0,  [SEP] 26, Drawer, 0.300, 0.304, -1.820, 0, 0, 0,  [SEP] 27, Mirror, -0.046, 1.512, -2.538, 0, 0, 0,  [SEP] 28, CounterTop, 0.196, 0.430, -2.010, 0, 0, 0,  [SEP] 29, Sink, -2.796, 0.328, 0.755, 0, 90, 0,  [SEP] 30, Drawer, 0.300, 0.833, -1.820, 0, 0, 0,  [SEP] 31, Drawer, 0.300, 0.682, -1.820, 0, 0, 0,  [SEP] 32, Drawer, 0.300, 0.492, -1.820, 0, 0, 0,  [SEP] 33, TowelHolder, 0.572, 1.195, -1.095, 0, 270, 0,  [SEP] 34, GarbageCan, -0.564, 0.010, 2.061, 0, 195.0, 0,  [SEP] 35, ToiletPaperHanger, -0.574, 0.926, 2.407, 0, 180, 0,  [SEP] 36, Shelf, 1.536, 0.613, -2.242, 0, 0, 0,  [SEP] 37, HandTowelHolder, -0.884, 1.718, -2.542, 0, 270, 0,  [SEP] 38, Window, -3.170, 1.812, -1.697, 90, 90, 0,  [SEP] 39, Window, -3.170, 1.812, 1.597, 90, 90, 0,  [SEP] 40, Window, -2.144, 1.809, -2.573, 90, 0, 0,  [SEP] 41, Window, -3.170, 1.812, -0.054, 90, 90, 0,  [SEP] 42, Toilet, -0.064, 0.012, 1.838, 0, 180, 0,  [SEP] 43, LightSwitch, -1.406, 1.472, 2.407, 0, 180, 0,  [SEP] 44, SinkBasin, -2.796, 0.875, 0.765, 0, 90, 0,  [SEP] 45, ShowerHead, 1.591, 1.700, -2.424, 0, 90, 0,  [SEP] 46, Faucet, -2.676, 0.423, -0.312, 0, 99.958, 0,  [SEP] 47, SideTable, -2.847, 0.013, 1.509, 0, 90, 0,  [SEP] 48, Faucet, -3.106, 1.056, 0.757, 0, 90, 0,  [SEP] 49, , , , , , , ,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: move to the table | STEP 2: pick up a  candle stand | STEP 3: turn right and heard to the rack  | STEP 4: drop the candle stand on the rack | END


Input: put two remote controls on a coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.75, 0, 90, 0,  [SEP] 1, Watch, 1.456, 0.571, 0.662, 0, 270, 0, 28 [SEP] 2, Statue, 1.525, 0.770, 0.691, 0, 270, 0, 30 [SEP] 3, KeyChain, -1.428, 0.327, 0.44, 0, 90, 0, 38 [SEP] 4, KeyChain, -1.503, 0.489, 1.948, 0, 0, 0, 37 [SEP] 5, RemoteControl, -1.349, 0.329, 1.051, 0, 90, 0, 38 [SEP] 6, RemoteControl, 1.600, 0.762, 0.241, 0, 270, 0, 30 [SEP] 7, Laptop, -0.218, 0.475, -0.086, 0, 90, 0, 27 [SEP] 8, Box, -0.007, 0.65, 0.892, 0, 0, 0, 27 [SEP] 9, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 27 [SEP] 10, CreditCard, 1.901, 0.760, -0.208, 0, 270, 0, 30 [SEP] 11, KeyChain, -1.697, 0.489, 1.624, 0, 0, 0, 37 [SEP] 12, Vase, -1.438, 0.494, 1.818, 0, 0, 0, 37 [SEP] 13, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 39 [SEP] 14, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 38 [SEP] 15, RemoteControl, 1.825, 0.762, 0.241, 0, 270, 0, 30 [SEP] 16, Watch, 1.525, 0.757, -0.058, 0, 270, 0, 30 [SEP] 17, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 40 [SEP] 18, Statue, -1.568, 0.499, 1.624, 0, 0, 0, 37 [SEP] 19, Television, 1.826, 1.241, 0.248, 0, 270, 0,  [SEP] 20, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0,  [SEP] 21, Window, -0.216, 1.495, -1.878, 90, 0, 0,  [SEP] 22, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0,  [SEP] 23, Painting, -2.0, 1.577, 0.418, 90, 270, 0,  [SEP] 24, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0,  [SEP] 25, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0,  [SEP] 26, Painting, -0.096, 1.578, 4.050, 90, 0, 0,  [SEP] 27, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0,  [SEP] 28, Shelf, 1.663, 0.474, 0.609, 0, 270, 0,  [SEP] 29, Shelf, 1.663, 0.273, 0.609, 0, 270, 0,  [SEP] 30, TVStand, 1.669, -0.000, 0.243, 0, 270, 0,  [SEP] 31, Shelf, 1.663, 0.302, -0.124, 0, 270, 0,  [SEP] 32, Shelf, 1.663, 0.442, 0.241, 0, 270, 0,  [SEP] 33, Shelf, 1.663, 0.597, -0.124, 0, 270, 0,  [SEP] 34, Shelf, 1.663, 0.643, 0.609, 0, 270, 0,  [SEP] 35, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0,  [SEP] 36, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0,  [SEP] 37, SideTable, -1.567, -0.002, 1.818, 0, 90, 0,  [SEP] 38, Sofa, -1.445, 0.008, 0.420, 0, 90, 0,  [SEP] 39, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0,  [SEP] 40, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0,  [SEP] 41, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0,  [SEP] 42, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0,  [SEP] 43, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: turn to face the television monitor and tv stand | STEP 2: pick up the remote closest to the edge of the tv stand | STEP 3: turn around to face the coffee table | STEP 4: put the remote on the coffee table in front of the right hand lap top computer | STEP 5: turn to face the television monitor and tv stand | STEP 6: pick up the remote from the tv stand | STEP 7: turn around to face the coffee table | STEP 8: put the remote on the coffee table to the right of the remote already there | END


Input: Moving two remotes to the black coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.75, 0, 90, 0,  [SEP] 1, Watch, 1.456, 0.571, 0.662, 0, 270, 0, 28 [SEP] 2, Statue, 1.525, 0.770, 0.691, 0, 270, 0, 30 [SEP] 3, KeyChain, -1.428, 0.327, 0.44, 0, 90, 0, 38 [SEP] 4, KeyChain, -1.503, 0.489, 1.948, 0, 0, 0, 37 [SEP] 5, RemoteControl, -1.349, 0.329, 1.051, 0, 90, 0, 38 [SEP] 6, RemoteControl, 1.600, 0.762, 0.241, 0, 270, 0, 30 [SEP] 7, Laptop, -0.218, 0.475, -0.086, 0, 90, 0, 27 [SEP] 8, Box, -0.007, 0.65, 0.892, 0, 0, 0, 27 [SEP] 9, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 27 [SEP] 10, CreditCard, 1.901, 0.760, -0.208, 0, 270, 0, 30 [SEP] 11, KeyChain, -1.697, 0.489, 1.624, 0, 0, 0, 37 [SEP] 12, Vase, -1.438, 0.494, 1.818, 0, 0, 0, 37 [SEP] 13, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 39 [SEP] 14, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 38 [SEP] 15, RemoteControl, 1.825, 0.762, 0.241, 0, 270, 0, 30 [SEP] 16, Watch, 1.525, 0.757, -0.058, 0, 270, 0, 30 [SEP] 17, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 40 [SEP] 18, Statue, -1.568, 0.499, 1.624, 0, 0, 0, 37 [SEP] 19, Television, 1.826, 1.241, 0.248, 0, 270, 0,  [SEP] 20, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0,  [SEP] 21, Window, -0.216, 1.495, -1.878, 90, 0, 0,  [SEP] 22, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0,  [SEP] 23, Painting, -2.0, 1.577, 0.418, 90, 270, 0,  [SEP] 24, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0,  [SEP] 25, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0,  [SEP] 26, Painting, -0.096, 1.578, 4.050, 90, 0, 0,  [SEP] 27, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0,  [SEP] 28, Shelf, 1.663, 0.474, 0.609, 0, 270, 0,  [SEP] 29, Shelf, 1.663, 0.273, 0.609, 0, 270, 0,  [SEP] 30, TVStand, 1.669, -0.000, 0.243, 0, 270, 0,  [SEP] 31, Shelf, 1.663, 0.302, -0.124, 0, 270, 0,  [SEP] 32, Shelf, 1.663, 0.442, 0.241, 0, 270, 0,  [SEP] 33, Shelf, 1.663, 0.597, -0.124, 0, 270, 0,  [SEP] 34, Shelf, 1.663, 0.643, 0.609, 0, 270, 0,  [SEP] 35, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0,  [SEP] 36, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0,  [SEP] 37, SideTable, -1.567, -0.002, 1.818, 0, 90, 0,  [SEP] 38, Sofa, -1.445, 0.008, 0.420, 0, 90, 0,  [SEP] 39, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0,  [SEP] 40, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0,  [SEP] 41, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0,  [SEP] 42, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0,  [SEP] 43, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Move slightly to the right and face the TV stand | STEP 2: Grab the remote off of the TV stand | STEP 3: Turn around and face the black coffee table | STEP 4: Put the remote on the table | STEP 5: Turn around and face the TV stand | STEP 6: Grab the remote off of the TV stand | STEP 7: Turn around and face the coffee table | STEP 8: Put the remote on the table | END


Input: Put a microwaved potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.5, 0, 0, 0,  [SEP] 1, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 66 [SEP] 2, Pan, -0.059, 1.111, 0.251, 0, 90, 0, 63 [SEP] 3, Statue, -0.197, 1.110, 0.757, 0, 270, 0, 63 [SEP] 4, Potato, -1.852, 0.800, -1.760, 0, 90, 0, 98 [SEP] 5, Potato, -2.040, 1.533, 1.092, 0, 90, 0, 96 [SEP] 6, Potato, 0.453, 0.941, -2.714, 0, 0, 0, 65 [SEP] 7, Plate, -2.080, 0.537, 0.920, 0, 90, 0, 96 [SEP] 8, Egg, 1.098, 0.945, -2.407, 0, 0, 0, 65 [SEP] 9, Egg, 1.098, 0.945, -2.253, 0, 0, 0, 65 [SEP] 10, Tomato, -0.197, 1.150, -0.001, 0, 0, 0, 63 [SEP] 11, SoapBottle, 0.324, 0.911, -2.253, 0, 0, 0, 65 [SEP] 12, SaltShaker, 0.840, 0.907, -2.637, 0, 0, 0, 65 [SEP] 13, SaltShaker, 0.969, 0.907, -2.407, 0, 0, 0, 65 [SEP] 14, Bread, -0.995, 0.983, -2.329, 0, 0, 0, 88 [SEP] 15, Bread, -0.335, 1.184, -0.506, 0, 0, 0, 63 [SEP] 16, Fork, -0.059, 1.112, -0.759, 0, 0, 0, 63 [SEP] 17, Fork, -1.963, 0.770, -1.242, 0, 180, 0, 98 [SEP] 18, Mug, -0.225, 1.785, -2.514, 0, 0, 0, 89 [SEP] 19, Mug, -1.963, 0.764, -1.328, 0, 90, 0, 98 [SEP] 20, Spatula, -2.018, 0.784, -1.673, 0, 180, 0, 98 [SEP] 21, Spatula, -1.611, 0.926, -2.695, 0, 90, 0, 88 [SEP] 22, Pot, -1.908, 0.774, -1.501, 0, 90, 0, 98 [SEP] 23, Pot, -2.040, 1.507, 0.925, 0, 90, 0, 96 [SEP] 24, Glassbottle, 1.891, 0.881, -2.563, 0, 180, 0, 90 [SEP] 25, WineBottle, -1.962, 0.048, 1.981, 0, 270, 0, 94 [SEP] 26, WineBottle, -0.782, 1.657, -2.640, 0, 0, 0, 77 [SEP] 27, DishSponge, 0.836, 0.314, -2.383, 0, 0, 0, 67 [SEP] 28, Book, 0.155, 1.1, 0.617, 0, 315, 0, 63 [SEP] 29, Glassbottle, -1.962, 0.048, 2.124, 0, 270, 0, 94 [SEP] 30, Knife, -0.335, 1.136, 0.251, 0, 0, 0, 63 [SEP] 31, Bread, 0.217, 1.184, -0.253, 0, 0, 0, 63 [SEP] 32, Fork, -1.693, 0.911, -0.513, 0, 0, 0, 88 [SEP] 33, Potato, 0.840, 0.941, -2.560, 0, 0, 0, 65 [SEP] 34, SoapBottle, 0.450, 0.141, -2.239, 0, 180, 0, 80 [SEP] 35, Kettle, -1.814, 0.130, 0.158, 0, 90, 0, 69 [SEP] 36, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 65 [SEP] 37, Plate, -2.037, 0.795, 1.251, 0, 90, 0, 96 [SEP] 38, Tomato, 0.324, 0.949, -2.714, 0, 0, 0, 65 [SEP] 39, Vase, -0.912, 0.139, -2.453, 0, 0, 0, 81 [SEP] 40, Egg, -0.335, 1.146, -0.001, 0, 0, 0, 63 [SEP] 41, CreditCard, 1.007, 0.139, -2.286, 0, 0, 0, 83 [SEP] 42, Statue, -0.197, 1.110, -0.506, 0, 90, 0, 63 [SEP] 43, WineBottle, 1.993, 0.881, -2.509, 0, 180, 0, 90 [SEP] 44, Pot, -0.465, 0.950, -2.576, 0, 90, 0, 72 [SEP] 45, Spatula, -1.290, 0.926, -2.637, 0, 0, 0, 88 [SEP] 46, PaperTowelRoll, 1.685, 0.657, -2.718, 0, 180, 0, 93 [SEP] 47, Cup, -1.742, 0.767, -1.587, 0, 90, 0, 98 [SEP] 48, Vase, 0.453, 0.908, -2.407, 0, 0, 0, 65 [SEP] 49, Bowl, 2.100, 0.549, -2.562, 0, 180, 0, 93 [SEP] 50, SaltShaker, 1.122, 0.477, -2.331, 0, 0, 0, 71 [SEP] 51, PepperShaker, -1.438, 0.907, -2.253, 0, 0, 0, 88 [SEP] 52, Lettuce, -2.070, 1.388, 1.008, 0, 90, 0, 96 [SEP] 53, ButterKnife, -0.335, 1.111, 0.504, 0, 0, 0, 63 [SEP] 54, Apple, -0.335, 1.162, -0.253, 0, 0, 0, 63 [SEP] 55, DishSponge, 0.079, 1.111, -0.001, 0, 0, 0, 63 [SEP] 56, Spoon, 0.969, 0.911, -2.253, 0, 0, 0, 65 [SEP] 57, Mug, 0.582, 0.905, -2.253, 0, 0, 0, 65 [SEP] 58, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 59, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 60, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 61, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 62, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 63, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 64, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 65, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 66, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 67, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 68, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 69, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 70, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 71, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 72, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 73, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 74, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 75, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 76, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 77, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 78, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 79, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 80, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 81, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 82, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 83, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 84, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 85, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 86, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 87, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 88, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 89, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 90, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 91, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 92, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 93, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 94, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 95, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 96, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 97, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 98, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 99, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 100, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 101, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 102, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 103, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around and take a step then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you in the sink to the left of the pot. | STEP 3: Turn around and take a step then turn right to face the stove. | STEP 4: Look up and cook the potato in the microwave then take it back out and close the door. | STEP 5: Turn right and walk to the sink then step to your right. | STEP 6: Put the potato in the sink. | END


Input: Move an alarm clock to the nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -2.0, 0, 90, 0,  [SEP] 1, CD, -1.085, 0.679, -2.464, 0, 0, 0, 35 [SEP] 2, CD, 1.082, 0.374, -2.399, 0, 0, 0, 39 [SEP] 3, CellPhone, -0.741, 0.619, 0.910, 0, 180, 0, 34 [SEP] 4, CellPhone, -0.121, 0.620, 0.599, 0, 180, 0, 34 [SEP] 5, Pen, 1.055, 0.681, -2.553, 0, 180, 0, 36 [SEP] 6, Pen, -1.204, 0.681, -2.374, 0, 0, 0, 35 [SEP] 7, CreditCard, -1.263, 0.675, -2.464, 0, 0, 0, 35 [SEP] 8, CreditCard, -1.204, 0.082, -2.399, 0, 0, 0, 38 [SEP] 9, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 10, Book, 0.247, 0.555, -1.211, 0, 0, 0, 22 [SEP] 11, KeyChain, -0.276, 0.620, 1.066, 0, 270, 0, 34 [SEP] 12, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 22 [SEP] 13, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 14, Pencil, -1.322, 0.685, -2.553, 0, 0, 0, 35 [SEP] 15, CellPhone, 0.188, 0.619, 1.066, 0, 180, 0, 34 [SEP] 16, CreditCard, -1.290, 0.374, -2.423, 0, 0, 0, 40 [SEP] 17, Pen, 1.114, 0.685, -2.374, 0, 0, 0, 36 [SEP] 18, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 22 [SEP] 19, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 34 [SEP] 20, CD, 0.909, 0.374, -2.423, 0, 0, 0, 39 [SEP] 21, Mug, -0.431, 0.618, 0.910, 0, 180, 0, 34 [SEP] 22, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 23, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 24, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 25, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 26, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 27, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 28, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 29, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 30, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 31, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 32, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 33, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 34, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 35, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 36, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 37, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 38, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 39, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 40, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk to the edge of the bed, turn left again, walk a few steps, then turn right to face the table. | STEP 2: Pick up the alarm clock that is sitting on the table. | STEP 3: Turn to the left, walk to the window, then turn left again and walk up to the nightstand. | STEP 4: Place the alarm clock down on the nightstand, behind the CD. | END


Input: To move an alarm clock to the night stand.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -2.0, 0, 90, 0,  [SEP] 1, CD, -1.085, 0.679, -2.464, 0, 0, 0, 35 [SEP] 2, CD, 1.082, 0.374, -2.399, 0, 0, 0, 39 [SEP] 3, CellPhone, -0.741, 0.619, 0.910, 0, 180, 0, 34 [SEP] 4, CellPhone, -0.121, 0.620, 0.599, 0, 180, 0, 34 [SEP] 5, Pen, 1.055, 0.681, -2.553, 0, 180, 0, 36 [SEP] 6, Pen, -1.204, 0.681, -2.374, 0, 0, 0, 35 [SEP] 7, CreditCard, -1.263, 0.675, -2.464, 0, 0, 0, 35 [SEP] 8, CreditCard, -1.204, 0.082, -2.399, 0, 0, 0, 38 [SEP] 9, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 10, Book, 0.247, 0.555, -1.211, 0, 0, 0, 22 [SEP] 11, KeyChain, -0.276, 0.620, 1.066, 0, 270, 0, 34 [SEP] 12, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 22 [SEP] 13, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 14, Pencil, -1.322, 0.685, -2.553, 0, 0, 0, 35 [SEP] 15, CellPhone, 0.188, 0.619, 1.066, 0, 180, 0, 34 [SEP] 16, CreditCard, -1.290, 0.374, -2.423, 0, 0, 0, 40 [SEP] 17, Pen, 1.114, 0.685, -2.374, 0, 0, 0, 36 [SEP] 18, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 22 [SEP] 19, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 34 [SEP] 20, CD, 0.909, 0.374, -2.423, 0, 0, 0, 39 [SEP] 21, Mug, -0.431, 0.618, 0.910, 0, 180, 0, 34 [SEP] 22, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 23, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 24, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 25, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 26, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 27, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 28, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 29, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 30, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 31, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 32, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 33, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 34, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 35, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 36, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 37, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 38, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 39, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 40, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn left, turn left after the led and turn right to face the right side of the dresser.  | STEP 2: Pick up the alarm clock to the right of the keys.  | STEP 3: Turn left, turn left at the window, walk up to the night stand to the right of the bed.  | STEP 4: Put the alarm clock on the night stand behind the CD.  | END


Input: Move two DVDs from the desk to the safe by the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 270, 0,  [SEP] 1, Bowl, -1.283, 1.824, -1.256, 0, 0, 0, 34 [SEP] 2, Bowl, -1.283, 1.824, -0.603, 0, 0, 0, 33 [SEP] 3, CD, -0.911, 0.792, -0.814, 0, 0, 0, 47 [SEP] 4, CD, 0.504, 0.673, -1.586, 0, 0, 0, 46 [SEP] 5, CD, -1.309, 1.822, -0.778, 0, 0, 0, 33 [SEP] 6, Pencil, 0.414, 0.677, -1.684, 0, 0, 0, 46 [SEP] 7, Pen, -1.259, 0.798, -1.632, 0, 0, 0, 47 [SEP] 8, CreditCard, 0.190, 0.082, 1.286, 0, 0, 0, 40 [SEP] 9, KeyChain, -1.052, 0.793, -1.243, 0, 0, 0, 47 [SEP] 10, Book, -0.964, 0.794, -1.568, 0, 0, 0, 47 [SEP] 11, AlarmClock, -1.259, 0.794, -1.440, 0, 0, 0, 47 [SEP] 12, AlarmClock, 0.301, 0.673, 1.301, 0, 0, 0, 39 [SEP] 13, Book, 1.676, 0.578, -1.615, 0, 0, 0, 48 [SEP] 14, Pencil, 0.227, 0.684, 1.167, 0, 0, 0, 39 [SEP] 15, Laptop, 1.098, 0.574, -0.408, 0, 0, 0, 48 [SEP] 16, Pen, -1.194, 0.798, -0.385, 0, 0, 0, 47 [SEP] 17, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180,  [SEP] 18, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 48 [SEP] 19, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 26 [SEP] 20, CellPhone, -1.230, 1.461, -0.339, 0, 0, 0, 32 [SEP] 21, KeyChain, -0.670, 0.793, -1.632, 0, 0, 0, 47 [SEP] 22, AlarmClock, -1.265, 0.794, -0.385, 0, 0, 0, 47 [SEP] 23, CreditCard, -0.450, 0.836, -2.038, 0, 0, 0, 30 [SEP] 24, CD, -0.523, 0.792, -1.824, 0, 0, 0, 47 [SEP] 25, Bowl, -1.283, 1.460, -0.515, 0, 0, 0, 32 [SEP] 26, Bed, 1.242, -0.001, -0.881, 0, 180, 0,  [SEP] 27, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0,  [SEP] 28, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168,  [SEP] 29, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0,  [SEP] 30, Shelf, -0.469, 0.828, -2.038, 0, 0, 0,  [SEP] 31, Shelf, -1.286, 1.451, -1.343, 0, 0, 0,  [SEP] 32, Shelf, -1.286, 1.451, -0.602, 0, 0, 0,  [SEP] 33, Shelf, -1.286, 1.814, -0.602, 0, 0, 0,  [SEP] 34, Shelf, -1.286, 1.814, -1.343, 0, 0, 0,  [SEP] 35, Painting, 1.111, 1.628, -1.865, 90, 0, 0,  [SEP] 36, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0,  [SEP] 37, Mirror, -1.383, 1.565, 0.512, 0, 270, 0,  [SEP] 38, Window, -0.472, 1.396, -2.252, 90, 0, 0,  [SEP] 39, SideTable, 0.304, -0.001, 1.225, 0, 180, 0,  [SEP] 40, Drawer, 0.304, 0.165, 1.159, 0, 180, 0,  [SEP] 41, Drawer, 0.304, 0.457, 1.159, 0, 180, 0,  [SEP] 42, Blinds, -0.453, 2.156, -2.242, 0, 0, 0,  [SEP] 43, Safe, 1.623, 5.960, 0.448, 0, 270, 0,  [SEP] 44, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0,  [SEP] 45, Drawer, 0.416, 0.532, -1.553, 0, 0, 0,  [SEP] 46, SideTable, 0.413, 0.000, -1.684, 0, 0, 0,  [SEP] 47, Desk, -0.788, 0.000, -1.032, 0, 90, 0,  [SEP] 48, , , , , , , ,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the desk. | STEP 2: Pick up a DVD on the desk.  | STEP 3: Turn and go to the safe by the bed.  | STEP 4: Put the DVD in the safe by the bed.  | STEP 5: Turn and go to the desk. | STEP 6: Pick up a DVD on the desk. | STEP 7: Turn and go to the safe by the bed. | STEP 8: Put the DVD in the safe by the bed. | END


Input: Retrieve two discs and put them into the safe.  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, -0.25, 0, 270, 0,  [SEP] 1, Bowl, -1.283, 1.824, -1.256, 0, 0, 0, 34 [SEP] 2, Bowl, -1.283, 1.824, -0.603, 0, 0, 0, 33 [SEP] 3, CD, -0.911, 0.792, -0.814, 0, 0, 0, 47 [SEP] 4, CD, 0.504, 0.673, -1.586, 0, 0, 0, 46 [SEP] 5, CD, -1.309, 1.822, -0.778, 0, 0, 0, 33 [SEP] 6, Pencil, 0.414, 0.677, -1.684, 0, 0, 0, 46 [SEP] 7, Pen, -1.259, 0.798, -1.632, 0, 0, 0, 47 [SEP] 8, CreditCard, 0.190, 0.082, 1.286, 0, 0, 0, 40 [SEP] 9, KeyChain, -1.052, 0.793, -1.243, 0, 0, 0, 47 [SEP] 10, Book, -0.964, 0.794, -1.568, 0, 0, 0, 47 [SEP] 11, AlarmClock, -1.259, 0.794, -1.440, 0, 0, 0, 47 [SEP] 12, AlarmClock, 0.301, 0.673, 1.301, 0, 0, 0, 39 [SEP] 13, Book, 1.676, 0.578, -1.615, 0, 0, 0, 48 [SEP] 14, Pencil, 0.227, 0.684, 1.167, 0, 0, 0, 39 [SEP] 15, Laptop, 1.098, 0.574, -0.408, 0, 0, 0, 48 [SEP] 16, Pen, -1.194, 0.798, -0.385, 0, 0, 0, 47 [SEP] 17, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180,  [SEP] 18, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 48 [SEP] 19, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 26 [SEP] 20, CellPhone, -1.230, 1.461, -0.339, 0, 0, 0, 32 [SEP] 21, KeyChain, -0.670, 0.793, -1.632, 0, 0, 0, 47 [SEP] 22, AlarmClock, -1.265, 0.794, -0.385, 0, 0, 0, 47 [SEP] 23, CreditCard, -0.450, 0.836, -2.038, 0, 0, 0, 30 [SEP] 24, CD, -0.523, 0.792, -1.824, 0, 0, 0, 47 [SEP] 25, Bowl, -1.283, 1.460, -0.515, 0, 0, 0, 32 [SEP] 26, Bed, 1.242, -0.001, -0.881, 0, 180, 0,  [SEP] 27, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0,  [SEP] 28, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168,  [SEP] 29, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0,  [SEP] 30, Shelf, -0.469, 0.828, -2.038, 0, 0, 0,  [SEP] 31, Shelf, -1.286, 1.451, -1.343, 0, 0, 0,  [SEP] 32, Shelf, -1.286, 1.451, -0.602, 0, 0, 0,  [SEP] 33, Shelf, -1.286, 1.814, -0.602, 0, 0, 0,  [SEP] 34, Shelf, -1.286, 1.814, -1.343, 0, 0, 0,  [SEP] 35, Painting, 1.111, 1.628, -1.865, 90, 0, 0,  [SEP] 36, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0,  [SEP] 37, Mirror, -1.383, 1.565, 0.512, 0, 270, 0,  [SEP] 38, Window, -0.472, 1.396, -2.252, 90, 0, 0,  [SEP] 39, SideTable, 0.304, -0.001, 1.225, 0, 180, 0,  [SEP] 40, Drawer, 0.304, 0.165, 1.159, 0, 180, 0,  [SEP] 41, Drawer, 0.304, 0.457, 1.159, 0, 180, 0,  [SEP] 42, Blinds, -0.453, 2.156, -2.242, 0, 0, 0,  [SEP] 43, Safe, 1.623, 5.960, 0.448, 0, 270, 0,  [SEP] 44, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0,  [SEP] 45, Drawer, 0.416, 0.532, -1.553, 0, 0, 0,  [SEP] 46, SideTable, 0.413, 0.000, -1.684, 0, 0, 0,  [SEP] 47, Desk, -0.788, 0.000, -1.032, 0, 90, 0,  [SEP] 48, , , , , , , ,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk over to the desk | STEP 2: Pick up the disc from the desk | STEP 3: Turn right, walk to the safe on the floor | STEP 4: Put the disc into the safe | STEP 5: Move back to the left side of the desk | STEP 6: Pick up the disc from the desk | STEP 7: Move back to the safe with the disc | STEP 8: Put the disc into the safe | END


Input: Examine a box by the light of a floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.998, -1.5, 0, 0, 0,  [SEP] 1, Vase, -1.222, 0.459, -0.578, 0, 0, 0, 29 [SEP] 2, CreditCard, 0.254, 0.860, -2.457, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.345, 0.972, -2.533, 0, 90, 0, 37 [SEP] 4, Laptop, -0.557, 0.523, 0.897, 0, 0, 0, 33 [SEP] 5, Box, -2.863, 1.03, -0.958, 0, 0, 0, 28 [SEP] 6, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 25 [SEP] 7, CreditCard, -0.906, 0.524, 0.835, 0, 0, 0, 33 [SEP] 8, Plate, -3.429, 0.885, -0.992, 0, 0, 0, 28 [SEP] 9, Laptop, -1.091, 0.452, -0.817, 0, 0, 0, 29 [SEP] 10, RemoteControl, -0.695, 0.455, -0.578, 0, 0, 0, 29 [SEP] 11, Vase, -4.094, 0.886, -1.287, 0, 0, 0, 28 [SEP] 12, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 37 [SEP] 13, KeyChain, -0.240, 0.972, -2.572, 0, 90, 0, 37 [SEP] 14, Pen, -0.827, 0.459, -0.498, 0, 0, 0, 29 [SEP] 15, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 16, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 17, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 18, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 19, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 20, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 21, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 22, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 23, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 24, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 25, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 26, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 27, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 28, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 29, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 30, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 31, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 32, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 33, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 34, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 35, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 36, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 37, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: tale a few steps forward and turn to the left and go to the table | STEP 2: pick up the box from the table | STEP 3: turn to the right and go to the floor lamp | STEP 4: turn on the floor lamp | END


Input: Put a cleaned tomato 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, -1.5, 0.900, 2.5, 0, 90, 0,  [SEP] 1, Potato, -0.415, 1.259, 0.344, 0, 0, 0, 68 [SEP] 2, Potato, -1.465, 0.962, 0.290, 0, 0, 0, 67 [SEP] 3, ButterKnife, -0.415, 1.047, 2.144, 0, 0, 0, 45 [SEP] 4, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 59 [SEP] 5, Pot, -3.572, 1.291, 2.920, 0, 90, 0, 62 [SEP] 6, Fork, -0.662, 1.047, 2.593, 0, 0, 0, 45 [SEP] 7, Fork, -0.538, 1.048, 2.144, 0, 0, 0, 45 [SEP] 8, Spoon, -2.648, 0.903, 0.544, 0, 90, 0, 54 [SEP] 9, Spoon, -1.465, 0.932, 0.498, 0, 0, 0, 67 [SEP] 10, Spatula, -0.659, 1.139, 0.296, 0, 0, 0, 57 [SEP] 11, Egg, -0.538, 1.077, 3.042, 0, 0, 0, 45 [SEP] 12, Egg, -3.814, 1.155, 0.662, 0, 0, 0, 52 [SEP] 13, Knife, -1.465, 0.963, 0.359, 0, 0, 0, 67 [SEP] 14, SoapBottle, -3.747, 0.113, 2.008, 0, 0, 0, 66 [SEP] 15, Bowl, -1.522, 0.046, 0.495, 0, 0, 0, 60 [SEP] 16, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 45 [SEP] 17, Apple, -3.572, 0.979, 2.849, 0, 90, 0, 62 [SEP] 18, Fork, -0.715, 1.125, 0.569, 0, 0, 0, 57 [SEP] 19, SoapBottle, -1.948, 0.487, 0.579, 0, 0, 0, 46 [SEP] 20, Pot, -3.373, 1.564, 2.920, 0, 90, 0, 62 [SEP] 21, Ladle, -3.778, 1.164, 0.190, 0, 90, 0, 52 [SEP] 22, Potato, -3.639, 1.317, 3.203, 0, 90, 0, 62 [SEP] 23, Plate, -1.193, 0.921, 0.403, 0, 0, 0, 67 [SEP] 24, Bread, -2.639, 1.211, 0.567, 0, 0, 0, 55 [SEP] 25, Lettuce, -0.785, 1.125, 2.593, 0, 0, 0, 45 [SEP] 26, Spatula, -0.415, 1.063, 2.817, 0, 0, 0, 45 [SEP] 27, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 45 [SEP] 28, Egg, -1.642, 0.961, 0.567, 0, 0, 0, 67 [SEP] 29, Cup, -3.373, 0.909, 2.920, 0, 90, 0, 62 [SEP] 30, SaltShaker, -0.785, 1.044, 2.144, 0, 0, 0, 45 [SEP] 31, Knife, -2.262, 1.157, 0.284, 0, 0, 0, 55 [SEP] 32, Bowl, -1.235, 0.047, 0.437, 0, 0, 0, 49 [SEP] 33, PepperShaker, -1.948, 0.091, 0.512, 0, 0, 0, 47 [SEP] 34, ButterKnife, -0.538, 1.048, 3.266, 0, 0, 0, 45 [SEP] 35, Apple, -0.785, 1.114, 2.817, 0, 0, 0, 45 [SEP] 36, Tomato, -0.785, 1.087, 3.266, 0, 0, 0, 45 [SEP] 37, DishSponge, -0.908, 1.046, 1.920, 0, 0, 0, 45 [SEP] 38, Spoon, -2.137, 1.126, 0.567, 0, 0, 0, 55 [SEP] 39, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 61 [SEP] 40, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 41, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 42, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 43, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 44, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 45, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 46, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 47, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 48, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 49, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 50, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 51, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 52, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 53, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 54, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 55, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 56, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 57, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 58, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 59, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 60, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 61, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 62, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 63, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 64, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 65, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 66, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 67, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 68, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 69, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 70, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 71, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,

Output: STEP 1: Head to to the left side of the table by the tomato. | STEP 2: Pick up the tomato on the table. | STEP 3:  Bring the tomato to the sink on the right. | STEP 4: Wash the tomato in the sink.  | STEP 5: Bring the tomato back to the table behind you. | STEP 6: Put the tomato on the table in front of the lettuce.  | END


Input: place keys on the left chair in the living room SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 13.0, 0.902, 3.0, 0, 90, 0,  [SEP] 1, Statue, 10.651, 0.597, 0.863, 0, 0, 0, 43 [SEP] 2, Statue, 14.038, 0.761, 1.303, 0, 0, 0, 36 [SEP] 3, KeyChain, 14.331, 0.755, 1.303, 0, 0, 0, 36 [SEP] 4, KeyChain, 14.039, 0.348, 0.933, 0, 90, 0, 35 [SEP] 5, KeyChain, 11.232, 0.591, 0.771, 0, 0, 0, 43 [SEP] 6, Book, 8.273, 0.398, -0.143, 0, 90, 0, 54 [SEP] 7, Box, 10.807, 0.706, 3.304, 0, 0, 0, Floor|+09.92| [SEP] 8, Box, 14.526, 1.001, 1.825, 0, 0, 0, 36 [SEP] 9, Laptop, 9.499, 0.427, 3.216, 0, 0, 0, 44 [SEP] 10, Book, 14.135, 0.755, 2.086, 0, 0, 0, 32 [SEP] 11, Box, 11.661, 0.706, 3.230, 0, 0, 0, Floor|+09.92| [SEP] 12, CreditCard, 12.088, 0.456, 3.304, 0, 0, 0, 51 [SEP] 13, KeyChain, 14.331, 0.752, 1.042, 0, 0, 0, 36 [SEP] 14, Pillow, 11.234, 0.528, 3.155, 0, 0, 0, 51 [SEP] 15, Statue, 14.233, 0.758, 0.780, 0, 0, 0, 36 [SEP] 16, Laptop, 11.232, 0.588, 1.049, 0, 0, 0, 43 [SEP] 17, RemoteControl, 14.428, 0.757, 2.086, 0, 0, 0, 36 [SEP] 18, Watch, 11.510, 0.488, -1.249, 0, 90, 0, 45 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0,  [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0,  [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0,  [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0,  [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0,  [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0,  [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0,  [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0,  [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0,  [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0,  [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0,  [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0,  [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0,  [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0,  [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0,  [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0,  [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0,  [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0,  [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0,  [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0,  [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0,  [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0,  [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0,  [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0,  [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0,  [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0,  [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0,  [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0,  [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0,  [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0,  [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0,  [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0,  [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0,  [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0,  [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0,  [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: turn right and walk over to the living room table | STEP 2: grab the keys off of the living room table | STEP 3: turn around and walk over to the living room chairs | STEP 4: place the keys on the left chair | END


Input: Put a box on the dining table with a pencil inside. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 4.25, 0, 270, 0,  [SEP] 1, Plate, -2.241, 0.348, 5.042, 0, 0, 0, 46 [SEP] 2, TissueBox, -2.114, 0.749, -0.028, 0, 0, 0, 52 [SEP] 3, TissueBox, -2.003, 0.725, 6.134, 0, 0, 0, 49 [SEP] 4, Newspaper, -2.933, 0.481, 3.346, 0, 0, 0, 50 [SEP] 5, Watch, -0.252, 0.704, 3.200, 0, 0, 0, 40 [SEP] 6, Statue, -2.393, 0.753, -0.159, 0, 0, 0, 52 [SEP] 7, KeyChain, -2.396, 0.349, 4.887, 0, 0, 0, 46 [SEP] 8, KeyChain, -2.933, 0.480, 3.705, 0, 0, 0, 50 [SEP] 9, Book, -2.396, 0.100, 4.887, 0, 0, 0, 48 [SEP] 10, CreditCard, -2.368, 0.648, -0.077, 0, 0, 0, 53 [SEP] 11, RemoteControl, -2.318, 0.606, 4.731, 0, 0, 0, 45 [SEP] 12, RemoteControl, -1.859, 0.651, -0.077, 0, 0, 0, 53 [SEP] 13, Box, -2.404, 0.678, 3.525, 0, 90, 0, 50 [SEP] 14, Book, -1.872, 0.680, 1.167, 0, 0, 0, 54 [SEP] 15, Box, -1.609, 0.678, 3.525, 0, 90, 0, 50 [SEP] 16, Statue, -2.259, 0.243, 6.119, 0, 0, 0, 47 [SEP] 17, Laptop, -1.698, 0.680, 1.659, 0, 329.236, 0, 56 [SEP] 18, TissueBox, -1.834, 0.749, -0.159, 0, 0, 0, 52 [SEP] 19, CreditCard, -4.291, 0.444, 5.801, 0, 59.999, 0, 42 [SEP] 20, Plate, -2.767, 0.723, 6.134, 0, 0, 0, 49 [SEP] 21, KeyChain, -2.473, 0.604, 4.887, 0, 0, 0, 45 [SEP] 22, Vase, -0.265, 0.698, 3.414, 0, 0, 0, 40 [SEP] 23, Pencil, -0.294, 0.618, 3.139, 0, 0, 0, 41 [SEP] 24, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 50 [SEP] 25, Bowl, -2.180, 0.596, 4.894, 0, 0, 0, 45 [SEP] 26, RemoteControl, -1.139, 0.435, 5.978, 0, 135, 0, 43 [SEP] 27, Watch, -2.257, 0.724, 6.053, 0, 180, 0, 49 [SEP] 28, Pen, -2.510, 0.243, 6.156, 0, 0, 0, 47 [SEP] 29, Newspaper, -2.008, 0.239, 6.083, 0, 0, 0, 47 [SEP] 30, Painting, -2.048, 1.615, -0.303, 0, 0, 0,  [SEP] 31, Curtains, -0.083, 2.420, 0.969, 0, 0, 0,  [SEP] 32, Television, -2.357, 1.205, 6.245, 0, 180, 0,  [SEP] 33, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0,  [SEP] 34, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0,  [SEP] 35, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0,  [SEP] 36, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0,  [SEP] 37, Window, -0.057, 0.925, 1.764, 90, 270, 0,  [SEP] 38, Window, -0.057, 1.130, 4.886, 90, 270, 0,  [SEP] 39, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0,  [SEP] 40, SideTable, -0.255, 0.001, 3.369, 0, 270, 0,  [SEP] 41, Drawer, -0.306, 0.626, 3.369, 0, 270, 0,  [SEP] 42, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0,  [SEP] 43, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0,  [SEP] 44, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0,  [SEP] 45, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0,  [SEP] 46, Shelf, -2.326, 0.338, 4.922, 0, 0, 0,  [SEP] 47, Shelf, -2.385, 0.238, 6.296, 0, 0, 0,  [SEP] 48, Shelf, -2.326, 0.089, 4.922, 0, 0, 0,  [SEP] 49, TVStand, -2.385, 0.006, 6.296, 0, 0, 0,  [SEP] 50, Sofa, -2.404, -0.003, 3.417, 0, 0, 0,  [SEP] 51, SideTable, -2.935, 0.004, -0.103, 0, 0, 0,  [SEP] 52, SideTable, -2.113, 0.002, -0.139, 0, 0, 0,  [SEP] 53, Drawer, -2.113, 0.654, -0.069, 0, 0, 0,  [SEP] 54, Chair, -1.862, 0.020, 1.035, 0, 0, 0,  [SEP] 55, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0,  [SEP] 56, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0,  [SEP] 57, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0,  [SEP] 58, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0,  [SEP] 59, Chair, -1.335, 0.020, 1.430, 0, 270, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, EastWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, WestWall, , , , , , ,

Output: STEP 1: Move to the end table in between to two windows | STEP 2: Pick up a pencil from the end table | STEP 3: Move to the couch behind you | STEP 4: Place the pencil in a box on the couch | STEP 5: Pick up the box that has the pencil inside | STEP 6: Move to the dining table on the other side of the couch from you | STEP 7: Place the box on the table | END


Input: Put away the pencil in the box and on the dining table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 4.25, 0, 270, 0,  [SEP] 1, Plate, -2.241, 0.348, 5.042, 0, 0, 0, 46 [SEP] 2, TissueBox, -2.114, 0.749, -0.028, 0, 0, 0, 52 [SEP] 3, TissueBox, -2.003, 0.725, 6.134, 0, 0, 0, 49 [SEP] 4, Newspaper, -2.933, 0.481, 3.346, 0, 0, 0, 50 [SEP] 5, Watch, -0.252, 0.704, 3.200, 0, 0, 0, 40 [SEP] 6, Statue, -2.393, 0.753, -0.159, 0, 0, 0, 52 [SEP] 7, KeyChain, -2.396, 0.349, 4.887, 0, 0, 0, 46 [SEP] 8, KeyChain, -2.933, 0.480, 3.705, 0, 0, 0, 50 [SEP] 9, Book, -2.396, 0.100, 4.887, 0, 0, 0, 48 [SEP] 10, CreditCard, -2.368, 0.648, -0.077, 0, 0, 0, 53 [SEP] 11, RemoteControl, -2.318, 0.606, 4.731, 0, 0, 0, 45 [SEP] 12, RemoteControl, -1.859, 0.651, -0.077, 0, 0, 0, 53 [SEP] 13, Box, -2.404, 0.678, 3.525, 0, 90, 0, 50 [SEP] 14, Book, -1.872, 0.680, 1.167, 0, 0, 0, 54 [SEP] 15, Box, -1.609, 0.678, 3.525, 0, 90, 0, 50 [SEP] 16, Statue, -2.259, 0.243, 6.119, 0, 0, 0, 47 [SEP] 17, Laptop, -1.698, 0.680, 1.659, 0, 329.236, 0, 56 [SEP] 18, TissueBox, -1.834, 0.749, -0.159, 0, 0, 0, 52 [SEP] 19, CreditCard, -4.291, 0.444, 5.801, 0, 59.999, 0, 42 [SEP] 20, Plate, -2.767, 0.723, 6.134, 0, 0, 0, 49 [SEP] 21, KeyChain, -2.473, 0.604, 4.887, 0, 0, 0, 45 [SEP] 22, Vase, -0.265, 0.698, 3.414, 0, 0, 0, 40 [SEP] 23, Pencil, -0.294, 0.618, 3.139, 0, 0, 0, 41 [SEP] 24, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 50 [SEP] 25, Bowl, -2.180, 0.596, 4.894, 0, 0, 0, 45 [SEP] 26, RemoteControl, -1.139, 0.435, 5.978, 0, 135, 0, 43 [SEP] 27, Watch, -2.257, 0.724, 6.053, 0, 180, 0, 49 [SEP] 28, Pen, -2.510, 0.243, 6.156, 0, 0, 0, 47 [SEP] 29, Newspaper, -2.008, 0.239, 6.083, 0, 0, 0, 47 [SEP] 30, Painting, -2.048, 1.615, -0.303, 0, 0, 0,  [SEP] 31, Curtains, -0.083, 2.420, 0.969, 0, 0, 0,  [SEP] 32, Television, -2.357, 1.205, 6.245, 0, 180, 0,  [SEP] 33, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0,  [SEP] 34, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0,  [SEP] 35, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0,  [SEP] 36, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0,  [SEP] 37, Window, -0.057, 0.925, 1.764, 90, 270, 0,  [SEP] 38, Window, -0.057, 1.130, 4.886, 90, 270, 0,  [SEP] 39, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0,  [SEP] 40, SideTable, -0.255, 0.001, 3.369, 0, 270, 0,  [SEP] 41, Drawer, -0.306, 0.626, 3.369, 0, 270, 0,  [SEP] 42, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0,  [SEP] 43, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0,  [SEP] 44, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0,  [SEP] 45, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0,  [SEP] 46, Shelf, -2.326, 0.338, 4.922, 0, 0, 0,  [SEP] 47, Shelf, -2.385, 0.238, 6.296, 0, 0, 0,  [SEP] 48, Shelf, -2.326, 0.089, 4.922, 0, 0, 0,  [SEP] 49, TVStand, -2.385, 0.006, 6.296, 0, 0, 0,  [SEP] 50, Sofa, -2.404, -0.003, 3.417, 0, 0, 0,  [SEP] 51, SideTable, -2.935, 0.004, -0.103, 0, 0, 0,  [SEP] 52, SideTable, -2.113, 0.002, -0.139, 0, 0, 0,  [SEP] 53, Drawer, -2.113, 0.654, -0.069, 0, 0, 0,  [SEP] 54, Chair, -1.862, 0.020, 1.035, 0, 0, 0,  [SEP] 55, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0,  [SEP] 56, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0,  [SEP] 57, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0,  [SEP] 58, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0,  [SEP] 59, Chair, -1.335, 0.020, 1.430, 0, 270, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, EastWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the end table with the lamp on it. | STEP 2: Open the drawer and grab the pencil from inside. | STEP 3: Turn around and go to the second box on the couch. | STEP 4: Put the pencil in the box. | STEP 5: Pick up the box with the pencil in it. | STEP 6: Go around the couch to the dining table.  | STEP 7: Set the box with the pencil in it on the dining table. | END


Input: Put a piece of chilled sliced potato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 7.25, 0, 180, 0,  [SEP] 1, Pan, 1.573, 0.138, 2.646, 0, 90, 0, 72 [SEP] 2, Potato, -0.284, 0.794, 6.014, 0, 0, 0, 96 [SEP] 3, Potato, -0.138, 0.794, 6.282, 0, 135, 0, 96 [SEP] 4, Potato, 0.212, 0.794, 6.196, 0, 135, 0, 96 [SEP] 5, DishSponge, -0.034, 0.759, 6.014, 0, 0, 0, 96 [SEP] 6, Spatula, 0.999, 1.007, 0.120, 0, 90, 0, 60 [SEP] 7, Fork, 1.405, 0.771, 4.717, 0, 0, 0, 50 [SEP] 8, Fork, 0.871, 0.772, 0.619, 0, 270, 0, 52 [SEP] 9, Egg, -0.509, 0.810, 6.393, 0, 225, 0, 96 [SEP] 10, Plate, -0.687, 0.993, 0.395, 0, 0, 0, 60 [SEP] 11, Plate, 1.322, 0.141, 3.291, 0, 0, 0, 71 [SEP] 12, Knife, -0.158, 0.789, 6.604, 0, 0, 0, 96 [SEP] 13, Knife, -0.413, 0.801, 0.507, 0, 0, 0, 56 [SEP] 14, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 82 [SEP] 15, SoapBottle, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 16, SoapBottle, -0.621, 0.760, 6.416, 0, 270, 0, 96 [SEP] 17, Bowl, 0.674, 0.142, 0.418, 0, 0, 0, 66 [SEP] 18, Bowl, 0.150, 0.759, 6.354, 0, 270, 0, 96 [SEP] 19, Bread, -0.459, 1.062, 0.486, 0, 0, 0, 60 [SEP] 20, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 96 [SEP] 21, Mug, 2.094, 1.510, 6.001, 0, 270, 0, 82 [SEP] 22, Mug, 1.314, 0.987, 1.350, 0, 0, 0, 60 [SEP] 23, Apple, 0.064, 1.171, 0.213, 0, 0, 0, 76 [SEP] 24, Apple, 2.094, 1.590, 5.626, 0, 270, 0, 82 [SEP] 25, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 68 [SEP] 26, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 96 [SEP] 27, Egg, 0.168, 1.135, 0.245, 0, 0, 0, 76 [SEP] 28, Knife, 0.600, 0.802, 0.563, 0, 270, 0, 52 [SEP] 29, Fork, -0.284, 0.760, 6.478, 0, 270, 0, 96 [SEP] 30, Apple, 1.956, 0.155, 6.528, 0, 0, 0, 84 [SEP] 31, Kettle, 0.620, 0.993, 0.303, 0, 0, 0, 60 [SEP] 32, Plate, 0.055, 0.144, 0.353, 0, 0, 0, 69 [SEP] 33, SaltShaker, 1.225, 0.987, 0.440, 0, 0, 0, 60 [SEP] 34, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 96 [SEP] 35, SoapBottle, 0.124, 0.144, 0.658, 0, 90, 0, 69 [SEP] 36, Spatula, -0.096, 0.775, 6.169, 0, 0, 0, 96 [SEP] 37, PaperTowelRoll, 1.314, 1.096, 2.950, 0, 0, 0, 60 [SEP] 38, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 59 [SEP] 39, Potato, 1.442, 0.925, 1.983, 0, 90, 0, 83 [SEP] 40, ButterKnife, -0.621, 0.760, 6.541, 0, 270, 0, 96 [SEP] 41, PepperShaker, -0.459, 0.987, 0.120, 0, 90, 0, 60 [SEP] 42, Pan, 1.486, 0.139, 4.724, 0, 90, 0, 62 [SEP] 43, Tomato, 1.442, 0.940, 2.627, 0, 90, 0, 83 [SEP] 44, DishSponge, -0.535, 0.992, 0.120, 0, 0, 0, 60 [SEP] 45, Cup, 0.107, 1.575, 0.251, 0, 0, 0, 73 [SEP] 46, Spoon, 1.332, 0.897, 2.525, 0, 90, 0, 83 [SEP] 47, Mug, -0.013, 1.574, 0.338, 0, 0, 0, 73 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: Turn right towards the round black table. | STEP 2: Pick up the sharp knife from the table. | STEP 3: Make your way clock wise around a quarter of the round black table and face it again. | STEP 4: Slice the potato next to the sponge. | STEP 5: Turn around to face the opposite direction and walk all the way across the room to the microwave on the counter. | STEP 6: Open the microwave, place the sharp knife inside, and close the door. | STEP 7: Turn around again and return to the black round table. | STEP 8: Pick up the end slice of the potato. | STEP 9: Turn to your right and approach the refrigerator just a step away. | STEP 10: Put the potato slice in the refrigerator to chill for a moment before removing it. | STEP 11: Take the potato slice to the microwave where the sharp knife was placed. | STEP 12: Put the potato slice into the microwave. | END


Input: place a cold potato slice in the oven 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, 7.25, 0, 180, 0,  [SEP] 1, Pan, 1.573, 0.138, 2.646, 0, 90, 0, 72 [SEP] 2, Potato, -0.284, 0.794, 6.014, 0, 0, 0, 96 [SEP] 3, Potato, -0.138, 0.794, 6.282, 0, 135, 0, 96 [SEP] 4, Potato, 0.212, 0.794, 6.196, 0, 135, 0, 96 [SEP] 5, DishSponge, -0.034, 0.759, 6.014, 0, 0, 0, 96 [SEP] 6, Spatula, 0.999, 1.007, 0.120, 0, 90, 0, 60 [SEP] 7, Fork, 1.405, 0.771, 4.717, 0, 0, 0, 50 [SEP] 8, Fork, 0.871, 0.772, 0.619, 0, 270, 0, 52 [SEP] 9, Egg, -0.509, 0.810, 6.393, 0, 225, 0, 96 [SEP] 10, Plate, -0.687, 0.993, 0.395, 0, 0, 0, 60 [SEP] 11, Plate, 1.322, 0.141, 3.291, 0, 0, 0, 71 [SEP] 12, Knife, -0.158, 0.789, 6.604, 0, 0, 0, 96 [SEP] 13, Knife, -0.413, 0.801, 0.507, 0, 0, 0, 56 [SEP] 14, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 82 [SEP] 15, SoapBottle, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 16, SoapBottle, -0.621, 0.760, 6.416, 0, 270, 0, 96 [SEP] 17, Bowl, 0.674, 0.142, 0.418, 0, 0, 0, 66 [SEP] 18, Bowl, 0.150, 0.759, 6.354, 0, 270, 0, 96 [SEP] 19, Bread, -0.459, 1.062, 0.486, 0, 0, 0, 60 [SEP] 20, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 96 [SEP] 21, Mug, 2.094, 1.510, 6.001, 0, 270, 0, 82 [SEP] 22, Mug, 1.314, 0.987, 1.350, 0, 0, 0, 60 [SEP] 23, Apple, 0.064, 1.171, 0.213, 0, 0, 0, 76 [SEP] 24, Apple, 2.094, 1.590, 5.626, 0, 270, 0, 82 [SEP] 25, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 68 [SEP] 26, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 96 [SEP] 27, Egg, 0.168, 1.135, 0.245, 0, 0, 0, 76 [SEP] 28, Knife, 0.600, 0.802, 0.563, 0, 270, 0, 52 [SEP] 29, Fork, -0.284, 0.760, 6.478, 0, 270, 0, 96 [SEP] 30, Apple, 1.956, 0.155, 6.528, 0, 0, 0, 84 [SEP] 31, Kettle, 0.620, 0.993, 0.303, 0, 0, 0, 60 [SEP] 32, Plate, 0.055, 0.144, 0.353, 0, 0, 0, 69 [SEP] 33, SaltShaker, 1.225, 0.987, 0.440, 0, 0, 0, 60 [SEP] 34, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 96 [SEP] 35, SoapBottle, 0.124, 0.144, 0.658, 0, 90, 0, 69 [SEP] 36, Spatula, -0.096, 0.775, 6.169, 0, 0, 0, 96 [SEP] 37, PaperTowelRoll, 1.314, 1.096, 2.950, 0, 0, 0, 60 [SEP] 38, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 59 [SEP] 39, Potato, 1.442, 0.925, 1.983, 0, 90, 0, 83 [SEP] 40, ButterKnife, -0.621, 0.760, 6.541, 0, 270, 0, 96 [SEP] 41, PepperShaker, -0.459, 0.987, 0.120, 0, 90, 0, 60 [SEP] 42, Pan, 1.486, 0.139, 4.724, 0, 90, 0, 62 [SEP] 43, Tomato, 1.442, 0.940, 2.627, 0, 90, 0, 83 [SEP] 44, DishSponge, -0.535, 0.992, 0.120, 0, 0, 0, 60 [SEP] 45, Cup, 0.107, 1.575, 0.251, 0, 0, 0, 73 [SEP] 46, Spoon, 1.332, 0.897, 2.525, 0, 90, 0, 83 [SEP] 47, Mug, -0.013, 1.574, 0.338, 0, 0, 0, 73 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: turn right to the table | STEP 2: pick up the knife | STEP 3: turn around the table | STEP 4: slice the potato on the table | STEP 5: turn around to the oven | STEP 6: place the knife in the oven  | STEP 7: turn around to the table | STEP 8: pick up an slice | STEP 9: head to the fridge | STEP 10: place the slice to cool and then take it out | STEP 11: turn  left to the oven  | STEP 12: place the slice in the oven | END


Input: get the rag below the counter and toss it in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0,  [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: turn right and approach the counter | STEP 2: get the red rag from under the counter | STEP 3: walk the rag over to the bathtub | STEP 4: toss the rag in to the bath basin | END


Input: Put the red cloth in the tub.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0,  [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn to the right. | STEP 2: Open the cabinet and pull out the red cloth in it. | STEP 3: Move over to the bath tub. | STEP 4: Put the cloth in the tub.  | END


Input: Put the red rag in the bathtub.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0,  [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn to the right.  | STEP 2: Open the end cabinet under the counter, grab the red rag out of the cabinet.  | STEP 3: Turn around, walk to the bathtub.  | STEP 4: Place the rag in the bathtub.  | END


Input: Move a red cloth from a cabinet to a bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0,  [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn right towards the counter top. | STEP 2: Open the cabinet on the bottom left and take out the red cloth, then close the cabinet. | STEP 3: Turn around and walk forward to the bath tub. | STEP 4: Put the cloth in the bath tub basin. | END


Input: Move the smartphone from the black side table to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -2.5, 0, 0, 0,  [SEP] 1, TissueBox, 3.239, 0.779, -1.500, 0, 0, 0, 37 [SEP] 2, CD, 2.930, 0.777, -1.411, 0, 0, 0, 37 [SEP] 3, CellPhone, 0.291, 0.704, -1.271, 0, 180, 0, 32 [SEP] 4, Pencil, 3.084, 0.784, -1.679, 0, 0, 0, 37 [SEP] 5, CreditCard, 0.313, 0.616, 1.223, 0, 180, 0, 33 [SEP] 6, CreditCard, 0.333, 0.615, -1.093, 0, 180, 0, 34 [SEP] 7, KeyChain, 0.694, 0.441, -1.948, 0, 330.000, 0, 35 [SEP] 8, AlarmClock, 3.701, 0.778, -1.59, 0, 0, 0, 37 [SEP] 9, Laptop, 1.374, 0.594, 0.145, 0, 0, 0, 24 [SEP] 10, Book, 1.374, 0.596, -0.238, 0, 0, 0, 24 [SEP] 11, KeyChain, 0.934, 0.434, -2.024, 0, 150.000, 0, 35 [SEP] 12, Pillow, 0.463, 0.638, 0.408, 0, 101.363, 0, 24 [SEP] 13, Pillow, 0.968, 0.677, 0.145, 0, 0, 0, 24 [SEP] 14, CreditCard, 2.930, 0.777, -1.322, 0, 0, 0, 37 [SEP] 15, Pen, 0.226, 0.711, 1.380, 0, 90, 0, 31 [SEP] 16, Pencil, 3.084, 0.782, -1.411, 0, 0, 0, 37 [SEP] 17, TissueBox, 3.393, 0.781, -1.322, 0, 0, 0, 37 [SEP] 18, Laptop, 3.452, 0.773, -1.667, 0, 210.000, 0, 37 [SEP] 19, CellPhone, 3.084, 0.779, -1.768, 0, 0, 0, 37 [SEP] 20, AlarmClock, 0.260, 0.704, -0.933, 0, 180, 0, 32 [SEP] 21, CD, 3.084, 0.779, -1.59, 0, 0, 0, 37 [SEP] 22, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0,  [SEP] 23, Mirror, 1.083, 1.228, 1.700, 0, 0, 0,  [SEP] 24, Bed, 0.898, -0.002, 0.141, 0, 270, 0,  [SEP] 25, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0,  [SEP] 26, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0,  [SEP] 27, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0,  [SEP] 28, Painting, 0.100, 1.432, -2.053, 90, 270, 0,  [SEP] 29, Window, 2.270, 1.547, -2.915, 90, 0, 0,  [SEP] 30, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0,  [SEP] 31, SideTable, 0.277, 0.000, 1.299, 0, 90, 0,  [SEP] 32, SideTable, 0.276, 0.000, -1.017, 0, 90, 0,  [SEP] 33, Drawer, 0.328, 0.624, 1.299, 0, 90, 0,  [SEP] 34, Drawer, 0.328, 0.624, -1.017, 0, 90, 0,  [SEP] 35, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0,  [SEP] 36, Blinds, 2.299, 2.525, -2.892, 0, 0, 0,  [SEP] 37, Desk, 3.238, 0.003, -1.590, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Make a left to to walk to the black side table next to the bed. | STEP 2: Pick up the smartphone on the black table. | STEP 3: Make a right and stand next to the bed. | STEP 4: Put the smartphone down on the bed. | END