Input: Put an empty roll of toilet paper on a toilet paper holder. 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, 1.75, 0, 0, 0,  [SEP] 1, Cloth, -1.527, 0.074, 0.970, 0, 90, 0, 22 [SEP] 2, Cloth, -1.527, 0.074, 0.339, 0, 0, 0, 22 [SEP] 3, SoapBar, -1.787, 0.067, 3.248, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.741, 0.067, 3.034, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.734, 0.018, 2.22, 0, 0, 0, 23 [SEP] 6, SprayBottle, -1.860, 1.045, 1.878, 0, 90, 0, 39 [SEP] 7, SoapBottle, -1.823, 0.069, 3.647, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.204, 0.089, 3.815, 0, 0, 0, 42 [SEP] 9, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.786, 0.073, 0.591, 0, 0, 0, 22 [SEP] 12, ToiletPaper, -0.370, 0.443, 0.090, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.860, 1.041, 2.009, 0, 90, 0, 39 [SEP] 14, Cloth, -1.721, 0.074, 0.970, 0, 0, 0, 22 [SEP] 15, SprayBottle, 0.204, 1.164, 3.732, 0, 0, 0, 50 [SEP] 16, Candle, -0.370, 0.447, 0.273, 0, 0, 0, 20 [SEP] 17, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 18, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 19, SoapBottle, -1.856, 0.018, 2.246, 0, 90, 0, 23 [SEP] 20, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0,  [SEP] 21, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0,  [SEP] 22, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0,  [SEP] 23, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0,  [SEP] 24, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0,  [SEP] 25, Mirror, -1.993, 1.424, 3.107, 0, 0, 0,  [SEP] 26, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0,  [SEP] 27, Faucet, -1.873, 0.461, 0.641, 0, 0, 0,  [SEP] 28, Sink, -1.834, 0.685, 2.777, 0, 90, 0,  [SEP] 29, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0,  [SEP] 30, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0,  [SEP] 31, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0,  [SEP] 32, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0,  [SEP] 34, Window, -1.039, 1.393, 0.018, 90, 0, 0,  [SEP] 35, Window, -1.986, 1.392, 0.706, 90, 90, 0,  [SEP] 36, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0,  [SEP] 37, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0,  [SEP] 38, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0,  [SEP] 39, Toilet, -1.567, -0.000, 1.815, 0, 180, 0,  [SEP] 40, Drawer, 0.204, 0.940, 3.807, 0, 180, 0,  [SEP] 41, Dresser, 0.204, 0.000, 3.832, 0, 180, 0,  [SEP] 42, Drawer, 0.204, 0.160, 3.807, 0, 180, 0,  [SEP] 43, Drawer, 0.204, 0.420, 3.807, 0, 180, 0,  [SEP] 44, Drawer, 0.204, 0.680, 3.807, 0, 180, 0,  [SEP] 45, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0,  [SEP] 46, Sink, -1.833, 0.685, 3.472, 0, 90, 0,  [SEP] 47, Faucet, -1.988, 0.947, 3.472, 0, 180, 0,  [SEP] 48, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0,  [SEP] 49, Faucet, -1.988, 0.947, 2.776, 0, 180, 0,  [SEP] 50, , , , , , , ,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn left towards the toilet. | STEP 2: Pick up the empty roll of toilet paper from the top of the toilet. | STEP 3: Walk slightly to the right and turn left towards the empty toilet paper holder. | STEP 4: Put the empty roll of toilet paper on the toilet paper holder. | END


Input: Put two containers on the counter by the sink.  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, 1.25, 0, 270, 0,  [SEP] 1, Pan, -2.724, 0.823, 0.203, 0, 270, 0, 48 [SEP] 2, Ladle, -0.147, 0.867, 0.352, 0, 0, 0, 48 [SEP] 3, ButterKnife, -1.374, 0.823, 0.539, 0, 0, 0, 48 [SEP] 4, ButterKnife, -2.491, 0.823, 0.426, 0, 0, 0, 48 [SEP] 5, Spoon, -1.374, 0.824, 0.518, 0, 0, 0, 48 [SEP] 6, Egg, -2.671, 0.849, 2.045, 0, 90, 0, 66 [SEP] 7, Cup, -2.686, 1.435, 0.195, 0, 45, 0, 54 [SEP] 8, Plate, -2.726, 0.829, 2.221, 0, 90, 0, 66 [SEP] 9, SoapBottle, -0.329, 0.054, 2.539, 0, 0, 0, 68 [SEP] 10, SoapBottle, -0.477, 0.821, 0.658, 0, 0, 0, 48 [SEP] 11, SaltShaker, -2.569, 0.116, 1.510, 0, 0, 0, 59 [SEP] 12, SaltShaker, -1.407, 0.120, 0.284, 0, 0, 0, 61 [SEP] 13, PepperShaker, -1.580, 0.120, 0.362, 0, 0, 0, 61 [SEP] 14, PepperShaker, -1.828, 0.120, 0.401, 0, 0, 0, 60 [SEP] 15, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 66 [SEP] 16, Mug, -2.671, 1.440, 1.957, 0, 90, 0, 66 [SEP] 17, Mug, -2.540, 1.844, 1.926, 0, 0, 0, 42 [SEP] 18, Apple, -2.810, 0.994, 1.231, 0, 90, 0, 67 [SEP] 19, Apple, -2.892, 1.518, 2.485, 0, 90, 0, 66 [SEP] 20, Apple, -0.295, 0.129, 2.674, 0, 90, 0, 68 [SEP] 21, Fork, -0.330, 0.697, 0.875, 0, 90, 0, 50 [SEP] 22, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 50 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.504, 0.821, 0.789, 0, 0, 0, 48 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -1.151, 0.873, 0.426, 0, 0, 0, 48 [SEP] 27, Potato, -2.671, 1.182, 1.957, 0, 90, 0, 66 [SEP] 28, SaltShaker, -1.407, 0.120, 0.362, 0, 0, 0, 61 [SEP] 29, Plate, -2.115, 0.130, 0.401, 0, 0, 0, 60 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -2.258, 0.849, 0.129, 0, 90, 0, 48 [SEP] 32, Egg, -2.810, 0.945, 1.337, 0, 90, 0, 67 [SEP] 33, Cup, -2.837, 0.825, 2.485, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 75 [SEP] 36, PepperShaker, -1.522, 0.120, 0.284, 0, 0, 0, 61 [SEP] 37, DishSponge, -2.504, 0.823, 0.871, 0, 0, 0, 48 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -2.211, 0.824, 0.528, 0, 0, 0, 48 [SEP] 40, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 76 [SEP] 41, Bowl, -2.540, 1.845, 2.368, 0, 0, 0, 58 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the sink. | STEP 2: Take a container out of the cabinet under the sink. | STEP 3: Turn and go to the counter by the sink. | STEP 4: Put the container on the counter. | STEP 5: Turn and go to the microwave. | STEP 6: Take a container out of the cabinet under the microwave. | STEP 7: Turn and go to the counter by the sink. | STEP 8: Put the container on the counter. | END


Input: Examine the computer by the light of the lamp in the corner.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.906, 4.0, 0, 270, 0,  [SEP] 1, KeyChain, -0.204, 0.184, 2.711, 0, 270, 0, 38 [SEP] 2, KeyChain, -4.479, 0.512, 3.388, 0, 0, 0, 31 [SEP] 3, RemoteControl, -0.178, 0.766, 2.828, 0, 270, 0, 40 [SEP] 4, RemoteControl, -0.688, 0.378, 0.712, 0, 0, 0, 34 [SEP] 5, Box, -4.661, 0.521, 2.146, 0, 270, 0, 42 [SEP] 6, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 43 [SEP] 7, Box, -2.111, 0.293, 2.930, 0, 0, 0, 33 [SEP] 8, CreditCard, -0.403, 0.765, 3.128, 0, 270, 0, 40 [SEP] 9, TissueBox, -2.121, 0.197, 2.413, 0, 0, 0, 33 [SEP] 10, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 40 [SEP] 11, Vase, -2.880, 1.518, 0.144, 0, 0, 0,  [SEP] 12, RemoteControl, -0.403, 0.763, 2.828, 0, 270, 0, 40 [SEP] 13, Pillow, -4.503, 0.484, 1.653, 0, 270, 0, 42 [SEP] 14, KeyChain, -4.486, 0.424, 3.281, 0, 90, 0, 30 [SEP] 15, Watch, -1.816, 0.198, 2.757, 0, 0, 0, 33 [SEP] 16, Newspaper, -1.892, 0.200, 2.413, 0, 0, 0, 33 [SEP] 17, Statue, -0.439, 0.173, 2.652, 0, 270, 0, 38 [SEP] 18, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 19, Curtains, -1.030, 2.113, 0.0, 0, 0, 0,  [SEP] 20, Curtains, -3.927, 2.113, 0.0, 0, 0, 0,  [SEP] 21, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0,  [SEP] 22, Television, 0.0, 1.376, 2.661, 0, 270, 0,  [SEP] 23, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0,  [SEP] 24, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0,  [SEP] 25, Painting, -2.507, 1.817, 0.108, 90, 0, 0,  [SEP] 26, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0,  [SEP] 27, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0,  [SEP] 28, Window, -1.011, 1.391, 0.029, 90, 180, 0,  [SEP] 29, Window, -3.900, 1.391, 0.029, 90, 180, 0,  [SEP] 30, Drawer, -4.433, 0.473, 3.344, 0, 90, 0,  [SEP] 31, SideTable, -4.612, 0.009, 3.346, 0, 90, 0,  [SEP] 32, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0,  [SEP] 33, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0,  [SEP] 34, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0,  [SEP] 35, Shelf, -0.340, 0.480, 3.046, 0, 270, 0,  [SEP] 36, Shelf, -0.340, 0.649, 3.046, 0, 270, 0,  [SEP] 37, Shelf, -0.340, 0.603, 2.312, 0, 270, 0,  [SEP] 38, Shelf, -0.340, 0.448, 2.678, 0, 270, 0,  [SEP] 39, Shelf, -0.340, 0.308, 2.312, 0, 270, 0,  [SEP] 40, TVStand, -0.335, 0.005, 2.679, 0, 270, 0,  [SEP] 41, Shelf, -0.340, 0.279, 3.046, 0, 270, 0,  [SEP] 42, Sofa, -4.566, 0.009, 1.880, 0, 90, 0,  [SEP] 43, Sofa, -2.124, 0.009, 4.558, 0, 180, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Move to the long white table to the left.  | STEP 2: Pick up the the computer on the table.  | STEP 3: Bring the computer to the lamp in the corner.  | STEP 4: Turn on the lamp in the corner.  | END


Input: Look at the laptop under light of the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.906, 4.0, 0, 270, 0,  [SEP] 1, KeyChain, -0.204, 0.184, 2.711, 0, 270, 0, 38 [SEP] 2, KeyChain, -4.479, 0.512, 3.388, 0, 0, 0, 31 [SEP] 3, RemoteControl, -0.178, 0.766, 2.828, 0, 270, 0, 40 [SEP] 4, RemoteControl, -0.688, 0.378, 0.712, 0, 0, 0, 34 [SEP] 5, Box, -4.661, 0.521, 2.146, 0, 270, 0, 42 [SEP] 6, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 43 [SEP] 7, Box, -2.111, 0.293, 2.930, 0, 0, 0, 33 [SEP] 8, CreditCard, -0.403, 0.765, 3.128, 0, 270, 0, 40 [SEP] 9, TissueBox, -2.121, 0.197, 2.413, 0, 0, 0, 33 [SEP] 10, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 40 [SEP] 11, Vase, -2.880, 1.518, 0.144, 0, 0, 0,  [SEP] 12, RemoteControl, -0.403, 0.763, 2.828, 0, 270, 0, 40 [SEP] 13, Pillow, -4.503, 0.484, 1.653, 0, 270, 0, 42 [SEP] 14, KeyChain, -4.486, 0.424, 3.281, 0, 90, 0, 30 [SEP] 15, Watch, -1.816, 0.198, 2.757, 0, 0, 0, 33 [SEP] 16, Newspaper, -1.892, 0.200, 2.413, 0, 0, 0, 33 [SEP] 17, Statue, -0.439, 0.173, 2.652, 0, 270, 0, 38 [SEP] 18, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 19, Curtains, -1.030, 2.113, 0.0, 0, 0, 0,  [SEP] 20, Curtains, -3.927, 2.113, 0.0, 0, 0, 0,  [SEP] 21, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0,  [SEP] 22, Television, 0.0, 1.376, 2.661, 0, 270, 0,  [SEP] 23, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0,  [SEP] 24, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0,  [SEP] 25, Painting, -2.507, 1.817, 0.108, 90, 0, 0,  [SEP] 26, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0,  [SEP] 27, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0,  [SEP] 28, Window, -1.011, 1.391, 0.029, 90, 180, 0,  [SEP] 29, Window, -3.900, 1.391, 0.029, 90, 180, 0,  [SEP] 30, Drawer, -4.433, 0.473, 3.344, 0, 90, 0,  [SEP] 31, SideTable, -4.612, 0.009, 3.346, 0, 90, 0,  [SEP] 32, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0,  [SEP] 33, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0,  [SEP] 34, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0,  [SEP] 35, Shelf, -0.340, 0.480, 3.046, 0, 270, 0,  [SEP] 36, Shelf, -0.340, 0.649, 3.046, 0, 270, 0,  [SEP] 37, Shelf, -0.340, 0.603, 2.312, 0, 270, 0,  [SEP] 38, Shelf, -0.340, 0.448, 2.678, 0, 270, 0,  [SEP] 39, Shelf, -0.340, 0.308, 2.312, 0, 270, 0,  [SEP] 40, TVStand, -0.335, 0.005, 2.679, 0, 270, 0,  [SEP] 41, Shelf, -0.340, 0.279, 3.046, 0, 270, 0,  [SEP] 42, Sofa, -4.566, 0.009, 1.880, 0, 90, 0,  [SEP] 43, Sofa, -2.124, 0.009, 4.558, 0, 180, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Turn and walk up to the front of the white shelf on your left | STEP 2: Pick up the laptop from the right side of the shelf | STEP 3: Turn around and walk across the living room to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END


Input: Put a cold tomato 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, -1.25, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Potato, -0.692, 0.500, -1.605, 0, 0, 0, 71 [SEP] 2, ButterKnife, 1.607, 0.910, 0.518, 0, 90, 0, 44 [SEP] 3, ButterKnife, 1.451, 0.910, 0.415, 0, 90, 0, 44 [SEP] 4, DishSponge, 1.917, 0.910, 0.570, 0, 90, 0, 44 [SEP] 5, DishSponge, 1.839, 0.910, 0.415, 0, 90, 0, 44 [SEP] 6, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 45 [SEP] 7, Pot, 1.807, 0.909, -0.320, 0, 180, 0, 46 [SEP] 8, Fork, 1.607, 0.911, 0.622, 0, 0, 0, 44 [SEP] 9, Egg, 1.800, 0.105, 1.540, 0, 270, 0, 62 [SEP] 10, Egg, -0.838, 1.424, -1.594, 0, 0, 0, 71 [SEP] 11, Cup, -0.644, 0.458, -1.476, 0, 0, 0, 71 [SEP] 12, Cup, -0.838, 0.748, -1.524, 0, 0, 0, 71 [SEP] 13, SoapBottle, 1.796, 0.909, -1.802, 0, 90, 0, 48 [SEP] 14, SoapBottle, 1.769, 2.135, 0.767, 0, 0, 0, 52 [SEP] 15, SaltShaker, 1.757, 0.905, 1.269, 0, 90, 0, 44 [SEP] 16, SaltShaker, 1.762, 0.905, 0.622, 0, 90, 0, 44 [SEP] 17, PepperShaker, 1.734, 1.640, -1.683, 0, 0, 0, 58 [SEP] 18, Lettuce, 0.476, 1.010, 1.180, 0, 90, 0, 44 [SEP] 19, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 70 [SEP] 20, Mug, 1.586, 0.906, -1.460, 0, 90, 0, 48 [SEP] 21, Apple, -0.644, 0.807, -1.524, 0, 0, 0, 71 [SEP] 22, Plate, -0.790, 1.684, -1.594, 0, 0, 0, 71 [SEP] 23, SoapBottle, 1.796, 0.909, -1.545, 0, 90, 0, 48 [SEP] 24, Cup, -0.374, 1.062, -1.382, 0, 0, 0, 71 [SEP] 25, Egg, 1.170, 0.798, -1.433, 0, 0, 0, 63 [SEP] 26, Fork, 1.757, 0.911, 1.092, 0, 90, 0, 44 [SEP] 27, Ladle, 1.501, 0.954, 0.827, 0, 90, 0, 44 [SEP] 28, Apple, 1.739, 0.127, 1.779, 0, 270, 0, 62 [SEP] 29, SaltShaker, 1.762, 0.905, 0.363, 0, 270, 0, 44 [SEP] 30, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 44 [SEP] 31, Tomato, 1.757, 0.974, 0.827, 0, 90, 0, 44 [SEP] 32, Spatula, 0.989, 0.925, 0.827, 0, 90, 0, 44 [SEP] 33, Potato, 1.501, 0.950, 1.092, 0, 90, 0, 44 [SEP] 34, Knife, 1.239, 0.793, -1.599, 0, 0, 0, 63 [SEP] 35, ButterKnife, 1.245, 0.910, 0.915, 0, 90, 0, 44 [SEP] 36, Bread, 0.220, 0.987, 0.739, 0, 90, 0, 44 [SEP] 37, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.590, 44 [SEP] 38, PepperShaker, 1.805, 1.630, -1.338, 0, 0, 0, 57 [SEP] 39, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 50 [SEP] 40, DishSponge, 0.988, 0.910, 1.004, 0, 90, 0, 44 [SEP] 41, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 63 [SEP] 42, Bowl, 1.805, 1.631, -0.755, 0, 0, 0, 56 [SEP] 43, Mug, 1.844, 2.131, 1.121, 0, 0, 0, 51 [SEP] 44, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 45, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 46, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 47, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 48, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 49, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 50, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 51, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 52, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 53, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 54, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 55, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 56, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 57, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 58, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 59, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 60, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 61, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 62, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 63, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 64, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 65, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 66, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 67, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 68, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 69, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 70, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 71, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 72, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 73, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 74, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn around and move forward, then turn right to go towards the stove. | STEP 2: Pick up the tomato on the counter, to the left of the stove. | STEP 3: Turn around and go forward, then turn left to go to the fridge. | STEP 4: Open the fridge, put the tomato inside to chill it, then take the tomato out. | STEP 5: Turn left and go towards the microwave, then turn right to face the sink. | STEP 6: Put the tomato in the sink. | END


Input: Place a clean mug in the coffee maker. 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, 90, 0,  [SEP] 1, Potato, -0.159, 0.794, 6.169, 0, 0, 0, 87 [SEP] 2, Potato, 1.332, 0.925, 2.679, 0, 180, 0, 74 [SEP] 3, DishSponge, 0.544, 0.992, 0.486, 0, 0, 0, 51 [SEP] 4, DishSponge, 1.540, 2.206, 4.262, 0, 0, 0, 42 [SEP] 5, Spoon, 0.150, 0.761, 6.604, 0, 270, 0, 87 [SEP] 6, Fork, -0.377, 0.760, 6.261, 0, 225, 0, 87 [SEP] 7, Cup, 1.500, 1.573, 1.410, 0, 0, 0, 51 [SEP] 8, Cup, -0.611, 0.988, 0.670, 0, 0, 0, 51 [SEP] 9, Plate, 0.055, 0.144, 0.277, 0, 0, 0, 60 [SEP] 10, Knife, -0.621, 0.789, 6.541, 0, 270, 0, 87 [SEP] 11, Knife, -0.422, 0.789, 6.653, 0, 135, 0, 87 [SEP] 12, SoapBottle, 1.450, 2.207, 4.043, 0, 0, 0, 39 [SEP] 13, SoapBottle, 0.305, 0.760, 6.541, 0, 270, 0, 87 [SEP] 14, PepperShaker, -0.221, 0.755, 6.941, 0, 0, 0, 87 [SEP] 15, PepperShaker, -0.620, 0.755, 6.674, 0, 135, 0, 87 [SEP] 16, Bowl, 2.009, 1.514, 5.626, 0, 270, 0, 73 [SEP] 17, Bread, -0.687, 1.062, 0.212, 0, 0, 0, 51 [SEP] 18, Egg, 0.191, 0.810, 6.393, 0, 135, 0, 87 [SEP] 19, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 87 [SEP] 20, Fork, 1.348, 0.772, 3.291, 0, 0, 0, 44 [SEP] 21, Apple, 1.442, 0.965, 2.085, 0, 90, 0, 74 [SEP] 22, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 23, Plate, 1.406, 0.141, 3.439, 0, 0, 0, 62 [SEP] 24, SaltShaker, 1.490, 0.135, 1.790, 0, 0, 0, 40 [SEP] 25, Lettuce, 1.314, 1.081, 0.213, 0, 0, 0, 51 [SEP] 26, SoapBottle, 1.455, 1.576, 4.451, 0, 0, 0, 55 [SEP] 27, Spatula, 0.923, 1.007, 0.303, 0, 0, 0, 51 [SEP] 28, PaperTowelRoll, -0.443, 0.864, 6.851, 0, 135, 0, 87 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.442, 0.925, 2.474, 0, 90, 0, 74 [SEP] 31, ButterKnife, -0.003, 0.760, 6.354, 0, 0, 0, 87 [SEP] 32, PepperShaker, 1.657, 0.136, 4.686, 0, 0, 0, 53 [SEP] 33, Pan, 1.317, 0.988, 4.294, 0, 0, 0, 46 [SEP] 34, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 73 [SEP] 35, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 52 [SEP] 36, Cup, 1.540, 2.203, 4.131, 0, 0, 0, 39 [SEP] 37, Spoon, 0.871, 0.773, 0.395, 0, 0, 0, 43 [SEP] 38, Mug, 0.064, 1.092, 0.278, 0, 0, 0, 67 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the microwave on the left. | STEP 2: Grab the dirty mug from the microwave. | STEP 3: Turn around and walk forward then walk right to face the sink. | STEP 4: Rinse off the mug in the sink. | STEP 5: Move right and face the coffee maker on the right. | STEP 6: Place the mug in the coffee maker. | END


Input: Put a rinsed cloth on the counter next to 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, 0.901, 2.5, 0, 270, 0,  [SEP] 1, SoapBar, 0.532, 1.044, 1.533, 0, 270, 0, 38 [SEP] 2, SoapBar, 0.323, 0.819, 3.239, 0, 0, 0, 26 [SEP] 3, Candle, 0.390, 0.213, 2.527, 0, 0, 0, 27 [SEP] 4, Candle, 0.502, 0.212, 2.648, 0, 0, 0, 27 [SEP] 5, Towel, 0.609, 1.376, 0.583, 0, 270, 0, 30 [SEP] 6, ToiletPaper, 0.308, 0.615, 1.912, 0, 180, 90, 33 [SEP] 7, SoapBottle, 0.593, 1.052, 1.336, 0, 270, 0, 38 [SEP] 8, HandTowel, 0.634, 1.512, 1.892, 0, 90, 0, 36 [SEP] 9, Towel, -0.442, 1.375, 1.282, 0, 0, 0, 31 [SEP] 10, SoapBar, 0.323, 0.819, 3.129, 0, 0, 0, 26 [SEP] 11, ToiletPaper, 0.502, 0.508, 3.312, 0, 0, 0, 18 [SEP] 12, ToiletPaper, 0.334, 0.509, 3.271, 0, 0, 0, 18 [SEP] 13, Candle, 0.532, 1.046, 1.664, 0, 270, 0, 38 [SEP] 14, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0,  [SEP] 15, Cloth, 0.588, 0.824, 3.349, 0, 0, 0, 26 [SEP] 16, Plunger, 0.594, -0.000, 1.898, 0, 0, 0,  [SEP] 17, SprayBottle, 0.655, 1.046, 1.533, 0, 180, 0, 38 [SEP] 18, Drawer, 0.443, 0.624, 3.310, 0, 0, 0,  [SEP] 19, Drawer, 0.443, 0.323, 2.194, 0, 0, 0,  [SEP] 20, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0,  [SEP] 21, Sink, 0.495, 0.661, 2.756, 0, 270, 0,  [SEP] 22, Drawer, 0.443, 0.624, 2.193, 0, 0, 0,  [SEP] 23, Faucet, 0.717, 0.982, 2.756, 0, 0, 0,  [SEP] 24, Mirror, 0.629, 1.532, 2.697, 0, 0, 0,  [SEP] 25, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0,  [SEP] 26, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0,  [SEP] 27, Drawer, 0.443, 0.323, 2.566, 0, 0, 0,  [SEP] 28, Drawer, 0.443, 0.323, 2.937, 0, 0, 0,  [SEP] 29, Drawer, 0.443, 0.323, 3.310, 0, 0, 0,  [SEP] 30, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0,  [SEP] 31, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0,  [SEP] 32, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0,  [SEP] 34, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0,  [SEP] 35, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0,  [SEP] 36, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0,  [SEP] 37, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0,  [SEP] 38, Toilet, 0.270, 0.000, 1.463, 0, 0, 0,  [SEP] 39, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn right and go towards the wall then turn right and go to the sink counter | STEP 2: Pick up the cloth from the sink counter | STEP 3: Turn right and then turn left to face the sink | STEP 4: Put the cloth in the sink and turn the water on, then turn the water off and take the cloth out of the sink | STEP 5: Turn left then turn right to face the sink | STEP 6: Put the cloth on the counter next to the sink | END


Input: Put a heated mug on the coffee machine.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, 0.25, 0, 270, 0,  [SEP] 1, Potato, 0.636, 1.362, -1.312, 0, 0, 0, 52 [SEP] 2, DishSponge, 0.940, 0.953, 0.711, 0, 0, 0, 82 [SEP] 3, DishSponge, -1.920, 1.322, 1.094, 0, 0, 0, 52 [SEP] 4, WineBottle, 0.944, 1.208, 1.238, 0, 0, 0, 77 [SEP] 5, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 47 [SEP] 6, Fork, -2.049, 1.323, 0.445, 0, 0, 0, 52 [SEP] 7, Spoon, -1.915, 1.336, -0.911, 0, 0, 0, 59 [SEP] 8, Spatula, -1.237, 1.337, -3.092, 0, 0, 0, 52 [SEP] 9, Egg, 0.957, 1.986, 1.494, 0, 270, 0, 65 [SEP] 10, Plate, -1.682, 0.344, 1.317, 0, 0, 0, 53 [SEP] 11, Plate, -1.817, 0.344, 0.613, 0, 0, 0, 50 [SEP] 12, Tomato, -1.586, 0.314, 2.193, 0, 270, 0, 67 [SEP] 13, Bowl, -1.614, 0.342, 0.211, 0, 0, 0, 50 [SEP] 14, SaltShaker, -1.602, 0.338, -1.763, 0, 0, 0, 48 [SEP] 15, SaltShaker, 0.634, 1.318, -2.678, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.522, 1.318, -2.760, 0, 0, 0, 52 [SEP] 17, Bread, -1.790, 1.397, 2.069, 0, 0, 0, 52 [SEP] 18, Bread, -2.049, 1.397, -2.721, 0, 0, 0, 52 [SEP] 19, Lettuce, -1.530, 1.399, 1.094, 0, 0, 0, 52 [SEP] 20, Lettuce, 0.896, 1.399, -2.794, 0, 0, 0, 52 [SEP] 21, Mug, 0.928, 2.023, 2.229, 0, 270, 0, 65 [SEP] 22, Mug, -1.308, 1.318, -2.870, 0, 0, 0, 52 [SEP] 23, Mug, 0.938, 1.752, 2.112, 0, 270, 0, 65 [SEP] 24, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 52 [SEP] 25, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 49 [SEP] 26, Knife, -1.915, 1.365, -1.186, 0, 0, 0, 59 [SEP] 27, Bowl, 0.420, 1.321, -3.232, 0, 0, 0, 52 [SEP] 28, Potato, 1.095, 1.714, 1.604, 0, 270, 0, 65 [SEP] 29, SoapBottle, -1.952, 0.344, 0.311, 0, 0, 0, 50 [SEP] 30, Fork, 0.983, 0.460, 1.054, 0, 270, 0, 79 [SEP] 31, Cup, -1.682, 0.341, 1.627, 0, 0, 0, 53 [SEP] 32, Kettle, -0.125, 1.332, -2.973, 0, 0, 0, 60 [SEP] 33, Egg, 1.027, 1.248, 1.238, 0, 0, 0, 77 [SEP] 34, Pan, -1.881, 0.327, -2.035, 0, 0, 0, 48 [SEP] 35, SaltShaker, -1.401, 1.318, -2.461, 0, 0, 0, 52 [SEP] 36, WineBottle, -1.094, 1.323, -3.425, 0, 0, 0, 52 [SEP] 37, Lettuce, -1.790, 1.399, -2.201, 0, 0, 0, 52 [SEP] 38, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -1.610, 0.384, 2.110, 0, 270, 0, 67 [SEP] 40, Tomato, 0.920, 1.558, 1.601, 0, 270, 0, 65 [SEP] 41, Plate, 0.824, 0.345, -2.267, 0, 180, 0, 51 [SEP] 42, PepperShaker, 0.778, 1.202, 1.254, 0, 0, 0, 77 [SEP] 43, DishSponge, -1.530, 1.322, 1.419, 0, 0, 0, 52 [SEP] 44, Spoon, 1.065, 0.954, 1.054, 0, 270, 0, 75 [SEP] 45, Apple, -1.237, 1.371, -3.425, 0, 0, 0, 52 [SEP] 46, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 77 [SEP] 47, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 48, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 49, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 50, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 51, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 52, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 53, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 54, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 55, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 56, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 57, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 58, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 59, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 60, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 61, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 62, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 63, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 64, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 65, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 66, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 67, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 68, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 69, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 70, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 71, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 72, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 73, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 74, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 75, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 76, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 77, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 79, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 80, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 81, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 82, , , , , , , ,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Move to the microwave. | STEP 2: Pick up the mug from the microwave table. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the coffee machine.  | STEP 6: Put the heated mug on the coffee machine.  | END


Input: Put a warm mug at a coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, 0.25, 0, 270, 0,  [SEP] 1, Potato, 0.636, 1.362, -1.312, 0, 0, 0, 52 [SEP] 2, DishSponge, 0.940, 0.953, 0.711, 0, 0, 0, 82 [SEP] 3, DishSponge, -1.920, 1.322, 1.094, 0, 0, 0, 52 [SEP] 4, WineBottle, 0.944, 1.208, 1.238, 0, 0, 0, 77 [SEP] 5, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 47 [SEP] 6, Fork, -2.049, 1.323, 0.445, 0, 0, 0, 52 [SEP] 7, Spoon, -1.915, 1.336, -0.911, 0, 0, 0, 59 [SEP] 8, Spatula, -1.237, 1.337, -3.092, 0, 0, 0, 52 [SEP] 9, Egg, 0.957, 1.986, 1.494, 0, 270, 0, 65 [SEP] 10, Plate, -1.682, 0.344, 1.317, 0, 0, 0, 53 [SEP] 11, Plate, -1.817, 0.344, 0.613, 0, 0, 0, 50 [SEP] 12, Tomato, -1.586, 0.314, 2.193, 0, 270, 0, 67 [SEP] 13, Bowl, -1.614, 0.342, 0.211, 0, 0, 0, 50 [SEP] 14, SaltShaker, -1.602, 0.338, -1.763, 0, 0, 0, 48 [SEP] 15, SaltShaker, 0.634, 1.318, -2.678, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.522, 1.318, -2.760, 0, 0, 0, 52 [SEP] 17, Bread, -1.790, 1.397, 2.069, 0, 0, 0, 52 [SEP] 18, Bread, -2.049, 1.397, -2.721, 0, 0, 0, 52 [SEP] 19, Lettuce, -1.530, 1.399, 1.094, 0, 0, 0, 52 [SEP] 20, Lettuce, 0.896, 1.399, -2.794, 0, 0, 0, 52 [SEP] 21, Mug, 0.928, 2.023, 2.229, 0, 270, 0, 65 [SEP] 22, Mug, -1.308, 1.318, -2.870, 0, 0, 0, 52 [SEP] 23, Mug, 0.938, 1.752, 2.112, 0, 270, 0, 65 [SEP] 24, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 52 [SEP] 25, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 49 [SEP] 26, Knife, -1.915, 1.365, -1.186, 0, 0, 0, 59 [SEP] 27, Bowl, 0.420, 1.321, -3.232, 0, 0, 0, 52 [SEP] 28, Potato, 1.095, 1.714, 1.604, 0, 270, 0, 65 [SEP] 29, SoapBottle, -1.952, 0.344, 0.311, 0, 0, 0, 50 [SEP] 30, Fork, 0.983, 0.460, 1.054, 0, 270, 0, 79 [SEP] 31, Cup, -1.682, 0.341, 1.627, 0, 0, 0, 53 [SEP] 32, Kettle, -0.125, 1.332, -2.973, 0, 0, 0, 60 [SEP] 33, Egg, 1.027, 1.248, 1.238, 0, 0, 0, 77 [SEP] 34, Pan, -1.881, 0.327, -2.035, 0, 0, 0, 48 [SEP] 35, SaltShaker, -1.401, 1.318, -2.461, 0, 0, 0, 52 [SEP] 36, WineBottle, -1.094, 1.323, -3.425, 0, 0, 0, 52 [SEP] 37, Lettuce, -1.790, 1.399, -2.201, 0, 0, 0, 52 [SEP] 38, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -1.610, 0.384, 2.110, 0, 270, 0, 67 [SEP] 40, Tomato, 0.920, 1.558, 1.601, 0, 270, 0, 65 [SEP] 41, Plate, 0.824, 0.345, -2.267, 0, 180, 0, 51 [SEP] 42, PepperShaker, 0.778, 1.202, 1.254, 0, 0, 0, 77 [SEP] 43, DishSponge, -1.530, 1.322, 1.419, 0, 0, 0, 52 [SEP] 44, Spoon, 1.065, 0.954, 1.054, 0, 270, 0, 75 [SEP] 45, Apple, -1.237, 1.371, -3.425, 0, 0, 0, 52 [SEP] 46, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 77 [SEP] 47, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 48, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 49, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 50, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 51, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 52, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 53, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 54, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 55, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 56, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 57, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 58, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 59, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 60, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 61, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 62, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 63, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 64, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 65, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 66, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 67, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 68, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 69, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 70, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 71, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 72, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 73, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 74, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 75, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 76, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 77, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 79, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 80, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 81, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 82, , , , , , , ,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Turn right, then turn right again to go toward the microwave.  | STEP 2: Pick up the mug from behind the wine bottle.  | STEP 3: Turn right, then turn left to face the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Turn around, then turn left, then go straight and turn left at the coffee maker. | STEP 6: Put the mug at the coffee maker, on the table. | END


Input: Put two soap bars 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, -0.75, 0.900, -2.75, 0, 90, 0,  [SEP] 1, Cloth, -1.862, 0.042, -1.822, 0, 270, 0, 30 [SEP] 2, Cloth, -1.862, 0.042, -2.108, 0, 270, 0, 30 [SEP] 3, TissueBox, -1.353, 0.818, -0.137, 0, 0, 0, 32 [SEP] 4, TissueBox, 0.754, 0.818, -0.623, 0, 90, 0, 33 [SEP] 5, SoapBar, -2.150, 0.832, -0.605, 0, 0, 0, 29 [SEP] 6, SoapBar, -2.150, 0.832, -0.686, 0, 0, 0, 29 [SEP] 7, SoapBottle, 0.754, 0.821, -0.825, 0, 90, 0, 33 [SEP] 8, SoapBottle, -1.656, 0.821, -0.108, 0, 0, 0, 32 [SEP] 9, Cloth, 0.833, 0.809, -1.546, 0, 0, 0, 34 [SEP] 10, Candle, 0.839, 0.817, -0.320, 0, 90, 0, 33 [SEP] 11, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 25 [SEP] 12, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 23 [SEP] 13, SoapBar, -0.070, 0.952, -3.901, 0, 90, 0, 28 [SEP] 14, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 31 [SEP] 15, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 16, SprayBottle, 0.739, 0.815, -1.874, 0, 90, 0, 34 [SEP] 17, TissueBox, 0.116, 0.953, -3.874, 0, 90, 0, 28 [SEP] 18, ToiletPaper, -0.444, 0.039, -3.793, 0, 0, 0, 24 [SEP] 19, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 20, Sink, -2.171, 0.294, -0.660, 0, 90, 0,  [SEP] 21, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0,  [SEP] 22, Mirror, -2.503, 1.423, -0.703, 0, 0, 0,  [SEP] 23, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0,  [SEP] 24, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0,  [SEP] 25, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0,  [SEP] 26, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0,  [SEP] 27, Window, -0.540, 1.625, -3.996, 90, 0, 0,  [SEP] 28, Toilet, 0.004, -0.000, -3.436, 0, 0, 0,  [SEP] 29, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0,  [SEP] 30, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0,  [SEP] 31, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0,  [SEP] 32, SideTable, -1.526, 0.001, -0.172, 0, 0, 0,  [SEP] 33, SideTable, 0.780, 0.001, -0.667, 0, 90, 0,  [SEP] 34, SideTable, 0.793, 0.001, -1.817, 0, 90, 0,  [SEP] 35, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987,  [SEP] 36, Faucet, -2.431, 0.982, -0.660, 0, 90, 0,  [SEP] 37, Faucet, -1.909, 0.666, -3.855, 0, 180, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn to your left, move across the room, turn left, and go to the sink | STEP 2: Pick up a soap bar from the sink | STEP 3: Turn around and go to the bathtub | STEP 4: Put the soap bar in the bathtub | STEP 5: Go back to the sink | STEP 6: Pick up the second soap bar from the sink | STEP 7: Go back to the tub | STEP 8: Put the second soap bar in the bathtub | END


Input: Put a big bottle from the cabinet on top of the lettuce and a bottle on top of the blue bottle to the trash can.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 180, 0,  [SEP] 1, CreditCard, 1.789, 0.550, -2.718, 0, 180, 0, 92 [SEP] 2, CreditCard, 1.582, 0.550, -2.562, 0, 180, 0, 92 [SEP] 3, Plate, -2.080, 0.537, 1.003, 0, 90, 0, 95 [SEP] 4, Plate, -2.037, 0.795, 1.085, 0, 90, 0, 95 [SEP] 5, Cup, -2.081, 1.500, 1.008, 0, 90, 0, 95 [SEP] 6, Tomato, -2.121, 0.579, 0.837, 0, 90, 0, 95 [SEP] 7, Tomato, -2.038, 0.579, 1.251, 0, 90, 0, 95 [SEP] 8, SoapBottle, 0.505, 1.660, -2.667, 0, 0, 0, 86 [SEP] 9, SoapBottle, -1.622, 1.659, -2.677, 0, 0, 0, 78 [SEP] 10, SaltShaker, 1.789, 0.877, -2.563, 0, 180, 0, 89 [SEP] 11, Bread, 0.217, 1.184, -0.759, 0, 0, 0, 62 [SEP] 12, Lettuce, 0.453, 0.990, -2.330, 0, 0, 0, 64 [SEP] 13, Apple, -0.225, 1.841, -2.610, 0, 0, 0, 88 [SEP] 14, Knife, -1.597, 0.936, -1.682, 0, 90, 0, 97 [SEP] 15, Knife, -0.059, 1.136, -0.001, 0, 0, 0, 62 [SEP] 16, Fork, 1.123, 0.316, -2.431, 0, 90, 0, 66 [SEP] 17, Fork, 1.098, 0.911, -2.330, 0, 90, 0, 64 [SEP] 18, Spoon, 0.969, 0.911, -2.407, 0, 0, 0, 64 [SEP] 19, Spoon, -1.963, 0.770, -1.501, 0, 0, 0, 97 [SEP] 20, Mug, -0.070, 1.785, -2.514, 0, 0, 0, 88 [SEP] 21, Spatula, 1.007, 0.661, -2.459, 0, 90, 0, 67 [SEP] 22, ButterKnife, 0.840, 0.910, -2.637, 0, 0, 0, 64 [SEP] 23, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 60 [SEP] 24, Glassbottle, -2.018, 0.770, -1.328, 0, 90, 0, 97 [SEP] 25, WineBottle, -1.346, 1.659, -2.677, 0, 0, 0, 78 [SEP] 26, Bowl, 1.478, 0.549, -2.562, 0, 180, 0, 92 [SEP] 27, Book, -0.059, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, -1.908, 0.770, -1.242, 0, 90, 0, 97 [SEP] 29, Knife, -0.059, 1.136, -0.253, 0, 0, 0, 62 [SEP] 30, Bread, -2.019, 0.983, -0.513, 0, 0, 0, 87 [SEP] 31, Fork, 0.893, 0.315, -2.334, 0, 0, 0, 66 [SEP] 32, Potato, 1.098, 0.941, -2.637, 0, 0, 0, 64 [SEP] 33, SoapBottle, -1.438, 0.912, -2.637, 0, 0, 0, 87 [SEP] 34, Kettle, -1.814, 0.130, 0.203, 0, 90, 0, 68 [SEP] 35, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 65 [SEP] 36, Plate, -1.805, 0.133, -1.506, 0, 90, 0, 63 [SEP] 37, Tomato, -1.693, 0.950, -0.513, 0, 0, 0, 87 [SEP] 38, Vase, -1.143, 0.913, -2.637, 0, 0, 0, 87 [SEP] 39, Egg, -0.277, 1.825, -2.449, 0, 0, 0, 88 [SEP] 40, CreditCard, 0.453, 0.907, -2.330, 0, 0, 0, 64 [SEP] 41, Statue, 0.079, 1.110, 0.504, 0, 0, 0, 62 [SEP] 42, WineBottle, 0.560, 1.660, -2.560, 0, 0, 0, 86 [SEP] 43, Pot, -2.070, 1.310, 1.176, 0, 90, 0, 95 [SEP] 44, Spatula, -1.852, 0.784, -1.501, 0, 90, 0, 97 [SEP] 45, PaperTowelRoll, 0.969, 1.014, -2.253, 0, 0, 0, 64 [SEP] 46, Cup, -1.742, 0.767, -1.587, 0, 90, 0, 97 [SEP] 47, Vase, 0.453, 0.908, -2.637, 0, 0, 0, 64 [SEP] 48, Bowl, -0.335, 1.108, 0.757, 0, 0, 0, 62 [SEP] 49, SaltShaker, 0.835, 0.138, -2.382, 0, 0, 0, 82 [SEP] 50, PepperShaker, -1.608, 0.474, -0.100, 0, 90, 0, 77 [SEP] 51, Lettuce, -0.848, 0.991, -2.560, 0, 0, 0, 87 [SEP] 52, ButterKnife, -1.856, 0.911, -0.698, 0, 0, 0, 87 [SEP] 53, Apple, 0.355, 1.162, 0.251, 0, 0, 0, 62 [SEP] 54, DishSponge, 0.355, 1.111, -0.759, 0, 0, 0, 62 [SEP] 55, Spoon, -0.335, 1.112, 0.504, 0, 0, 0, 62 [SEP] 56, Mug, -1.797, 0.764, -1.760, 0, 90, 0, 97 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Go toward the left to the lettuce next to the stove  | STEP 2: Open the cabinet on top of the lettuce and pick up the big bottle.  | STEP 3: Go to the right, turn right at the end of the path, go straight and turn to the left toward the trash can.  | STEP 4: Put the bottle inside the trash can.  | STEP 5: Turn around, go to the right and walk straight to the white cabinet with of a little blue bottle on it.  | STEP 6: Open the cabinet on top of the blue bottle and grab the big bottle.  | STEP 7: Turn around and walk straight back to the trash can.  | STEP 8: Put the bottle inside the trash can.  | END


Input: Look at a vase in the lamp light. 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, 180, 0,  [SEP] 1, Vase, -2.730, 0.787, -3.614, 0, 270, 0, 34 [SEP] 2, Vase, 1.846, 0.881, 1.409, 0, 0, 0, 41 [SEP] 3, KeyChain, 1.807, 0.878, 1.093, 0, 0, 0, 41 [SEP] 4, CreditCard, -0.575, 0.425, 1.240, 0, 90, 0, 36 [SEP] 5, CreditCard, -0.898, 0.425, 1.115, 0, 90, 0, 36 [SEP] 6, RemoteControl, -2.175, 0.761, 0.614, 0, 90, 0, 28 [SEP] 7, Box, -0.564, 0.122, -2.747, 0, 0, 0, 34 [SEP] 8, KeyChain, 1.807, 0.877, 0.882, 0, 0, 0, 41 [SEP] 9, Laptop, 0.857, 0.466, -0.258, 0, 225, 0, 35 [SEP] 10, Statue, -2.853, 0.789, -4.279, 0, 270, 0, 34 [SEP] 11, Pillow, 0.495, 0.603, -0.734, 0, 225, 0, 35 [SEP] 12, RemoteControl, -0.683, 0.426, 1.115, 0, 90, 0, 36 [SEP] 13, Statue, -2.977, 0.790, -4.057, 0, 270, 0, 34 [SEP] 14, CreditCard, 1.755, 0.765, 0.806, 0, 0, 0, 42 [SEP] 15, Vase, -3.471, 0.787, -3.835, 0, 270, 0, 34 [SEP] 16, Statue, -3.101, 0.796, -3.835, 0, 270, 0, 34 [SEP] 17, Shelf, -0.612, 0.880, -2.832, 0, 0, 0,  [SEP] 18, Shelf, -0.612, 1.317, -2.832, 0, 0, 0,  [SEP] 19, LightSwitch, -2.599, 1.254, -0.774, 0, 90, 0,  [SEP] 20, GarbageCan, -1.343, 0.015, -4.825, 0, 0, 0,  [SEP] 21, HousePlant, 0.506, 1.097, 2.235, 0, 0, 0,  [SEP] 22, Painting, -0.509, 1.742, 2.404, 90, 0, 0,  [SEP] 23, FloorLamp, 1.712, 0.001, 0.374, 0, 0, 0,  [SEP] 24, Painting, -5.0, 1.626, -3.548, 90, 270, 0,  [SEP] 25, Television, -2.258, 1.245, 0.755, 0, 90, 0,  [SEP] 26, Shelf, -2.238, 0.474, 0.396, 0, 90, 0,  [SEP] 27, Shelf, -2.238, 0.273, 0.396, 0, 90, 0,  [SEP] 28, TVStand, -2.244, -0.000, 0.762, 0, 90, 0,  [SEP] 29, Shelf, -2.238, 0.302, 1.130, 0, 90, 0,  [SEP] 30, Shelf, -2.238, 0.442, 0.764, 0, 90, 0,  [SEP] 31, Shelf, -2.238, 0.597, 1.130, 0, 90, 0,  [SEP] 32, Shelf, -2.238, 0.643, 0.396, 0, 90, 0,  [SEP] 33, ArmChair, -0.559, 0.000, 1.951, 0, 180, 0,  [SEP] 34, DiningTable, -3.101, 0.000, -3.613, 0, 270, 0,  [SEP] 35, Sofa, 0.880, 0.007, -0.591, 0, 315, 0,  [SEP] 36, Ottoman, -0.576, 0.008, 1.052, 0, 180, 0,  [SEP] 37, Chair, -3.501, 0.002, -3.716, 0, 90, 0,  [SEP] 38, Chair, -3.182, 0.002, -2.813, 0, 165.000, 0,  [SEP] 39, Chair, -3.130, 0.002, -4.418, 0, 345.001, 0,  [SEP] 40, Chair, -2.686, 0.002, -3.301, 0, 285.000, 0,  [SEP] 41, SideTable, 1.825, 0.000, 1.092, 0, 270, 0,  [SEP] 42, Drawer, 1.761, 0.774, 1.092, 0, 270, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Move forward, turn right, move forward, turn left, move forward, then turn right to face the dining table. | STEP 2: Pick up the vase nearest to you, on the dining table. | STEP 3: Turn around, turn left, go straight, turn right, go straight, turn left, then go straight to approach the lamp. | STEP 4: Turn on the lamp. | END


Input: Slice an apple, cook it, then place it inside a trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -2.25, 0, 90, 0,  [SEP] 1, Potato, -0.127, 1.056, -0.900, 0, 270, 0, 82 [SEP] 2, DishSponge, -0.160, 0.913, -3.213, 0, 0, 0, 45 [SEP] 3, DishSponge, -0.419, 0.915, -1.493, 0, 0, 0, 72 [SEP] 4, Pot, -0.854, 0.916, -3.729, 0, 0, 0, 45 [SEP] 5, Spoon, -0.530, 0.748, -2.968, 0, 90, 0, 75 [SEP] 6, Fork, -2.439, 0.714, -0.433, 0, 90, 0, 89 [SEP] 7, Fork, -2.865, 0.714, -0.496, 0, 225, 0, 89 [SEP] 8, Egg, -0.257, 0.951, -1.616, 0, 0, 0, 72 [SEP] 9, Egg, -2.678, 0.749, -0.353, 0, 0, 0, 89 [SEP] 10, Cup, -2.372, 1.295, -3.848, 0, 0, 0, 58 [SEP] 11, Cup, -0.491, 0.080, -1.337, 0, 0, 0, 50 [SEP] 12, Plate, -0.413, 0.078, -0.838, 0, 0, 0, 49 [SEP] 13, Knife, -0.471, 0.778, -1.563, 0, 90, 0, 68 [SEP] 14, Tomato, -2.439, 0.766, -0.496, 0, 270, 0, 89 [SEP] 15, Tomato, -0.095, 0.965, -0.507, 0, 0, 0, 72 [SEP] 16, SoapBottle, -2.581, 0.716, -0.496, 0, 270, 0, 89 [SEP] 17, Bowl, -1.614, 0.080, -3.634, 0, 0, 0, 61 [SEP] 18, Bowl, -0.773, 0.079, -3.675, 0, 0, 0, 47 [SEP] 19, SaltShaker, -2.608, 0.713, -0.841, 0, 135, 0, 89 [SEP] 20, SaltShaker, -0.068, 1.290, -1.428, 0, 0, 0, 51 [SEP] 21, Mug, -3.079, 1.393, -2.064, 0, 90, 0, 86 [SEP] 22, Mug, -2.723, 0.711, -0.558, 0, 270, 0, 89 [SEP] 23, Apple, -3.393, 0.956, -2.825, 0, 0, 0, 45 [SEP] 24, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 74 [SEP] 25, Egg, -0.176, 0.951, -1.309, 0, 0, 0, 72 [SEP] 26, Cup, -3.324, 1.868, -2.029, 0, 0, 0, 55 [SEP] 27, Bread, -2.270, 0.954, -3.878, 0, 0, 0, 45 [SEP] 28, Fork, -3.477, 0.914, -3.026, 0, 0, 0, 45 [SEP] 29, Pan, -2.808, 0.912, -3.952, 0, 90, 0, 45 [SEP] 30, Potato, -3.027, 0.685, -2.064, 0, 90, 0, 86 [SEP] 31, Lettuce, -1.338, 0.982, -3.807, 20.734, 260.956, 32.047, 45 [SEP] 32, Tomato, -3.234, 1.063, -1.941, 0, 90, 0, 86 [SEP] 33, Apple, -3.111, 0.756, -0.652, 0, 225, 0, 89 [SEP] 34, SoapBottle, -0.338, 0.915, -1.370, 0, 0, 0, 72 [SEP] 35, Spatula, -1.058, 0.911, -3.656, 358.849, 0, 0, 45 [SEP] 36, SaltShaker, -2.803, 0.710, -0.638, 0, 0, 0, 89 [SEP] 37, Knife, -3.066, 0.746, -0.697, 0, 225, 0, 89 [SEP] 38, PepperShaker, -3.346, 0.910, -3.729, 0, 0, 0, 45 [SEP] 39, ButterKnife, -3.255, 0.713, -0.709, 0, 315, 0, 89 [SEP] 40, Plate, -1.214, 0.078, -3.673, 0, 0, 0, 60 [SEP] 41, DishSponge, -1.707, 0.790, -3.661, 0, 0, 0, 87 [SEP] 42, Spoon, -1.845, 0.791, -3.790, 0, 0, 0, 87 [SEP] 43, Mug, -0.419, 0.910, -0.490, 0, 0, 0, 72 [SEP] 44, Bowl, -3.292, 0.714, -0.558, 0, 270, 0, 89 [SEP] 45, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 46, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 47, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 48, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 49, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 51, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 52, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 53, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 54, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 55, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 56, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 57, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 58, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 59, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 60, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 61, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 62, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 63, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 64, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 65, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 66, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 67, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 68, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 69, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 70, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 71, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 72, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 73, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 74, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 75, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 76, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 77, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 78, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 79, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 80, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 81, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 82, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 83, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 84, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 85, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 86, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 87, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 88, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 89, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 90, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 91, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 92, NorthWall, , , , , , ,  [SEP] 93, EastWall, , , , , , ,  [SEP] 94, SouthWall, , , , , , ,  [SEP] 95, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk straight, turn left towards the round wooden table | STEP 2: Pick up the knife with the yellow handle | STEP 3: Cut the red apple on the table into slices | STEP 4: Turn right, walk straight, turn left, walk straight, turn right towards the trash bin | STEP 5: Put the knife inside the trash bin | STEP 6: Turn left, walk straight, turn right towards the round wooden table | STEP 7: Pick up the red slice of apple | STEP 8: Turn right, walk straight, turn left, turn right, walk straight towards the counter with a microwave | STEP 9: Open the microwave, put the apple inside, set the timer, close the microwave, take out the apple, close the microwave | STEP 10: Turn left and walk towards the trash can | STEP 11: Place the apple inside the trash can | END


Input: Place a tea kettle in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 4.75, 0, 270, 0,  [SEP] 1, KeyChain, -4.587, 0.887, 1.971, 0, 270, 0, 32 [SEP] 2, KeyChain, -2.026, 0.453, 2.455, 0, 0, 0, 34 [SEP] 3, CreditCard, -0.129, 0.707, 4.659, 0, 0, 0, 39 [SEP] 4, Box, -4.778, 0.405, 2.337, 0, 270, 0, 33 [SEP] 5, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 6, CreditCard, -1.752, 0.456, 0.662, 0, 0, 0, 37 [SEP] 7, KeyChain, -5.094, 0.985, 2.026, 0, 180, 0, 31 [SEP] 8, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 37 [SEP] 9, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 31 [SEP] 10, RemoteControl, -1.990, 0.531, 0.843, 0, 0, 0, 37 [SEP] 11, Watch, -0.216, 0.707, 4.639, 0, 0, 0, 39 [SEP] 12, Statue, -2.405, 0.554, 2.648, 0, 0, 0, 34 [SEP] 13, Curtains, -2.535, 2.596, 0.111, 0, 0, 0,  [SEP] 14, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0,  [SEP] 15, Television, -4.883, 1.472, 2.434, 0, 90, 0,  [SEP] 16, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0,  [SEP] 17, Painting, -0.293, 1.820, 0.016, 90, 0, 0,  [SEP] 18, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0,  [SEP] 19, Painting, -5.118, 1.480, 4.396, 90, 270, 0,  [SEP] 20, Painting, -5.118, 1.480, 0.656, 90, 270, 0,  [SEP] 21, Window, -1.715, 1.554, 0.006, 90, 180, 0,  [SEP] 22, Window, -3.244, 1.554, 0.006, 90, 180, 0,  [SEP] 23, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0,  [SEP] 24, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0,  [SEP] 25, Drawer, -4.497, 0.901, 2.854, 0, 90, 0,  [SEP] 26, Drawer, -4.497, 0.901, 2.339, 0, 90, 0,  [SEP] 27, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0,  [SEP] 28, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0,  [SEP] 29, Drawer, -4.497, 0.901, 3.372, 0, 90, 0,  [SEP] 30, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0,  [SEP] 31, Dresser, -4.744, 4.321, 2.595, 0, 90, 0,  [SEP] 32, Drawer, -4.497, 0.901, 1.818, 0, 90, 0,  [SEP] 33, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0,  [SEP] 34, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0,  [SEP] 35, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0,  [SEP] 36, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0,  [SEP] 37, Sofa, -2.464, -0.002, 0.700, 0, 0, 0,  [SEP] 38, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0,  [SEP] 39, SideTable, -0.041, 0.002, 4.619, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn around and face left to reach the black round table next to the couch. | STEP 2: Pick up the tea kettle from under the round table on the floor. | STEP 3: Turn left and walk to the front of the television stand on the left. | STEP 4: Open the lower right cabinet, put the tea kettle inside and close the door. | END


Input: Place a watering can in a cabinet of the entertainment center.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 4.75, 0, 270, 0,  [SEP] 1, KeyChain, -4.587, 0.887, 1.971, 0, 270, 0, 32 [SEP] 2, KeyChain, -2.026, 0.453, 2.455, 0, 0, 0, 34 [SEP] 3, CreditCard, -0.129, 0.707, 4.659, 0, 0, 0, 39 [SEP] 4, Box, -4.778, 0.405, 2.337, 0, 270, 0, 33 [SEP] 5, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 6, CreditCard, -1.752, 0.456, 0.662, 0, 0, 0, 37 [SEP] 7, KeyChain, -5.094, 0.985, 2.026, 0, 180, 0, 31 [SEP] 8, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 37 [SEP] 9, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 31 [SEP] 10, RemoteControl, -1.990, 0.531, 0.843, 0, 0, 0, 37 [SEP] 11, Watch, -0.216, 0.707, 4.639, 0, 0, 0, 39 [SEP] 12, Statue, -2.405, 0.554, 2.648, 0, 0, 0, 34 [SEP] 13, Curtains, -2.535, 2.596, 0.111, 0, 0, 0,  [SEP] 14, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0,  [SEP] 15, Television, -4.883, 1.472, 2.434, 0, 90, 0,  [SEP] 16, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0,  [SEP] 17, Painting, -0.293, 1.820, 0.016, 90, 0, 0,  [SEP] 18, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0,  [SEP] 19, Painting, -5.118, 1.480, 4.396, 90, 270, 0,  [SEP] 20, Painting, -5.118, 1.480, 0.656, 90, 270, 0,  [SEP] 21, Window, -1.715, 1.554, 0.006, 90, 180, 0,  [SEP] 22, Window, -3.244, 1.554, 0.006, 90, 180, 0,  [SEP] 23, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0,  [SEP] 24, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0,  [SEP] 25, Drawer, -4.497, 0.901, 2.854, 0, 90, 0,  [SEP] 26, Drawer, -4.497, 0.901, 2.339, 0, 90, 0,  [SEP] 27, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0,  [SEP] 28, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0,  [SEP] 29, Drawer, -4.497, 0.901, 3.372, 0, 90, 0,  [SEP] 30, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0,  [SEP] 31, Dresser, -4.744, 4.321, 2.595, 0, 90, 0,  [SEP] 32, Drawer, -4.497, 0.901, 1.818, 0, 90, 0,  [SEP] 33, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0,  [SEP] 34, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0,  [SEP] 35, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0,  [SEP] 36, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0,  [SEP] 37, Sofa, -2.464, -0.002, 0.700, 0, 0, 0,  [SEP] 38, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0,  [SEP] 39, SideTable, -0.041, 0.002, 4.619, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn around completely, walk up to the round black table, then look underneath it. | STEP 2: Pick up the watering can that is on the floor, underneath the table.  | STEP 3: Turn to the left, walk almost to the chair, turn left, walk a few steps, then turn right to face the entertainment center.  | STEP 4: Place the watering can in the far right cabinet of the entertainment center and close the door.  | END


Input: Take the blue bank card from the couch, turn on the lamp in the corner 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, 90, 0,  [SEP] 1, Bowl, -1.743, 0.757, -0.350, 0, 90, 0, 42 [SEP] 2, Bowl, -0.416, 0.477, -0.995, 0, 180, 0, 38 [SEP] 3, RemoteControl, 2.151, 0.453, -2.225, 0, 270, 0, 48 [SEP] 4, CreditCard, -0.034, 0.179, -2.389, 0, 0, 0, 32 [SEP] 5, Laptop, -0.115, 0.471, -1.182, 0, 180, 0, 38 [SEP] 6, Box, -1.680, 0.889, -0.820, 0, 90, 0, 42 [SEP] 7, Bowl, -1.871, 0.757, -1.761, 0, 90, 0, 42 [SEP] 8, KeyChain, -0.451, 0.760, -2.247, 0, 0, 0, 30 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.616, 0.758, -0.585, 0, 270, 0, 42 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, 0.794, 0.543, 0.997, 0, 180, 0, 35 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, 0.145, 0.551, -1.129, 0, 0, 0, 38 [SEP] 15, RemoteControl, 0.487, 0.478, -1.182, 0, 180, 0, 38 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.353, 0.549, 0.997, 0, 180, 0, 35 [SEP] 18, Vase, -0.451, 0.760, -2.472, 0, 0, 0, 30 [SEP] 19, Statue, 0.336, 0.483, -1.182, 0, 180, 0, 38 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0,  [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0,  [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0,  [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0,  [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0,  [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0,  [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0,  [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0,  [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0,  [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0,  [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0,  [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0,  [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0,  [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0,  [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0,  [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0,  [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0,  [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0,  [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0,  [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0,  [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0,  [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0,  [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0,  [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0,  [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0,  [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0,  [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0,  [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0,  [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0,  [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn to the left | STEP 2: Take the blue bank card from the couch | STEP 3: Turn to the left, take a few steps | STEP 4: Turn on the lamp in the corner | END


Input: place a clean cloth on top of the back side of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.904, -0.25, 0, 0, 0,  [SEP] 1, SprayBottle, -3.096, 1.870, 1.264, 0, 0, 0, 25 [SEP] 2, SprayBottle, -2.962, 1.003, -0.287, 0, 0, 0, 28 [SEP] 3, SoapBottle, -3.072, 0.051, 0.869, 0, 0, 0, 29 [SEP] 4, HandTowel, -3.321, 1.464, 0.762, 0, 270, 0, 32 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.032, 0.512, 1.084, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -2.970, 0.105, -0.440, 0, 0, 0, 18 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.100, 0.110, 0.236, 0, 0, 0, 23 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -3.184, 1.871, 1.624, 0, 0, 0, 19 [SEP] 14, Cloth, -2.886, 1.002, -0.601, 0, 0, 0, 28 [SEP] 15, SprayBottle, -3.165, 0.110, 0.286, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: turn around and walk forwards to the end of the room which is only a few steps, turn right to face the bathroom cabinet and look downwards a bit | STEP 2: grab the dirty cloth off of the bathroom cabinet there | STEP 3: move to the right a bit to align your self with the sink on the left, turn left to face the sink of course | STEP 4: clean off the dirty cloth in the sink and then take it back out | STEP 5: turn right and walk over to the toilet, and turn to face the toilet | STEP 6: place the clean cloth on the back side of the toilet | END


Input: Put a washed bar of soap in a trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.5, 0, 90, 0,  [SEP] 1, Candle, -1.458, 0.772, 2.977, 0, 0, 0, 17 [SEP] 2, SprayBottle, -1.372, 0.732, 2.927, 0, 0, 0, 17 [SEP] 3, SprayBottle, -1.798, 1.047, 0.616, 0, 90, 0, 31 [SEP] 4, HandTowel, -1.961, 1.588, 1.323, 0, 270, 0, 24 [SEP] 5, Candle, -1.801, 0.772, 2.676, 0, 0, 0, 17 [SEP] 6, HandTowel, -1.513, 1.461, 3.962, 0, 0, 0, 23 [SEP] 7, Plunger, -1.685, 0.000, 0.327, 0, 0, 0, Floor|-02.00| [SEP] 8, Towel, 0.871, 1.172, 2.356, 0, 0, 0, 22 [SEP] 9, SoapBottle, -1.715, 0.731, 2.827, 0, 0, 0, 17 [SEP] 10, SoapBar, -1.543, 0.731, 2.927, 0, 0, 0, 17 [SEP] 11, ToiletPaper, -1.488, 0.235, 1.999, 0, 0, 0, 19 [SEP] 12, Cloth, -1.529, 0.243, 3.329, 0, 0, 0, 16 [SEP] 13, ToiletPaper, -1.874, 0.722, 1.860, 0, 0, 0, 19 [SEP] 14, ScrubBrush, -1.849, 0.000, 0.137, 0, 0, 0, Floor|-02.00| [SEP] 15, SprayBottle, -1.772, 1.047, 0.748, 0, 90, 0, 31 [SEP] 16, Drawer, -1.335, 0.301, 3.329, 0, 0, 0,  [SEP] 17, CounterTop, -1.608, 0.701, 2.831, 0, 0, 0,  [SEP] 18, ShowerDoor, 0.564, 1.018, 1.115, 0, 0, 0,  [SEP] 19, Drawer, -1.335, 0.301, 2.132, 0, 0, 0,  [SEP] 20, Mirror, -1.924, 1.414, 2.759, 0, 0, 0,  [SEP] 21, Sink, -1.695, 0.616, 2.283, 0, 90, 0,  [SEP] 22, TowelHolder, 0.870, 1.157, 2.25, 0, 0, 0,  [SEP] 23, HandTowelHolder, -1.513, 1.562, 4.000, 0, 90, 0,  [SEP] 24, HandTowelHolder, -2.0, 1.690, 1.323, 0, 0, 0,  [SEP] 25, Window, -1.037, 1.399, 0.019, 90, 0, 0,  [SEP] 26, Window, -1.986, 1.396, 0.707, 90, 90, 0,  [SEP] 27, ToiletPaperHanger, -1.498, 0.721, 0.000, 0, 0, 0,  [SEP] 28, GarbageCan, -1.739, -0.031, 1.268, 0, 90, 0,  [SEP] 29, LightSwitch, 1.25, 1.273, 3.634, 0, 270, 0,  [SEP] 30, SinkBasin, -1.674, 0.633, 2.274, 0, 270, 0,  [SEP] 31, Toilet, -1.547, 0.000, 0.685, 0, 180, 0,  [SEP] 32, Sink, -1.695, 0.616, 3.365, 0, 90, 0,  [SEP] 33, SinkBasin, -1.674, 0.633, 3.355, 0, 270, 0,  [SEP] 34, ShowerHead, 0.853, 1.797, 1.108, 0, 180, 0,  [SEP] 35, Faucet, -1.926, 0.721, 2.285, 0, 90, 0,  [SEP] 36, Faucet, -1.926, 0.721, 3.368, 0, 90, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the vanity. | STEP 2: Pick up the pink soap. | STEP 3: Wash the soap in the right sink. | STEP 4: Walk to the toilet. | STEP 5: Put the soap in the garbage can. | END


Input: Place a wet rag in the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0,  [SEP] 1, SoapBar, -1.963, 1.044, 0.272, 0, 90, 0, 38 [SEP] 2, SoapBar, -1.949, 0.908, -1.418, 0, 0, 0, 20 [SEP] 3, SoapBottle, -1.933, 1.046, 0.140, 0, 90, 0, 38 [SEP] 4, SoapBottle, 0.520, 0.593, -1.748, 0, 0, 0, 25 [SEP] 5, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 30 [SEP] 6, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 36 [SEP] 7, SoapBar, 0.119, 0.152, -1.598, 0, 90, 0, 37 [SEP] 8, ToiletPaper, -1.725, 0.013, -1.435, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 31 [SEP] 10, Cloth, -1.901, 0.017, -1.537, 0, 0, 0, 26 [SEP] 11, SprayBottle, -1.294, 0.018, -1.638, 0, 0, 0, 26 [SEP] 12, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 13, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 14, Candle, -1.960, 0.015, -1.435, 0, 0, 0, 26 [SEP] 15, SoapBottle, -1.871, 1.046, 0.337, 0, 90, 0, 38 [SEP] 16, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0,  [SEP] 17, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0,  [SEP] 18, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0,  [SEP] 19, Sink, -1.560, 0.811, -1.598, 0, 0, 0,  [SEP] 20, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0,  [SEP] 21, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0,  [SEP] 22, Faucet, -0.505, 0.898, -1.779, 0, 0, 0,  [SEP] 23, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0,  [SEP] 24, Mirror, -1.014, 1.501, -1.840, 0, 0, 0,  [SEP] 25, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0,  [SEP] 26, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0,  [SEP] 27, Sink, -0.526, 0.811, -1.598, 0, 0, 0,  [SEP] 28, Window, 1.532, 1.672, -1.037, 0, 0, 0,  [SEP] 29, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0,  [SEP] 30, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0,  [SEP] 31, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0,  [SEP] 32, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0,  [SEP] 33, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0,  [SEP] 34, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0,  [SEP] 35, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0,  [SEP] 36, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0,  [SEP] 37, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0,  [SEP] 38, Toilet, -1.610, -0.000, 0.209, 0, 180, 0,  [SEP] 39, Faucet, -1.537, 0.898, -1.779, 0, 0, 0,  [SEP] 40, Faucet, 0.929, 0.509, -1.978, 0, 0, 0,  [SEP] 41, Faucet, 0.890, 1.689, 0.724, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn towards the sink on your left. | STEP 2: Grab the dirty rag from under the sink. | STEP 3: Take a step to your left. | STEP 4: Place the rag in the sink and turn the faucet on and off before picking up the rag. | STEP 5: Walk to the bath on your left. | STEP 6: Place the rag in the bath tub. | END


Input: Put the clean right in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0,  [SEP] 1, SoapBar, -1.963, 1.044, 0.272, 0, 90, 0, 38 [SEP] 2, SoapBar, -1.949, 0.908, -1.418, 0, 0, 0, 20 [SEP] 3, SoapBottle, -1.933, 1.046, 0.140, 0, 90, 0, 38 [SEP] 4, SoapBottle, 0.520, 0.593, -1.748, 0, 0, 0, 25 [SEP] 5, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 30 [SEP] 6, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 36 [SEP] 7, SoapBar, 0.119, 0.152, -1.598, 0, 90, 0, 37 [SEP] 8, ToiletPaper, -1.725, 0.013, -1.435, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 31 [SEP] 10, Cloth, -1.901, 0.017, -1.537, 0, 0, 0, 26 [SEP] 11, SprayBottle, -1.294, 0.018, -1.638, 0, 0, 0, 26 [SEP] 12, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 13, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 14, Candle, -1.960, 0.015, -1.435, 0, 0, 0, 26 [SEP] 15, SoapBottle, -1.871, 1.046, 0.337, 0, 90, 0, 38 [SEP] 16, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0,  [SEP] 17, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0,  [SEP] 18, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0,  [SEP] 19, Sink, -1.560, 0.811, -1.598, 0, 0, 0,  [SEP] 20, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0,  [SEP] 21, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0,  [SEP] 22, Faucet, -0.505, 0.898, -1.779, 0, 0, 0,  [SEP] 23, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0,  [SEP] 24, Mirror, -1.014, 1.501, -1.840, 0, 0, 0,  [SEP] 25, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0,  [SEP] 26, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0,  [SEP] 27, Sink, -0.526, 0.811, -1.598, 0, 0, 0,  [SEP] 28, Window, 1.532, 1.672, -1.037, 0, 0, 0,  [SEP] 29, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0,  [SEP] 30, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0,  [SEP] 31, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0,  [SEP] 32, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0,  [SEP] 33, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0,  [SEP] 34, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0,  [SEP] 35, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0,  [SEP] 36, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0,  [SEP] 37, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0,  [SEP] 38, Toilet, -1.610, -0.000, 0.209, 0, 180, 0,  [SEP] 39, Faucet, -1.537, 0.898, -1.779, 0, 0, 0,  [SEP] 40, Faucet, 0.929, 0.509, -1.978, 0, 0, 0,  [SEP] 41, Faucet, 0.890, 1.689, 0.724, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Move forward, then turn left to face the sink. | STEP 2: Take the rag from the right cabinet, beneath the sink. | STEP 3: Turn left, go forward, then turn right to face the leftmost sink. | STEP 4: Clean the rag in the sink. | STEP 5: Turn around, step forward, then turn left to face the tub. | STEP 6: Put the rag in the tub. | END


Input: Set a rinsed piece of apple 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, 0.901, -0.5, 0, 180, 0,  [SEP] 1, Potato, -0.395, 1.075, 2.068, 0, 90, 0, 80 [SEP] 2, WineBottle, 0.850, 0.082, 2.601, 0, 0, 0, 62 [SEP] 3, Ladle, -0.272, 0.835, 0.377, 0, 0, 0, 82 [SEP] 4, DishSponge, 1.884, 0.746, 1.922, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 7, Egg, -0.261, 1.078, 2.014, 0, 90, 0, 80 [SEP] 8, Egg, -0.272, 0.833, 0.545, 0, 0, 0, 82 [SEP] 9, Cup, 2.207, 0.600, -0.278, 0, 270, 0, 76 [SEP] 10, Cup, -0.396, 0.935, 2.827, 0, 0, 0, 55 [SEP] 11, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 51 [SEP] 12, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 82 [SEP] 13, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 82 [SEP] 14, SoapBottle, 0.033, 0.791, 0.545, 0, 0, 0, 82 [SEP] 15, SoapBottle, -0.326, 0.038, -0.864, 0, 90, 0, 77 [SEP] 16, SaltShaker, -0.349, 0.785, 0.881, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.042, 0.785, 0.881, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.206, 1.496, 1.963, 0, 0, 0, 58 [SEP] 19, Mug, -0.078, 0.076, 2.265, 0, 0, 0, 49 [SEP] 20, Mug, -0.196, 0.785, 1.386, 0, 0, 0, 82 [SEP] 21, Apple, -0.042, 0.840, 0.713, 0, 0, 0, 82 [SEP] 22, Apple, -0.348, 0.987, 2.478, 0, 0, 0, 55 [SEP] 23, Apple, 0.033, 0.840, 0.377, 0, 0, 0, 82 [SEP] 24, Egg, 2.127, 1.561, -0.460, 0, 270, 0, 76 [SEP] 25, Lettuce, -0.196, 0.852, 1.217, 0, 0, 0, 82 [SEP] 26, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 82 [SEP] 27, SoapBottle, 1.840, 0.939, 0.509, 0, 0, 0, 66 [SEP] 28, Ladle, -0.349, 0.835, 0.545, 0, 0, 0, 82 [SEP] 29, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 64 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.425, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.137, 0.901, -0.097, 0, 270, 0, 76 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 0.174, 0.938, 2.688, 0, 0, 0, 55 [SEP] 35, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 54 [SEP] 36, Knife, 0.033, 0.816, 1.049, 0, 90, 0, 82 [SEP] 37, Tomato, 2.056, 1.369, -0.279, 0, 270, 0, 76 [SEP] 38, Apple, -0.261, 1.085, 2.121, 0, 90, 0, 80 [SEP] 39, ButterKnife, 0.174, 0.937, 2.618, 0, 0, 0, 55 [SEP] 40, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 57 [SEP] 41, PepperShaker, -0.078, 0.076, 1.993, 0, 0, 0, 49 [SEP] 42, Cup, 2.059, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, -0.196, 0.790, 1.049, 0, 0, 0, 82 [SEP] 44, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 61 [SEP] 45, Spoon, -0.119, 0.792, 1.217, 0, 90, 0, 82 [SEP] 46, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 76 [SEP] 47, Bowl, 1.223, 0.792, 2.64, 0, 0, 0, 79 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the closest knife from the front of the table. | STEP 3: Look away from the table and then back to the table again. | STEP 4: Cut an apple to the left of the pepper mill. | STEP 5: Cut the apple again and remove a piece from the apple. | STEP 6: Pick up the cut piece of apple from the table. | STEP 7: Turn right and walk to the sink. | STEP 8: Rinse the apple at the sink. | STEP 9: Turn around and carry the piece of apple to the table. | STEP 10: Set the piece of apple down on the table next to the rest of the apple. | END


Input: Put a clean apple slice 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, 0.901, -0.5, 0, 180, 0,  [SEP] 1, Potato, -0.395, 1.075, 2.068, 0, 90, 0, 80 [SEP] 2, WineBottle, 0.850, 0.082, 2.601, 0, 0, 0, 62 [SEP] 3, Ladle, -0.272, 0.835, 0.377, 0, 0, 0, 82 [SEP] 4, DishSponge, 1.884, 0.746, 1.922, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 7, Egg, -0.261, 1.078, 2.014, 0, 90, 0, 80 [SEP] 8, Egg, -0.272, 0.833, 0.545, 0, 0, 0, 82 [SEP] 9, Cup, 2.207, 0.600, -0.278, 0, 270, 0, 76 [SEP] 10, Cup, -0.396, 0.935, 2.827, 0, 0, 0, 55 [SEP] 11, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 51 [SEP] 12, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 82 [SEP] 13, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 82 [SEP] 14, SoapBottle, 0.033, 0.791, 0.545, 0, 0, 0, 82 [SEP] 15, SoapBottle, -0.326, 0.038, -0.864, 0, 90, 0, 77 [SEP] 16, SaltShaker, -0.349, 0.785, 0.881, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.042, 0.785, 0.881, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.206, 1.496, 1.963, 0, 0, 0, 58 [SEP] 19, Mug, -0.078, 0.076, 2.265, 0, 0, 0, 49 [SEP] 20, Mug, -0.196, 0.785, 1.386, 0, 0, 0, 82 [SEP] 21, Apple, -0.042, 0.840, 0.713, 0, 0, 0, 82 [SEP] 22, Apple, -0.348, 0.987, 2.478, 0, 0, 0, 55 [SEP] 23, Apple, 0.033, 0.840, 0.377, 0, 0, 0, 82 [SEP] 24, Egg, 2.127, 1.561, -0.460, 0, 270, 0, 76 [SEP] 25, Lettuce, -0.196, 0.852, 1.217, 0, 0, 0, 82 [SEP] 26, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 82 [SEP] 27, SoapBottle, 1.840, 0.939, 0.509, 0, 0, 0, 66 [SEP] 28, Ladle, -0.349, 0.835, 0.545, 0, 0, 0, 82 [SEP] 29, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 64 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.425, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.137, 0.901, -0.097, 0, 270, 0, 76 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 0.174, 0.938, 2.688, 0, 0, 0, 55 [SEP] 35, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 54 [SEP] 36, Knife, 0.033, 0.816, 1.049, 0, 90, 0, 82 [SEP] 37, Tomato, 2.056, 1.369, -0.279, 0, 270, 0, 76 [SEP] 38, Apple, -0.261, 1.085, 2.121, 0, 90, 0, 80 [SEP] 39, ButterKnife, 0.174, 0.937, 2.618, 0, 0, 0, 55 [SEP] 40, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 57 [SEP] 41, PepperShaker, -0.078, 0.076, 1.993, 0, 0, 0, 49 [SEP] 42, Cup, 2.059, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, -0.196, 0.790, 1.049, 0, 0, 0, 82 [SEP] 44, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 61 [SEP] 45, Spoon, -0.119, 0.792, 1.217, 0, 90, 0, 82 [SEP] 46, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 76 [SEP] 47, Bowl, 1.223, 0.792, 2.64, 0, 0, 0, 79 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn around then face the white table to your right. | STEP 2: Pick up the knife from the table in front of you. | STEP 3: Turn left, then face the table to your right in front of the apple. | STEP 4: Slice the apple in front of you on the table. | STEP 5: Cut out an apple slice from the apple on the table. | STEP 6: Take an apple slice from the table. | STEP 7: Turn right and head towards the sink in front of you. | STEP 8: Wash the apple slice and take it out of the sink. | STEP 9: Turn around and face the table to your right. | STEP 10: Place the apple slice on the table in front of you. | END


Input: Putting a sliced apple on the white table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.5, 0, 180, 0,  [SEP] 1, Potato, -0.395, 1.075, 2.068, 0, 90, 0, 80 [SEP] 2, WineBottle, 0.850, 0.082, 2.601, 0, 0, 0, 62 [SEP] 3, Ladle, -0.272, 0.835, 0.377, 0, 0, 0, 82 [SEP] 4, DishSponge, 1.884, 0.746, 1.922, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 7, Egg, -0.261, 1.078, 2.014, 0, 90, 0, 80 [SEP] 8, Egg, -0.272, 0.833, 0.545, 0, 0, 0, 82 [SEP] 9, Cup, 2.207, 0.600, -0.278, 0, 270, 0, 76 [SEP] 10, Cup, -0.396, 0.935, 2.827, 0, 0, 0, 55 [SEP] 11, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 51 [SEP] 12, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 82 [SEP] 13, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 82 [SEP] 14, SoapBottle, 0.033, 0.791, 0.545, 0, 0, 0, 82 [SEP] 15, SoapBottle, -0.326, 0.038, -0.864, 0, 90, 0, 77 [SEP] 16, SaltShaker, -0.349, 0.785, 0.881, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.042, 0.785, 0.881, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.206, 1.496, 1.963, 0, 0, 0, 58 [SEP] 19, Mug, -0.078, 0.076, 2.265, 0, 0, 0, 49 [SEP] 20, Mug, -0.196, 0.785, 1.386, 0, 0, 0, 82 [SEP] 21, Apple, -0.042, 0.840, 0.713, 0, 0, 0, 82 [SEP] 22, Apple, -0.348, 0.987, 2.478, 0, 0, 0, 55 [SEP] 23, Apple, 0.033, 0.840, 0.377, 0, 0, 0, 82 [SEP] 24, Egg, 2.127, 1.561, -0.460, 0, 270, 0, 76 [SEP] 25, Lettuce, -0.196, 0.852, 1.217, 0, 0, 0, 82 [SEP] 26, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 82 [SEP] 27, SoapBottle, 1.840, 0.939, 0.509, 0, 0, 0, 66 [SEP] 28, Ladle, -0.349, 0.835, 0.545, 0, 0, 0, 82 [SEP] 29, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 64 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.425, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.137, 0.901, -0.097, 0, 270, 0, 76 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 0.174, 0.938, 2.688, 0, 0, 0, 55 [SEP] 35, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 54 [SEP] 36, Knife, 0.033, 0.816, 1.049, 0, 90, 0, 82 [SEP] 37, Tomato, 2.056, 1.369, -0.279, 0, 270, 0, 76 [SEP] 38, Apple, -0.261, 1.085, 2.121, 0, 90, 0, 80 [SEP] 39, ButterKnife, 0.174, 0.937, 2.618, 0, 0, 0, 55 [SEP] 40, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 57 [SEP] 41, PepperShaker, -0.078, 0.076, 1.993, 0, 0, 0, 49 [SEP] 42, Cup, 2.059, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, -0.196, 0.790, 1.049, 0, 0, 0, 82 [SEP] 44, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 61 [SEP] 45, Spoon, -0.119, 0.792, 1.217, 0, 90, 0, 82 [SEP] 46, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 76 [SEP] 47, Bowl, 1.223, 0.792, 2.64, 0, 0, 0, 79 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn around and head to the white table on the left | STEP 2: Grab the large knife off of the table | STEP 3: Move slightly to the left | STEP 4: Cut the apple into three slices | STEP 5: Lay the knife down on the table | STEP 6: Grab one of the apple slices | STEP 7: Turn right and head to the sink | STEP 8: Wash the apple in the sink and take it out | STEP 9: Turn around and head to the white table | STEP 10: Put the apple on the table | END


Input: The robot needs to get a towel from each towel rack then place them on the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -3.25, 0, 180, 0,  [SEP] 1, Cloth, -2.764, 0.066, -3.506, 0, 0, 0, 23 [SEP] 2, Cloth, -2.538, 0.066, -3.023, 0, 0, 0, 18 [SEP] 3, SoapBar, -2.637, 0.872, -3.067, 0, 90, 0, 31 [SEP] 4, Candle, -2.613, 0.075, -3.568, 0, 0, 0, 23 [SEP] 5, SprayBottle, -2.613, 0.067, -3.506, 0, 0, 0, 23 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 29 [SEP] 7, Candle, -0.099, 1.054, -3.114, 0, 270, 0, 34 [SEP] 8, Cloth, -2.620, 0.806, -3.765, 0, 0, 0, 25 [SEP] 9, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 28 [SEP] 10, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 11, SoapBar, -2.462, 0.066, -3.755, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.093, 0.842, -2.618, 0, 270, 270, 27 [SEP] 13, ToiletPaper, -0.190, 1.042, -2.917, 0, 270, 0, 34 [SEP] 14, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 26 [SEP] 15, SoapBottle, -2.443, 0.808, -2.525, 0, 0, 0, 25 [SEP] 16, SprayBottle, -0.129, 1.046, -3.048, 0, 270, 0, 34 [SEP] 17, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 18, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0,  [SEP] 19, Mirror, -3.0, 1.659, -3.069, 0, 0, 0,  [SEP] 20, Sink, -2.661, 0.785, -3.069, 0, 90, 0,  [SEP] 21, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0,  [SEP] 22, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0,  [SEP] 23, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0,  [SEP] 24, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0,  [SEP] 25, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0,  [SEP] 26, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0,  [SEP] 27, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0,  [SEP] 28, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0,  [SEP] 29, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0,  [SEP] 30, Window, -0.567, 1.706, -4.002, 90, 0, 0,  [SEP] 31, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0,  [SEP] 32, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0,  [SEP] 33, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0,  [SEP] 34, Toilet, -0.452, 0.000, -3.052, 0, 0, 0,  [SEP] 35, Faucet, -3.0, 1.167, -3.073, 0, 180, 0,  [SEP] 36, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,

Output: STEP 1: Turn right towards the sink. | STEP 2: Remove the towel from the towel rack to the left of the mirror. | STEP 3: Turn around and move towards the toilet. | STEP 4: Place the towel on the left side of the toilet tank. | STEP 5: Turn around and move towards the sink. | STEP 6: Remove the towel from the towel rack to the right of the mirror. | STEP 7: Turn around and move towards the toilet. | STEP 8: Place the towel on the right side of the other towel.  | END


Input: Place two towels on top of the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -3.25, 0, 180, 0,  [SEP] 1, Cloth, -2.764, 0.066, -3.506, 0, 0, 0, 23 [SEP] 2, Cloth, -2.538, 0.066, -3.023, 0, 0, 0, 18 [SEP] 3, SoapBar, -2.637, 0.872, -3.067, 0, 90, 0, 31 [SEP] 4, Candle, -2.613, 0.075, -3.568, 0, 0, 0, 23 [SEP] 5, SprayBottle, -2.613, 0.067, -3.506, 0, 0, 0, 23 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 29 [SEP] 7, Candle, -0.099, 1.054, -3.114, 0, 270, 0, 34 [SEP] 8, Cloth, -2.620, 0.806, -3.765, 0, 0, 0, 25 [SEP] 9, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 28 [SEP] 10, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 11, SoapBar, -2.462, 0.066, -3.755, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.093, 0.842, -2.618, 0, 270, 270, 27 [SEP] 13, ToiletPaper, -0.190, 1.042, -2.917, 0, 270, 0, 34 [SEP] 14, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 26 [SEP] 15, SoapBottle, -2.443, 0.808, -2.525, 0, 0, 0, 25 [SEP] 16, SprayBottle, -0.129, 1.046, -3.048, 0, 270, 0, 34 [SEP] 17, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 18, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0,  [SEP] 19, Mirror, -3.0, 1.659, -3.069, 0, 0, 0,  [SEP] 20, Sink, -2.661, 0.785, -3.069, 0, 90, 0,  [SEP] 21, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0,  [SEP] 22, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0,  [SEP] 23, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0,  [SEP] 24, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0,  [SEP] 25, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0,  [SEP] 26, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0,  [SEP] 27, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0,  [SEP] 28, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0,  [SEP] 29, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0,  [SEP] 30, Window, -0.567, 1.706, -4.002, 90, 0, 0,  [SEP] 31, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0,  [SEP] 32, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0,  [SEP] 33, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0,  [SEP] 34, Toilet, -0.452, 0.000, -3.052, 0, 0, 0,  [SEP] 35, Faucet, -3.0, 1.167, -3.073, 0, 180, 0,  [SEP] 36, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,

Output: STEP 1: Turn right to face the towel rack to the left of the mirror. | STEP 2: Pick up the towel from the towel rack. | STEP 3: Turn around and walk to the toilet. | STEP 4: Place the towel on top of the back of the toilet. | STEP 5: Turn around and walk to the towel rack to the right of the mirror. | STEP 6: Pick up the towel from the towel rack. | STEP 7: Turn around and walk to the toilet. | STEP 8: Place the towel next to the other towel on top of the back of the toilet. | END