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

Output: STEP 1: Turn right and walk to the sink.  | STEP 2: Pick up the cup closest to the spoon.  | STEP 3: Turn left and walk to the counter between the stove and trash bin.  | STEP 4: Place the cup on the counter.  | STEP 5: Pick up the fork behind the spatula.  | STEP 6: Place the fork in the cup.  | END


Input: Place a cell phone on a shelf. 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, Mug, 0.741, 0.699, -1.326, 0, 0, 0, 50 [SEP] 2, Mug, 1.479, 0.701, -1.814, 0, 180, 0, 50 [SEP] 3, TissueBox, 0.248, 0.703, -1.423, 0, 180, 0, 50 [SEP] 4, CD, 0.494, 0.701, -1.814, 0, 180, 0, 50 [SEP] 5, CD, 1.572, 0.487, -0.604, 0, 270, 0, 43 [SEP] 6, CellPhone, 0.387, 0.085, -1.425, 0, 180, 0, 46 [SEP] 7, CellPhone, 1.524, 0.711, -0.306, 0, 0, 0, 42 [SEP] 8, CellPhone, -1.630, 0.530, 0.160, 0, 0, 0, 33 [SEP] 9, Pen, 0.494, 0.709, -1.716, 0, 180, 0, 50 [SEP] 10, Pen, 0.002, 0.709, -1.326, 0, 180, 0, 50 [SEP] 11, CreditCard, 1.429, 1.411, 0.779, 0, 270, 0, 42 [SEP] 12, CreditCard, 1.524, 0.708, -0.703, 0, 0, 0, 42 [SEP] 13, KeyChain, 1.591, 1.412, 0.779, 0, 0, 0, 42 [SEP] 14, KeyChain, -0.028, 0.497, -1.372, 0, 180, 0, 45 [SEP] 15, Pillow, -1.777, 0.598, -0.082, 0, 0, 0, 33 [SEP] 16, Box, 1.537, 1.652, 0.692, 0, 0, 0, 36 [SEP] 17, Book, 0.387, 0.497, -1.479, 0, 180, 0, 51 [SEP] 18, AlarmClock, 1.480, 0.489, -0.464, 0, 270, 0, 43 [SEP] 19, CellPhone, 0.064, 0.084, -1.425, 0, 180, 0, 46 [SEP] 20, TissueBox, 0.002, 0.705, -1.521, 0, 180, 0, 50 [SEP] 21, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 33 [SEP] 22, CreditCard, 0.248, 0.703, -1.716, 0, 180, 0, 50 [SEP] 23, KeyChain, 1.603, 0.489, -0.324, 0, 270, 0, 43 [SEP] 24, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 25, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 26, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 33 [SEP] 27, Laptop, 0.987, 0.699, -1.423, 0, 180, 0, 50 [SEP] 28, CD, 0.295, 0.288, -1.585, 0, 180, 0, 48 [SEP] 29, Pen, 1.510, 1.417, 0.393, 0, 270, 0, 42 [SEP] 30, Pencil, 1.233, 0.705, -1.326, 0, 180, 0, 50 [SEP] 31, Mug, 1.638, 0.706, -0.385, 0, 90, 0, 42 [SEP] 32, Mirror, -0.689, 1.495, 0.954, 0, 0, 0,  [SEP] 33, Bed, -1.742, 0.000, -0.071, 0, 0, 0,  [SEP] 34, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0,  [SEP] 35, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0,  [SEP] 36, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0,  [SEP] 37, Painting, -2.401, 1.700, -0.859, 90, 90, 0,  [SEP] 38, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0,  [SEP] 39, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0,  [SEP] 40, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0,  [SEP] 41, Window, 0.046, 1.559, -2.079, 90, 180, 0,  [SEP] 42, SideTable, 1.561, 0.000, -0.465, 0, 270, 0,  [SEP] 43, Shelf, 1.541, 0.493, -0.475, 0, 270, 0,  [SEP] 44, Blinds, 0.007, 2.152, -2.014, 0, 0, 0,  [SEP] 45, Drawer, -0.156, 0.547, -1.430, 0, 0, 0,  [SEP] 46, Drawer, 0.270, 0.159, -1.430, 0, 0, 0,  [SEP] 47, Drawer, -0.156, 0.159, -1.430, 0, 0, 0,  [SEP] 48, Drawer, 0.270, 0.353, -1.430, 0, 0, 0,  [SEP] 49, Drawer, -0.156, 0.353, -1.430, 0, 0, 0,  [SEP] 50, Desk, 0.634, 0.002, -1.557, 0, 0, 0,  [SEP] 51, Drawer, 0.270, 0.547, -1.430, 0, 0, 0,  [SEP] 52, Shelf, 1.406, 0.571, -1.514, 0, 0, 0,  [SEP] 53, Shelf, 1.406, 0.183, -1.514, 0, 0, 0,  [SEP] 54, Shelf, 1.584, 0.183, -1.514, 0, 0, 0,  [SEP] 55, Shelf, 1.406, 0.377, -1.514, 0, 0, 0,  [SEP] 56, Shelf, 1.584, 0.377, -1.514, 0, 0, 0,  [SEP] 57, Shelf, 1.584, 0.571, -1.514, 0, 0, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, EastWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the nightstand to the right of the book shelves. | STEP 2: Pick up the cell phone on the nightstand. | STEP 3: Look down. | STEP 4: Place the cell phone on the second shelf, to the left of the clock. | END


Input: Put the clean cloth on top of the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.75, 0, 270, 0,  [SEP] 1, SprayBottle, -2.694, 0.993, -2.125, 0, 90, 0, 23 [SEP] 2, SprayBottle, -0.118, 1.045, -0.478, 0, 270, 0, 32 [SEP] 3, SoapBottle, -2.841, 0.994, -2.125, 0, 0, 0, 23 [SEP] 4, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 27 [SEP] 5, ToiletPaper, -2.547, 0.989, -3.720, 0, 0, 0, 23 [SEP] 6, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 26 [SEP] 7, SoapBar, -0.221, 0.043, -2.849, 0, 90, 0, 31 [SEP] 8, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 30 [SEP] 9, ToiletPaper, -0.162, 0.350, -3.399, 0, 90, 0, 34 [SEP] 10, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 24 [SEP] 11, SoapBottle, -0.180, 1.162, -3.300, 0, 90, 0, 37 [SEP] 12, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 13, Cloth, -2.524, 0.085, -0.535, 0, 90, 0, 29 [SEP] 14, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 15, Candle, -2.620, 0.991, -2.923, 0, 0, 0, 23 [SEP] 16, SprayBottle, -2.620, 0.993, -2.125, 0, 0, 0, 23 [SEP] 17, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0,  [SEP] 18, Faucet, -0.040, 1.017, -2.076, 0, 270, 0,  [SEP] 19, Sink, -0.307, 0.0, -2.076, 0, 270, 0,  [SEP] 20, Mirror, -2.983, 1.565, -2.900, 0, 0, 0,  [SEP] 21, Shelf, -2.581, 0.395, -2.923, 0, 0, 0,  [SEP] 22, Shelf, -2.539, 0.130, -2.923, 0, 0, 0,  [SEP] 23, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0,  [SEP] 24, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0,  [SEP] 25, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0,  [SEP] 26, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0,  [SEP] 27, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0,  [SEP] 28, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0,  [SEP] 29, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0,  [SEP] 30, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0,  [SEP] 31, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0,  [SEP] 32, Toilet, -0.411, -0.000, -0.547, 0, 0, 0,  [SEP] 33, Drawer, -0.229, 0.161, -3.398, 0, 270, 0,  [SEP] 34, Drawer, -0.229, 0.420, -3.398, 0, 270, 0,  [SEP] 35, Drawer, -0.229, 0.680, -3.398, 0, 270, 0,  [SEP] 36, Drawer, -0.229, 0.940, -3.398, 0, 270, 0,  [SEP] 37, Dresser, -0.205, 0.000, -3.398, 0, 270, 0,  [SEP] 38, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0,  [SEP] 39, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,

Output: STEP 1: Turn right then left to face the bathtub. | STEP 2: Grab the dirty cloth from the bathtub. | STEP 3: Turn around then turn right to face the sink. | STEP 4: Place the cloth into the sink, rinse it off and retrieve it. | STEP 5: Turn right, then turn left to the door, then turn left again. | STEP 6: Place the rag on top of the drawer. | END


Input: Clean the dirty towel to place it on the dresser. 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, -1.75, 0, 270, 0,  [SEP] 1, SprayBottle, -2.694, 0.993, -2.125, 0, 90, 0, 23 [SEP] 2, SprayBottle, -0.118, 1.045, -0.478, 0, 270, 0, 32 [SEP] 3, SoapBottle, -2.841, 0.994, -2.125, 0, 0, 0, 23 [SEP] 4, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 27 [SEP] 5, ToiletPaper, -2.547, 0.989, -3.720, 0, 0, 0, 23 [SEP] 6, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 26 [SEP] 7, SoapBar, -0.221, 0.043, -2.849, 0, 90, 0, 31 [SEP] 8, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 30 [SEP] 9, ToiletPaper, -0.162, 0.350, -3.399, 0, 90, 0, 34 [SEP] 10, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 24 [SEP] 11, SoapBottle, -0.180, 1.162, -3.300, 0, 90, 0, 37 [SEP] 12, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 13, Cloth, -2.524, 0.085, -0.535, 0, 90, 0, 29 [SEP] 14, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 15, Candle, -2.620, 0.991, -2.923, 0, 0, 0, 23 [SEP] 16, SprayBottle, -2.620, 0.993, -2.125, 0, 0, 0, 23 [SEP] 17, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0,  [SEP] 18, Faucet, -0.040, 1.017, -2.076, 0, 270, 0,  [SEP] 19, Sink, -0.307, 0.0, -2.076, 0, 270, 0,  [SEP] 20, Mirror, -2.983, 1.565, -2.900, 0, 0, 0,  [SEP] 21, Shelf, -2.581, 0.395, -2.923, 0, 0, 0,  [SEP] 22, Shelf, -2.539, 0.130, -2.923, 0, 0, 0,  [SEP] 23, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0,  [SEP] 24, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0,  [SEP] 25, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0,  [SEP] 26, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0,  [SEP] 27, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0,  [SEP] 28, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0,  [SEP] 29, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0,  [SEP] 30, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0,  [SEP] 31, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0,  [SEP] 32, Toilet, -0.411, -0.000, -0.547, 0, 0, 0,  [SEP] 33, Drawer, -0.229, 0.161, -3.398, 0, 270, 0,  [SEP] 34, Drawer, -0.229, 0.420, -3.398, 0, 270, 0,  [SEP] 35, Drawer, -0.229, 0.680, -3.398, 0, 270, 0,  [SEP] 36, Drawer, -0.229, 0.940, -3.398, 0, 270, 0,  [SEP] 37, Dresser, -0.205, 0.000, -3.398, 0, 270, 0,  [SEP] 38, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0,  [SEP] 39, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,

Output: STEP 1: Turn left and head towards the tub on your left side. | STEP 2: Pick up the dirty towel inside the tub. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the dirty towel in side the sink, turn on the faucet, wash the towel, turn off the faucet, and pick up the towel. | STEP 5: Walk straight towards the dresser on your left. | STEP 6: Place the towel on top of the dresser to the right of the bottle. | END


Input: Pick up the cloth from the flush tank and put 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, -2.5, 0.899, -1.25, 0, 270, 0,  [SEP] 1, SoapBar, -3.295, 0.083, -0.738, 0, 0, 0, 23 [SEP] 2, SprayBottle, -3.607, 0.085, -1.907, 0, 0, 0, 19 [SEP] 3, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 25 [SEP] 4, Candle, -2.023, 1.085, -1.969, 0, 0, 0, 31 [SEP] 5, Cloth, -2.002, 1.034, -2.086, 0, 343.825, 0, 31 [SEP] 6, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 28 [SEP] 7, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 8, SoapBottle, -3.545, 0.084, -1.143, 0, 0, 0, 17 [SEP] 9, SoapBar, -1.761, 1.043, -2.030, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -3.493, 0.075, -1.635, 0, 0, 0, 19 [SEP] 11, ToiletPaper, -2.305, 0.755, -2.157, 0, 0, 90, 30 [SEP] 12, SprayBottle, -3.421, 0.912, -1.348, 0, 0, 0, 24 [SEP] 13, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 14, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0,  [SEP] 15, Window, -1.737, 1.292, -2.286, 0, 0, 0,  [SEP] 16, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0,  [SEP] 17, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0,  [SEP] 18, Mirror, -3.730, 1.481, -1.427, 0, 0, 0,  [SEP] 19, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0,  [SEP] 20, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0,  [SEP] 21, Sink, -3.391, 0.841, -1.828, 0, 90, 0,  [SEP] 22, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0,  [SEP] 23, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0,  [SEP] 24, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0,  [SEP] 25, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0,  [SEP] 26, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0,  [SEP] 27, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0,  [SEP] 28, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0,  [SEP] 29, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0,  [SEP] 30, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0,  [SEP] 31, Toilet, -1.896, -0.001, -1.738, 0, 90, 0,  [SEP] 32, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0,  [SEP] 33, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0,  [SEP] 34, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0,  [SEP] 35, Sink, -3.391, 0.841, -0.931, 0, 90, 0,  [SEP] 36, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn to your left, again turn left to face the flush toilet from the side | STEP 2: Pick up the white cloth from the flush tank | STEP 3: Turn around to face the sink | STEP 4: Put the cloth in the left sink | END


Input: Take the apple out of the microwave, put the apple on to a plate, put the plate into the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Statue, -1.278, 0.920, 0.188, 0, 0, 0, 77 [SEP] 2, Statue, 2.798, 0.559, 0.297, 0, 180, 0, 90 [SEP] 3, Ladle, -0.290, 0.800, -1.952, 0, 270, 0, 94 [SEP] 4, Ladle, -0.186, 0.732, 0.181, 0, 270, 0, 83 [SEP] 5, Kettle, -1.330, 0.914, -0.109, 0, 0, 0, 77 [SEP] 6, Kettle, -1.056, 0.956, -1.127, 0, 0, 0, 81 [SEP] 7, Pot, 1.891, 1.429, -0.737, 0, 270, 0, 91 [SEP] 8, Pot, 1.571, 0.118, -1.397, 0, 0, 0, 58 [SEP] 9, Fork, -1.075, 0.911, -1.722, 0, 180, 0, 84 [SEP] 10, Spoon, -0.252, 0.696, 0.222, 0, 270, 0, 83 [SEP] 11, Spoon, 0.008, 0.914, 0.188, 0, 90, 0, 77 [SEP] 12, Plate, 1.419, 0.909, -2.098, 0, 0, 0, 84 [SEP] 13, Plate, 1.419, 0.909, -1.844, 0, 0, 0, 84 [SEP] 14, Plate, 0.071, 1.129, 0.573, 0, 0, 0, 80 [SEP] 15, Knife, -0.822, 1.155, 0.618, 0, 180, 0, 80 [SEP] 16, Knife, -0.598, 1.155, 0.441, 0, 0, 0, 80 [SEP] 17, SoapBottle, 2.002, 0.063, 0.138, 0, 0, 0, 87 [SEP] 18, SoapBottle, 2.798, 0.552, 0.038, 0, 180, 0, 90 [SEP] 19, SaltShaker, -0.577, 0.688, 0.279, 0, 180, 0, 78 [SEP] 20, SaltShaker, -0.657, 0.690, -2.023, 0, 0, 0, 54 [SEP] 21, PepperShaker, -0.993, 0.907, -1.384, 0, 0, 0, 84 [SEP] 22, Lettuce, -1.322, 0.987, -1.469, 0, 0, 0, 84 [SEP] 23, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 100 [SEP] 24, Mug, -0.152, 1.126, 0.662, 0, 0, 0, 80 [SEP] 25, Apple, -1.322, 0.959, -1.722, 0, 0, 0, 84 [SEP] 26, Pan, -1.289, 0.957, -1.02, 0, 0, 0, 74 [SEP] 27, Knife, -0.117, 0.786, -2.063, 0, 90, 0, 94 [SEP] 28, Bowl, 2.487, 0.549, 0.038, 0, 180, 0, 90 [SEP] 29, Fork, -0.750, 0.901, 0.116, 0, 0, 0, 77 [SEP] 30, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 94 [SEP] 31, Ladle, -0.053, 0.733, 0.181, 0, 270, 0, 83 [SEP] 32, Apple, 1.910, 1.064, -1.192, 0, 270, 0, 89 [SEP] 33, Kettle, 0.944, 1.658, -2.163, 0, 0, 0, 63 [SEP] 34, Vase, 1.950, 1.654, -1.737, 0, 0, 0, 62 [SEP] 35, Potato, -0.777, 0.941, -1.929, 0, 0, 0, 84 [SEP] 36, Pot, -1.056, 0.956, -0.672, 0, 180, 0, 56 [SEP] 37, Bread, -1.148, 0.981, -0.193, 0, 0, 0, 77 [SEP] 38, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 68 [SEP] 39, Spatula, -0.117, 0.778, -2.063, 0, 0, 0, 94 [SEP] 40, PaperTowelRoll, -1.138, 1.015, -1.929, 0, 0, 0, 84 [SEP] 41, Vase, 1.194, 0.917, -1.929, 0, 0, 0, 84 [SEP] 42, Egg, -0.376, 0.797, -2.118, 0, 0, 0, 94 [SEP] 43, SoapBottle, 1.884, 0.063, 0.138, 0, 0, 0, 87 [SEP] 44, SaltShaker, -1.272, 1.657, -0.558, 0, 0, 0, 67 [SEP] 45, Lettuce, 1.945, 1.504, -0.458, 0, 270, 0, 91 [SEP] 46, PepperShaker, -0.420, 0.909, 0.241, 0, 0, 0, 77 [SEP] 47, ButterKnife, -0.375, 1.131, 0.485, 0, 0, 0, 80 [SEP] 48, DishSponge, 1.419, 0.910, -2.267, 0, 0, 0, 84 [SEP] 49, Vase, -1.117, 0.126, -1.465, 0, 0, 0, 70 [SEP] 50, Spoon, -1.239, 0.912, -1.469, 0, 0, 0, 84 [SEP] 51, Tomato, 1.836, 0.866, -0.551, 0, 270, 0, 91 [SEP] 52, Mug, -0.031, 0.758, -1.897, 0, 0, 0, 94 [SEP] 53, Statue, 3.002, 0.886, 0.195, 0, 180, 0, 88 [SEP] 54, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 55, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 56, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 57, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 59, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 60, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 61, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 62, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 63, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 64, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 65, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 66, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 67, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 68, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 69, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 70, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 71, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 72, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 73, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 74, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 75, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 76, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 77, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 78, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 79, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 80, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 81, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 82, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 83, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 84, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 85, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 86, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 87, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 88, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 89, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 90, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 91, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 92, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 93, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 94, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 95, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 96, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 97, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 98, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 99, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 100, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 101, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 102, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 103, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to the microwave in the kitchen | STEP 2: Open the door to the microwave | STEP 3: Take the apple out of the microwave | STEP 4: Turn to the right, Put the apple on the plate | STEP 5: Pick up the plate with the apple | STEP 6: Turn to the left, put the plate in the microwave | STEP 7: Close the door to the microwave | END


Input: Put the apple on a plate in the microwave.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Statue, -1.278, 0.920, 0.188, 0, 0, 0, 77 [SEP] 2, Statue, 2.798, 0.559, 0.297, 0, 180, 0, 90 [SEP] 3, Ladle, -0.290, 0.800, -1.952, 0, 270, 0, 94 [SEP] 4, Ladle, -0.186, 0.732, 0.181, 0, 270, 0, 83 [SEP] 5, Kettle, -1.330, 0.914, -0.109, 0, 0, 0, 77 [SEP] 6, Kettle, -1.056, 0.956, -1.127, 0, 0, 0, 81 [SEP] 7, Pot, 1.891, 1.429, -0.737, 0, 270, 0, 91 [SEP] 8, Pot, 1.571, 0.118, -1.397, 0, 0, 0, 58 [SEP] 9, Fork, -1.075, 0.911, -1.722, 0, 180, 0, 84 [SEP] 10, Spoon, -0.252, 0.696, 0.222, 0, 270, 0, 83 [SEP] 11, Spoon, 0.008, 0.914, 0.188, 0, 90, 0, 77 [SEP] 12, Plate, 1.419, 0.909, -2.098, 0, 0, 0, 84 [SEP] 13, Plate, 1.419, 0.909, -1.844, 0, 0, 0, 84 [SEP] 14, Plate, 0.071, 1.129, 0.573, 0, 0, 0, 80 [SEP] 15, Knife, -0.822, 1.155, 0.618, 0, 180, 0, 80 [SEP] 16, Knife, -0.598, 1.155, 0.441, 0, 0, 0, 80 [SEP] 17, SoapBottle, 2.002, 0.063, 0.138, 0, 0, 0, 87 [SEP] 18, SoapBottle, 2.798, 0.552, 0.038, 0, 180, 0, 90 [SEP] 19, SaltShaker, -0.577, 0.688, 0.279, 0, 180, 0, 78 [SEP] 20, SaltShaker, -0.657, 0.690, -2.023, 0, 0, 0, 54 [SEP] 21, PepperShaker, -0.993, 0.907, -1.384, 0, 0, 0, 84 [SEP] 22, Lettuce, -1.322, 0.987, -1.469, 0, 0, 0, 84 [SEP] 23, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 100 [SEP] 24, Mug, -0.152, 1.126, 0.662, 0, 0, 0, 80 [SEP] 25, Apple, -1.322, 0.959, -1.722, 0, 0, 0, 84 [SEP] 26, Pan, -1.289, 0.957, -1.02, 0, 0, 0, 74 [SEP] 27, Knife, -0.117, 0.786, -2.063, 0, 90, 0, 94 [SEP] 28, Bowl, 2.487, 0.549, 0.038, 0, 180, 0, 90 [SEP] 29, Fork, -0.750, 0.901, 0.116, 0, 0, 0, 77 [SEP] 30, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 94 [SEP] 31, Ladle, -0.053, 0.733, 0.181, 0, 270, 0, 83 [SEP] 32, Apple, 1.910, 1.064, -1.192, 0, 270, 0, 89 [SEP] 33, Kettle, 0.944, 1.658, -2.163, 0, 0, 0, 63 [SEP] 34, Vase, 1.950, 1.654, -1.737, 0, 0, 0, 62 [SEP] 35, Potato, -0.777, 0.941, -1.929, 0, 0, 0, 84 [SEP] 36, Pot, -1.056, 0.956, -0.672, 0, 180, 0, 56 [SEP] 37, Bread, -1.148, 0.981, -0.193, 0, 0, 0, 77 [SEP] 38, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 68 [SEP] 39, Spatula, -0.117, 0.778, -2.063, 0, 0, 0, 94 [SEP] 40, PaperTowelRoll, -1.138, 1.015, -1.929, 0, 0, 0, 84 [SEP] 41, Vase, 1.194, 0.917, -1.929, 0, 0, 0, 84 [SEP] 42, Egg, -0.376, 0.797, -2.118, 0, 0, 0, 94 [SEP] 43, SoapBottle, 1.884, 0.063, 0.138, 0, 0, 0, 87 [SEP] 44, SaltShaker, -1.272, 1.657, -0.558, 0, 0, 0, 67 [SEP] 45, Lettuce, 1.945, 1.504, -0.458, 0, 270, 0, 91 [SEP] 46, PepperShaker, -0.420, 0.909, 0.241, 0, 0, 0, 77 [SEP] 47, ButterKnife, -0.375, 1.131, 0.485, 0, 0, 0, 80 [SEP] 48, DishSponge, 1.419, 0.910, -2.267, 0, 0, 0, 84 [SEP] 49, Vase, -1.117, 0.126, -1.465, 0, 0, 0, 70 [SEP] 50, Spoon, -1.239, 0.912, -1.469, 0, 0, 0, 84 [SEP] 51, Tomato, 1.836, 0.866, -0.551, 0, 270, 0, 91 [SEP] 52, Mug, -0.031, 0.758, -1.897, 0, 0, 0, 94 [SEP] 53, Statue, 3.002, 0.886, 0.195, 0, 180, 0, 88 [SEP] 54, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 55, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 56, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 57, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 59, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 60, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 61, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 62, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 63, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 64, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 65, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 66, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 67, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 68, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 69, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 70, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 71, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 72, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 73, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 74, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 75, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 76, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 77, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 78, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 79, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 80, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 81, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 82, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 83, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 84, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 85, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 86, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 87, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 88, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 89, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 90, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 91, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 92, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 93, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 94, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 95, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 96, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 97, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 98, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 99, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 100, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 101, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 102, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 103, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the microwave on the counter.  | STEP 2: Take the apple out of the microwave.  | STEP 3: Turn to the right and go to the plate on the counter.  | STEP 4: Put the apple on a plate.  | STEP 5: Pick up the plate with the apple on it. | STEP 6: Turn to the left and go to the microwave.  | STEP 7: Put the plate in the microwave.  | END


Input: To heat a cup and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Pan, -1.431, 0.949, -1.81, 0, 0, 0, 85 [SEP] 2, Pen, 0.970, 0.777, -0.665, 0, 90, 0, 66 [SEP] 3, Pen, 1.375, 1.164, -1.688, 0, 0, 0, 81 [SEP] 4, Ladle, -0.477, 0.955, -1.448, 0, 0, 0, 75 [SEP] 5, ButterKnife, -2.201, 0.910, 0.549, 0, 0, 0, 77 [SEP] 6, ButterKnife, -1.957, 0.910, 0.291, 0, 0, 0, 77 [SEP] 7, Glassbottle, -2.201, 0.911, 0.032, 0, 0, 0, 77 [SEP] 8, Fork, -2.201, 0.911, 0.377, 0, 0, 0, 77 [SEP] 9, Spatula, -1.835, 0.925, 0.204, 0, 90, 0, 77 [SEP] 10, Egg, 1.459, 0.243, 1.051, 0, 0, 0, 92 [SEP] 11, Egg, 0.183, 0.948, -1.607, 0, 270, 0, 54 [SEP] 12, Cup, -1.809, 0.910, -1.793, 0, 0, 0, 73 [SEP] 13, Plate, 1.150, 0.118, 0.430, 0, 0, 0, 58 [SEP] 14, Plate, 1.093, 0.115, -1.186, 0, 0, 0, 60 [SEP] 15, Knife, 0.936, 0.804, 0.485, 0, 270, 0, 52 [SEP] 16, Knife, -2.193, 0.940, -1.879, 0, 90, 0, 73 [SEP] 17, Tomato, -1.886, 0.950, -1.965, 0, 0, 0, 73 [SEP] 18, PepperShaker, -1.860, 0.111, -1.586, 0, 0, 0, 82 [SEP] 19, Bread, -1.712, 0.988, 0.291, 0, 0, 0, 77 [SEP] 20, Lettuce, 0.927, 0.980, -0.309, 0, 0, 0, 75 [SEP] 21, Lettuce, -2.079, 0.979, 0.377, 0, 0, 0, 77 [SEP] 22, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 91 [SEP] 23, Mug, -0.953, 1.845, -1.839, 0, 0, 0, 55 [SEP] 24, Apple, -1.962, 0.945, -1.448, 0, 0, 0, 73 [SEP] 25, Apple, -1.809, 0.945, -1.448, 0, 0, 0, 73 [SEP] 26, Tomato, 1.453, 1.760, 2.026, 0, 270, 0, 94 [SEP] 27, Glassbottle, -0.342, 0.117, -1.683, 0, 0, 0, 61 [SEP] 28, Knife, 1.113, 0.802, -1.068, 0, 270, 0, 53 [SEP] 29, Plate, 1.461, 1.656, -1.185, 0, 0, 0, 67 [SEP] 30, Fork, -2.039, 0.911, -1.534, 0, 90, 0, 73 [SEP] 31, Ladle, 0.808, 1.699, -1.839, 0, 0, 0, 64 [SEP] 32, Potato, 1.388, 1.762, 1.838, 0, 270, 0, 94 [SEP] 33, Lettuce, 1.414, 1.231, -1.002, 0, 0, 0, 81 [SEP] 34, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 75 [SEP] 35, Pen, 0.105, 0.913, -1.395, 0, 0, 0, 54 [SEP] 36, SaltShaker, -0.313, 1.650, -1.876, 0, 0, 0, 57 [SEP] 37, Cup, -0.406, 0.117, -1.538, 0, 0, 0, 61 [SEP] 38, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 54 [SEP] 39, Spatula, 0.251, 0.934, -1.808, 0, 90, 0, 54 [SEP] 40, Bowl, 1.376, 1.368, 2.226, 0, 270, 0, 94 [SEP] 41, SprayBottle, 1.459, 0.213, 1.137, 0, 0, 0, 92 [SEP] 42, Pan, -1.081, 0.949, -1.81, 0, 0, 0, 71 [SEP] 43, SoapBottle, -1.957, 0.910, 0.463, 0, 0, 0, 77 [SEP] 44, Pot, 0.967, 0.9, 0.249, 0, 0, 0, 75 [SEP] 45, ButterKnife, 0.149, 0.919, -1.758, 0, 270, 0, 54 [SEP] 46, PepperShaker, -1.732, 0.905, -1.965, 0, 0, 0, 73 [SEP] 47, DishSponge, 1.296, 1.161, -0.659, 0, 0, 0, 81 [SEP] 48, Bread, 1.335, 1.240, -1.345, 0, 0, 0, 81 [SEP] 49, Apple, 1.381, 0.249, 1.051, 0, 0, 0, 92 [SEP] 50, Spoon, -0.344, 0.774, -1.500, 0, 270, 0, 74 [SEP] 51, Mug, 1.527, 1.362, 1.850, 0, 0, 0, 94 [SEP] 52, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 53, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 54, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 55, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 56, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 57, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 58, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 59, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 60, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 61, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 62, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 63, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 64, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 65, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 66, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 67, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 68, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 69, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 70, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 71, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 72, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 73, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 74, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 75, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 76, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 77, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 78, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 79, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 80, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 81, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 82, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 83, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 84, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 85, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 86, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 87, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 88, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 89, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 90, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 91, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 92, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 93, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 94, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 95, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 96, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 97, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 98, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 99, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 100, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk across the room to face the counter to the right of the sink. | STEP 2: Pick up the cup in the cabinet under the ladle. | STEP 3: Turn to the left and walk forward to face the microwave above the stove. | STEP 4: Heat the cup in the microwave and remove it. | STEP 5: Turn to the right and walk over to face the sink. | STEP 6: Place the cup in the right side of the sink. | END


Input: Put a heated cup in the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Pan, -1.431, 0.949, -1.81, 0, 0, 0, 85 [SEP] 2, Pen, 0.970, 0.777, -0.665, 0, 90, 0, 66 [SEP] 3, Pen, 1.375, 1.164, -1.688, 0, 0, 0, 81 [SEP] 4, Ladle, -0.477, 0.955, -1.448, 0, 0, 0, 75 [SEP] 5, ButterKnife, -2.201, 0.910, 0.549, 0, 0, 0, 77 [SEP] 6, ButterKnife, -1.957, 0.910, 0.291, 0, 0, 0, 77 [SEP] 7, Glassbottle, -2.201, 0.911, 0.032, 0, 0, 0, 77 [SEP] 8, Fork, -2.201, 0.911, 0.377, 0, 0, 0, 77 [SEP] 9, Spatula, -1.835, 0.925, 0.204, 0, 90, 0, 77 [SEP] 10, Egg, 1.459, 0.243, 1.051, 0, 0, 0, 92 [SEP] 11, Egg, 0.183, 0.948, -1.607, 0, 270, 0, 54 [SEP] 12, Cup, -1.809, 0.910, -1.793, 0, 0, 0, 73 [SEP] 13, Plate, 1.150, 0.118, 0.430, 0, 0, 0, 58 [SEP] 14, Plate, 1.093, 0.115, -1.186, 0, 0, 0, 60 [SEP] 15, Knife, 0.936, 0.804, 0.485, 0, 270, 0, 52 [SEP] 16, Knife, -2.193, 0.940, -1.879, 0, 90, 0, 73 [SEP] 17, Tomato, -1.886, 0.950, -1.965, 0, 0, 0, 73 [SEP] 18, PepperShaker, -1.860, 0.111, -1.586, 0, 0, 0, 82 [SEP] 19, Bread, -1.712, 0.988, 0.291, 0, 0, 0, 77 [SEP] 20, Lettuce, 0.927, 0.980, -0.309, 0, 0, 0, 75 [SEP] 21, Lettuce, -2.079, 0.979, 0.377, 0, 0, 0, 77 [SEP] 22, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 91 [SEP] 23, Mug, -0.953, 1.845, -1.839, 0, 0, 0, 55 [SEP] 24, Apple, -1.962, 0.945, -1.448, 0, 0, 0, 73 [SEP] 25, Apple, -1.809, 0.945, -1.448, 0, 0, 0, 73 [SEP] 26, Tomato, 1.453, 1.760, 2.026, 0, 270, 0, 94 [SEP] 27, Glassbottle, -0.342, 0.117, -1.683, 0, 0, 0, 61 [SEP] 28, Knife, 1.113, 0.802, -1.068, 0, 270, 0, 53 [SEP] 29, Plate, 1.461, 1.656, -1.185, 0, 0, 0, 67 [SEP] 30, Fork, -2.039, 0.911, -1.534, 0, 90, 0, 73 [SEP] 31, Ladle, 0.808, 1.699, -1.839, 0, 0, 0, 64 [SEP] 32, Potato, 1.388, 1.762, 1.838, 0, 270, 0, 94 [SEP] 33, Lettuce, 1.414, 1.231, -1.002, 0, 0, 0, 81 [SEP] 34, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 75 [SEP] 35, Pen, 0.105, 0.913, -1.395, 0, 0, 0, 54 [SEP] 36, SaltShaker, -0.313, 1.650, -1.876, 0, 0, 0, 57 [SEP] 37, Cup, -0.406, 0.117, -1.538, 0, 0, 0, 61 [SEP] 38, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 54 [SEP] 39, Spatula, 0.251, 0.934, -1.808, 0, 90, 0, 54 [SEP] 40, Bowl, 1.376, 1.368, 2.226, 0, 270, 0, 94 [SEP] 41, SprayBottle, 1.459, 0.213, 1.137, 0, 0, 0, 92 [SEP] 42, Pan, -1.081, 0.949, -1.81, 0, 0, 0, 71 [SEP] 43, SoapBottle, -1.957, 0.910, 0.463, 0, 0, 0, 77 [SEP] 44, Pot, 0.967, 0.9, 0.249, 0, 0, 0, 75 [SEP] 45, ButterKnife, 0.149, 0.919, -1.758, 0, 270, 0, 54 [SEP] 46, PepperShaker, -1.732, 0.905, -1.965, 0, 0, 0, 73 [SEP] 47, DishSponge, 1.296, 1.161, -0.659, 0, 0, 0, 81 [SEP] 48, Bread, 1.335, 1.240, -1.345, 0, 0, 0, 81 [SEP] 49, Apple, 1.381, 0.249, 1.051, 0, 0, 0, 92 [SEP] 50, Spoon, -0.344, 0.774, -1.500, 0, 270, 0, 74 [SEP] 51, Mug, 1.527, 1.362, 1.850, 0, 0, 0, 94 [SEP] 52, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 53, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 54, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 55, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 56, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 57, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 58, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 59, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 60, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 61, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 62, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 63, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 64, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 65, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 66, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 67, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 68, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 69, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 70, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 71, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 72, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 73, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 74, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 75, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 76, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 77, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 78, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 79, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 80, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 81, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 82, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 83, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 84, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 85, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 86, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 87, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 88, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 89, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 90, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 91, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 92, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 93, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 94, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 95, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 96, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 97, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 98, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 99, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 100, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Head to the cabinet under the sink.  | STEP 2: Open up the left cabinet under the spoon on the counter and pick up the cup in there.  | STEP 3: Turn around, bring the cup to the microwave on the right.  | STEP 4: Heat the cup in the microwave. | STEP 5: Bring the heated cup to the sink on the left. | STEP 6: Put the heated cup in the sink.  | END


Input: move the remote from the coffee table to the blue chair 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, -2.25, 0, 0, 0,  [SEP] 1, Bowl, -1.871, 0.760, -0.820, 0, 90, 0, 42 [SEP] 2, Bowl, -0.416, 0.477, -1.182, 0, 180, 0, 38 [SEP] 3, KeyChain, 0.262, 0.421, -2.190, 0, 0, 0, 28 [SEP] 4, KeyChain, 2.236, 0.453, -1.807, 0, 270, 0, 48 [SEP] 5, Laptop, -0.115, 0.471, -1.057, 0, 180, 0, 38 [SEP] 6, Box, 0.794, 0.678, 0.814, 0, 180, 0, 35 [SEP] 7, Bowl, -1.680, 0.757, -1.526, 0, 90, 0, 42 [SEP] 8, KeyChain, 2.321, 0.453, -2.309, 0, 0, 0, 48 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.743, 0.758, -0.350, 0, 90, 0, 42 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, 0.133, 0.556, 0.906, 0, 180, 0, 35 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, 0.487, 0.575, -1.057, 0, 180, 0, 38 [SEP] 15, RemoteControl, 0.487, 0.478, -1.245, 0, 180, 0, 38 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.419, 0.421, -2.190, 0, 0, 0, 28 [SEP] 18, Vase, -1.871, 0.757, -0.585, 0, 90, 0, 42 [SEP] 19, Statue, 0.185, 0.483, -1.120, 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: take two steps forward, turn right, take a few steps, turn left to face the coffee table | STEP 2: pick up the remote that is on the table | STEP 3: turn right, walk forward to blue chair | STEP 4: put the remote on the blue chair | END


Input: place a remote controller on top of the chair in the corner of the room 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, -2.25, 0, 0, 0,  [SEP] 1, Bowl, -1.871, 0.760, -0.820, 0, 90, 0, 42 [SEP] 2, Bowl, -0.416, 0.477, -1.182, 0, 180, 0, 38 [SEP] 3, KeyChain, 0.262, 0.421, -2.190, 0, 0, 0, 28 [SEP] 4, KeyChain, 2.236, 0.453, -1.807, 0, 270, 0, 48 [SEP] 5, Laptop, -0.115, 0.471, -1.057, 0, 180, 0, 38 [SEP] 6, Box, 0.794, 0.678, 0.814, 0, 180, 0, 35 [SEP] 7, Bowl, -1.680, 0.757, -1.526, 0, 90, 0, 42 [SEP] 8, KeyChain, 2.321, 0.453, -2.309, 0, 0, 0, 48 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.743, 0.758, -0.350, 0, 90, 0, 42 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, 0.133, 0.556, 0.906, 0, 180, 0, 35 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, 0.487, 0.575, -1.057, 0, 180, 0, 38 [SEP] 15, RemoteControl, 0.487, 0.478, -1.245, 0, 180, 0, 38 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.419, 0.421, -2.190, 0, 0, 0, 28 [SEP] 18, Vase, -1.871, 0.757, -0.585, 0, 90, 0, 42 [SEP] 19, Statue, 0.185, 0.483, -1.120, 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: move over to the coffee table on your right, but approach the right side of it and face it | STEP 2: grab the remote controller off of the coffee table | STEP 3: turn right and walk over to the blue chair in the corner of the room | STEP 4: place the remote controller down on top of the chair there | END


Input: Examine a pillow by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.998, -0.75, 0, 90, 0,  [SEP] 1, Pen, -3.650, 0.884, -0.893, 0, 0, 0, 30 [SEP] 2, KeyChain, 0.919, 0.786, -1.698, 0, 0, 0, 27 [SEP] 3, KeyChain, 0.492, 0.409, -2.033, 0, 90, 0, 27 [SEP] 4, CreditCard, -0.383, 0.524, 0.772, 0, 0, 0, 35 [SEP] 5, RemoteControl, -1.428, 0.526, 0.835, 0, 0, 0, 35 [SEP] 6, RemoteControl, -0.731, 0.526, 0.835, 0, 0, 0, 35 [SEP] 7, Box, -1.354, 0.608, -0.738, 0, 270, 0, 31 [SEP] 8, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 27 [SEP] 9, CreditCard, 0.748, 0.304, -1.530, 0, 0, 0, 27 [SEP] 10, Plate, -4.094, 0.888, -1.287, 0, 0, 0, 30 [SEP] 11, Laptop, -3.207, 0.879, -1.188, 0, 0, 0, 30 [SEP] 12, RemoteControl, 0.577, 0.306, -1.614, 0, 0, 0, 27 [SEP] 13, Vase, -0.345, 0.977, -2.533, 0, 90, 0, 39 [SEP] 14, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 39 [SEP] 15, KeyChain, -3.650, 0.878, -1.188, 0, 0, 0, 30 [SEP] 16, Pen, -2.763, 0.884, -1.188, 0, 0, 0, 30 [SEP] 17, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 18, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 19, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 20, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 21, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 22, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 23, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 24, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 25, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 26, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 27, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 28, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 29, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 30, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 31, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 32, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 33, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 34, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 35, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 36, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 37, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 38, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 39, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Walk to the yellow chair to the right. | STEP 2: Pick up the purple pillow from the chair. | STEP 3: Turn around and walk to the floor lamp that is to the left of the sofa. | STEP 4: Turn on the lamp. | END


Input: Grab the purple pillow from the arm chair, turn on 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, 0.998, -0.75, 0, 90, 0,  [SEP] 1, Pen, -3.650, 0.884, -0.893, 0, 0, 0, 30 [SEP] 2, KeyChain, 0.919, 0.786, -1.698, 0, 0, 0, 27 [SEP] 3, KeyChain, 0.492, 0.409, -2.033, 0, 90, 0, 27 [SEP] 4, CreditCard, -0.383, 0.524, 0.772, 0, 0, 0, 35 [SEP] 5, RemoteControl, -1.428, 0.526, 0.835, 0, 0, 0, 35 [SEP] 6, RemoteControl, -0.731, 0.526, 0.835, 0, 0, 0, 35 [SEP] 7, Box, -1.354, 0.608, -0.738, 0, 270, 0, 31 [SEP] 8, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 27 [SEP] 9, CreditCard, 0.748, 0.304, -1.530, 0, 0, 0, 27 [SEP] 10, Plate, -4.094, 0.888, -1.287, 0, 0, 0, 30 [SEP] 11, Laptop, -3.207, 0.879, -1.188, 0, 0, 0, 30 [SEP] 12, RemoteControl, 0.577, 0.306, -1.614, 0, 0, 0, 27 [SEP] 13, Vase, -0.345, 0.977, -2.533, 0, 90, 0, 39 [SEP] 14, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 39 [SEP] 15, KeyChain, -3.650, 0.878, -1.188, 0, 0, 0, 30 [SEP] 16, Pen, -2.763, 0.884, -1.188, 0, 0, 0, 30 [SEP] 17, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 18, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 19, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 20, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 21, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 22, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 23, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 24, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 25, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 26, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 27, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 28, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 29, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 30, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 31, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 32, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 33, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 34, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 35, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 36, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 37, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 38, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 39, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn right, and turn left to the yellow arm chair | STEP 2: Grab the purple pillow on the arm chair | STEP 3: Turn around, walk to the white table, turn right, walk to the floor lamp | STEP 4: Turn on the floor lamp | END


Input: Grab the newspaper on the coffee table, turn on 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, -5.25, 0.927, 4.25, 0, 0, 0,  [SEP] 1, Plate, -5.817, 0.648, 3.617, 0, 0, 0, 75 [SEP] 2, Newspaper, -2.440, 0.299, 2.205, 0, 0, 0, 79 [SEP] 3, KeyChain, -4.424, 0.957, 5.240, 0, 0, 0, 44 [SEP] 4, CreditCard, -3.732, 0.277, 3.312, 0, 0, 0, 76 [SEP] 5, RemoteControl, -4.540, 1.275, 5.170, 0, 0, 0, 43 [SEP] 6, RemoteControl, -5.571, 0.642, 2.915, 0, 0, 0, 75 [SEP] 7, Laptop, -5.939, 0.639, 1.861, 0, 0, 0, 75 [SEP] 8, Laptop, -2.894, 0.298, 1.931, 0, 0, 0, 79 [SEP] 9, Box, -2.362, 0.657, 0.306, 0, 300.000, 0, 50 [SEP] 10, Statue, -6.589, 1.022, 5.172, 0, 180, 0, 36 [SEP] 11, KeyChain, -1.004, 0.275, 2.315, 0, 270, 0, 77 [SEP] 12, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 30 [SEP] 13, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 47 [SEP] 14, Vase, -3.983, 1.285, 5.168, 0, 0, 0, 53 [SEP] 15, Newspaper, -6.062, 0.641, 2.915, 0, 0, 0, 75 [SEP] 16, CreditCard, -3.127, 0.276, 3.661, 0, 0, 0, 76 [SEP] 17, RemoteControl, -4.782, 1.582, 5.17, 0, 0, 0, 57 [SEP] 18, Laptop, -5.764, 0.634, 2.376, 0, 0, 0, 75 [SEP] 19, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 78 [SEP] 20, Vase, -3.155, 0.184, 1.682, 0, 325.579, 0, 74 [SEP] 21, Statue, -5.539, 0.406, 5.134, 0, 0, 0, 38 [SEP] 22, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 54 [SEP] 23, Plate, -0.904, 0.492, 0.264, 0, 90, 0, 50 [SEP] 24, Vase, -3.848, 0.485, 0.314, 0, 90, 0, 50 [SEP] 25, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 57 [SEP] 26, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 49 [SEP] 27, Statue, -3.851, 0.930, 5.169, 0, 0, 0, 35 [SEP] 28, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 58 [SEP] 29, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 75 [SEP] 30, Shelf, -1.776, 0.988, 0.184, 0, 180, 0,  [SEP] 31, Chair, -5.413, 0.024, 1.780, 0, 0, 0,  [SEP] 32, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0,  [SEP] 33, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0,  [SEP] 34, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0,  [SEP] 35, Shelf, -3.937, 0.988, 5.170, 0, 0, 0,  [SEP] 36, Shelf, -6.572, 1.144, 5.170, 0, 0, 0,  [SEP] 37, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0,  [SEP] 38, Shelf, -5.606, 0.444, 5.170, 0, 0, 0,  [SEP] 39, Drawer, -6.324, 0.823, 5.001, 0, 0, 0,  [SEP] 40, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0,  [SEP] 41, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0,  [SEP] 42, Drawer, -1.093, 0.233, 0.462, 0, 0, 0,  [SEP] 43, Shelf, -4.672, 1.317, 5.170, 0, 0, 0,  [SEP] 44, Shelf, -4.672, 0.998, 5.170, 0, 0, 0,  [SEP] 45, Shelf, -2.221, 0.444, 5.170, 0, 0, 0,  [SEP] 46, Drawer, -6.324, 0.508, 5.001, 0, 0, 0,  [SEP] 47, Shelf, -1.041, 0.998, 0.184, 0, 180, 0,  [SEP] 48, Drawer, -4.264, 0.233, 0.462, 0, 0, 0,  [SEP] 49, Shelf, -0.810, 1.688, 0.185, 0, 180, 0,  [SEP] 50, Shelf, -2.671, 0.610, 0.272, 0, 90, 0,  [SEP] 51, Drawer, -2.681, 0.233, 0.462, 0, 0, 0,  [SEP] 52, Drawer, -2.940, 0.508, 5.001, 0, 0, 0,  [SEP] 53, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0,  [SEP] 54, Shelf, -1.041, 1.317, 0.184, 0, 180, 0,  [SEP] 55, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0,  [SEP] 56, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0,  [SEP] 57, Shelf, -4.903, 1.688, 5.170, 0, 0, 0,  [SEP] 58, Shelf, -3.187, 1.144, 5.170, 0, 0, 0,  [SEP] 59, Drawer, -2.940, 0.823, 5.001, 0, 0, 0,  [SEP] 60, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0,  [SEP] 61, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0,  [SEP] 62, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0,  [SEP] 63, Chair, -6.296, 0.024, 1.672, 0, 180, 0,  [SEP] 64, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0,  [SEP] 65, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0,  [SEP] 66, Television, -3.503, 1.506, 0.001, 0, 0, 0,  [SEP] 67, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0,  [SEP] 68, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0,  [SEP] 69, Painting, -5.769, 1.394, -0.026, 90, 180, 0,  [SEP] 70, Window, 0.001, 1.246, 2.471, 90, 270, 0,  [SEP] 71, Window, 0.001, 1.246, 3.558, 90, 270, 0,  [SEP] 72, Window, 0.001, 1.246, 1.368, 90, 270, 0,  [SEP] 73, Painting, -0.967, 1.396, 5.268, 90, 180, 0,  [SEP] 74, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0,  [SEP] 75, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0,  [SEP] 76, Sofa, -3.328, 0.023, 3.632, 0, 180, 0,  [SEP] 77, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0,  [SEP] 78, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0,  [SEP] 79, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk across the room to the other side of the coffee table | STEP 2: Grab the newspaper on the coffee table, | STEP 3: Turn around, walk behind the sofa to the corner floor lamp | STEP 4: Turn on the floor lamp | END


Input: Inspect the green rag with the lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.5, 0, 90, 0,  [SEP] 1, Pen, 1.411, 0.829, -1.673, 0, 270, 0, 46 [SEP] 2, Pen, 0.355, 0.818, -2.440, 0, 0, 0, 48 [SEP] 3, Pencil, -1.319, 0.091, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, 1.494, 0.823, -1.776, 0, 270, 0, 46 [SEP] 5, CreditCard, -1.192, 0.862, -2.248, 0, 0, 0, 55 [SEP] 6, Book, -0.621, 0.774, 0.850, 0, 0, 0, 26 [SEP] 7, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 8, RemoteControl, -1.319, 0.373, -2.363, 0, 0, 0, 53 [SEP] 9, Book, 1.103, 0.774, 1.012, 0, 0, 0, 26 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 12, CellPhone, -0.046, 0.774, 1.173, 0, 0, 0, 26 [SEP] 13, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 48 [SEP] 14, Laptop, 0.528, 0.772, 1.173, 0, 0, 0, 26 [SEP] 15, AlarmClock, -1.594, 0.862, -2.311, 0, 0, 0, 55 [SEP] 16, CreditCard, 0.042, 0.812, -2.169, 0, 0, 0, 48 [SEP] 17, KeyChain, -1.493, 0.372, -2.401, 0, 0, 0, 53 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 19, RemoteControl, -1.232, 0.089, -2.363, 0, 0, 0, 52 [SEP] 20, Pillow, 0.528, 0.902, 0.850, 0, 0, 0, 26 [SEP] 21, CD, 0.563, 0.811, -2.440, 0, 0, 0, 48 [SEP] 22, CD, 1.522, 0.823, -1.570, 0, 270, 0, 46 [SEP] 23, CD, -1.594, 0.861, -2.561, 0, 0, 0, 55 [SEP] 24, Pen, -1.192, 0.867, -2.498, 0, 180, 0, 55 [SEP] 25, Bowl, 0.355, 0.813, -2.304, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Move to the mirror to the left of the window. | STEP 2: Pick up the green rag from the floor. | STEP 3: Move to the desk ahead and to the right of you. | STEP 4: Turn on the lamp on the desk. | END


Input: Turn a lamp on with a blanket in hand. 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, -1.5, 0, 90, 0,  [SEP] 1, Pen, 1.411, 0.829, -1.673, 0, 270, 0, 46 [SEP] 2, Pen, 0.355, 0.818, -2.440, 0, 0, 0, 48 [SEP] 3, Pencil, -1.319, 0.091, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, 1.494, 0.823, -1.776, 0, 270, 0, 46 [SEP] 5, CreditCard, -1.192, 0.862, -2.248, 0, 0, 0, 55 [SEP] 6, Book, -0.621, 0.774, 0.850, 0, 0, 0, 26 [SEP] 7, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 8, RemoteControl, -1.319, 0.373, -2.363, 0, 0, 0, 53 [SEP] 9, Book, 1.103, 0.774, 1.012, 0, 0, 0, 26 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 12, CellPhone, -0.046, 0.774, 1.173, 0, 0, 0, 26 [SEP] 13, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 48 [SEP] 14, Laptop, 0.528, 0.772, 1.173, 0, 0, 0, 26 [SEP] 15, AlarmClock, -1.594, 0.862, -2.311, 0, 0, 0, 55 [SEP] 16, CreditCard, 0.042, 0.812, -2.169, 0, 0, 0, 48 [SEP] 17, KeyChain, -1.493, 0.372, -2.401, 0, 0, 0, 53 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 19, RemoteControl, -1.232, 0.089, -2.363, 0, 0, 0, 52 [SEP] 20, Pillow, 0.528, 0.902, 0.850, 0, 0, 0, 26 [SEP] 21, CD, 0.563, 0.811, -2.440, 0, 0, 0, 48 [SEP] 22, CD, 1.522, 0.823, -1.570, 0, 270, 0, 46 [SEP] 23, CD, -1.594, 0.861, -2.561, 0, 0, 0, 55 [SEP] 24, Pen, -1.192, 0.867, -2.498, 0, 180, 0, 55 [SEP] 25, Bowl, 0.355, 0.813, -2.304, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Go to the left and stand above the green blanket on the floor. | STEP 2: Pick the green blanket up from the floor. | STEP 3: Go to the right and then stand in front of the small table wit the lamp. | STEP 4: Turn the lamp on the small table on. | END


Input: Examine the green rag by the light of the lamp on the desk.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.5, 0, 90, 0,  [SEP] 1, Pen, 1.411, 0.829, -1.673, 0, 270, 0, 46 [SEP] 2, Pen, 0.355, 0.818, -2.440, 0, 0, 0, 48 [SEP] 3, Pencil, -1.319, 0.091, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, 1.494, 0.823, -1.776, 0, 270, 0, 46 [SEP] 5, CreditCard, -1.192, 0.862, -2.248, 0, 0, 0, 55 [SEP] 6, Book, -0.621, 0.774, 0.850, 0, 0, 0, 26 [SEP] 7, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 8, RemoteControl, -1.319, 0.373, -2.363, 0, 0, 0, 53 [SEP] 9, Book, 1.103, 0.774, 1.012, 0, 0, 0, 26 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 12, CellPhone, -0.046, 0.774, 1.173, 0, 0, 0, 26 [SEP] 13, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 48 [SEP] 14, Laptop, 0.528, 0.772, 1.173, 0, 0, 0, 26 [SEP] 15, AlarmClock, -1.594, 0.862, -2.311, 0, 0, 0, 55 [SEP] 16, CreditCard, 0.042, 0.812, -2.169, 0, 0, 0, 48 [SEP] 17, KeyChain, -1.493, 0.372, -2.401, 0, 0, 0, 53 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 19, RemoteControl, -1.232, 0.089, -2.363, 0, 0, 0, 52 [SEP] 20, Pillow, 0.528, 0.902, 0.850, 0, 0, 0, 26 [SEP] 21, CD, 0.563, 0.811, -2.440, 0, 0, 0, 48 [SEP] 22, CD, 1.522, 0.823, -1.570, 0, 270, 0, 46 [SEP] 23, CD, -1.594, 0.861, -2.561, 0, 0, 0, 55 [SEP] 24, Pen, -1.192, 0.867, -2.498, 0, 180, 0, 55 [SEP] 25, Bowl, 0.355, 0.813, -2.304, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Move over to the mirror on the wall and face the rags on the floor.  | STEP 2: Pick up the green rag on the floor.  | STEP 3: Bring the green rag to the lamp on the desk.  | STEP 4: Turn on the light on the desk. | END


Input: take the pen from the end table, put it in the bowl on the black shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 180, 0,  [SEP] 1, Vase, -1.699, 1.147, -2.073, 0, 90, 0, 38 [SEP] 2, CellPhone, 2.592, 0.433, 1.584, 0, 90, 0, 59 [SEP] 3, CreditCard, -1.776, 0.799, -0.349, 0, 0, 0, 43 [SEP] 4, KeyChain, 2.413, 0.439, 2.010, 0, 90, 0, 59 [SEP] 5, KeyChain, -1.762, 1.147, -1.959, 0, 180, 0, 38 [SEP] 6, Book, -1.720, 0.035, 0.443, 0, 180, 0, 42 [SEP] 7, AlarmClock, -1.804, 0.972, -0.339, 0, 0, 0, 43 [SEP] 8, AlarmClock, 1.576, 0.680, 2.127, 0, 0, 0, 53 [SEP] 9, Book, -1.699, 1.637, -2.073, 0, 90, 0, 39 [SEP] 10, KeyChain, 2.595, 0.434, 1.753, 0, 90, 0, 59 [SEP] 11, AlarmClock, 2.437, 0.680, -1.762, 0, 0, 0, 56 [SEP] 12, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 25 [SEP] 13, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 25 [SEP] 14, Vase, -1.583, 0.971, -0.742, 0, 0, 0, 43 [SEP] 15, Laptop, 0.537, 0.773, -0.106, 0, 0, 0, 25 [SEP] 16, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 37 [SEP] 17, Pencil, -1.509, 0.977, -0.339, 0, 0, 0, 43 [SEP] 18, CreditCard, -1.664, 0.217, 0.255, 0, 0, 0, 50 [SEP] 19, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 20, Pen, 1.731, 0.686, 2.082, 0, 0, 0, 53 [SEP] 21, CellPhone, 1.02, 0.775, -0.695, 0, 0, 0, 25 [SEP] 22, CD, -1.699, 1.637, -1.845, 0, 90, 0, 37 [SEP] 23, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 38 [SEP] 24, Statue, -1.764, 0.965, -0.758, 0, 59.718, 0, 43 [SEP] 25, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 26, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 27, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 28, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 29, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 30, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 31, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 32, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 33, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 34, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 35, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 36, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 37, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 38, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 39, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 40, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 41, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 42, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 43, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 44, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 45, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 46, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 47, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 48, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 49, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 53, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 54, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 55, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 56, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 57, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 58, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 59, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, EastWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, WestWall, , , , , , ,

Output: STEP 1: turn left, head to the lamp | STEP 2: take the white pen from the end table | STEP 3: turn left, head across the room | STEP 4: put the pen on the black shelf in the bowl | END


Input: Move a book from the grey armchair to the grey couch next to it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -7.0, 0.902, -1.0, 0, 0, 0,  [SEP] 1, Statue, -2.257, 0.594, -2.987, 0, 0, 0, 40 [SEP] 2, Statue, -2.786, 0.594, -2.822, 0, 0, 0, 40 [SEP] 3, Pen, -2.257, 0.592, -2.657, 0, 0, 0, 40 [SEP] 4, KeyChain, -3.795, 0.385, -5.001, 0, 180, 0, 47 [SEP] 5, KeyChain, -2.933, 0.704, -4.952, 0, 0, 0, 43 [SEP] 6, Book, -4.187, 0.334, -3.374, 0, 90, 0, 37 [SEP] 7, CreditCard, -2.151, 0.587, -2.822, 0, 0, 0, 40 [SEP] 8, CreditCard, -2.680, 0.587, -2.161, 0, 0, 0, 40 [SEP] 9, RemoteControl, -4.487, 0.337, -3.665, 0, 90, 0, 37 [SEP] 10, RemoteControl, -5.318, 0.484, -5.129, 0, 0, 0, 41 [SEP] 11, Laptop, -3.218, 0.701, -5.093, 0, 0, 0, 43 [SEP] 12, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 13, Book, -5.117, 0.481, -5.087, 0, 0, 0, 41 [SEP] 14, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 42 [SEP] 15, Watch, -2.148, 0.482, -5.119, 0, 0, 0, 39 [SEP] 16, Pen, -2.648, 0.709, -4.952, 0, 0, 0, 43 [SEP] 17, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 18, Pillow, -4.282, 0.454, -1.736, 0, 270, 0, 42 [SEP] 19, CreditCard, -4.412, 0.335, -3.374, 0, 90, 0, 37 [SEP] 20, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 43 [SEP] 21, KeyChain, -2.648, 0.705, -5.235, 0, 0, 0, 43 [SEP] 22, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 43 [SEP] 23, Laptop, -2.568, 0.580, -2.514, 0, 300.000, 0, 40 [SEP] 24, Statue, -2.020, 0.475, -5.094, 0, 0, 0, 39 [SEP] 25, Vase, -3.901, 0.697, -5.103, 0, 0, 0, 43 [SEP] 26, RemoteControl, -4.187, 0.337, -3.665, 0, 90, 0, 37 [SEP] 27, Vase, -2.933, 0.705, -5.093, 0, 0, 0, 43 [SEP] 28, Mirror, -3.402, 2.028, 0.000, 0, 0, 0,  [SEP] 29, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0,  [SEP] 30, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0,  [SEP] 31, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0,  [SEP] 32, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0,  [SEP] 33, Painting, -3.372, 1.800, -5.392, 90, 180, 0,  [SEP] 34, Television, -0.606, 1.674, -2.602, 0, 270, 0,  [SEP] 35, Window, -8.237, 1.411, -1.509, 90, 270, 0,  [SEP] 36, Window, -8.237, 1.411, -4.081, 90, 270, 0,  [SEP] 37, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0,  [SEP] 38, Shelf, -2.475, 0.124, -2.486, 0, 90, 0,  [SEP] 39, SideTable, -2.016, 0.002, -5.075, 0, 180, 0,  [SEP] 40, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0,  [SEP] 41, SideTable, -5.428, 0.002, -5.123, 0, 180, 0,  [SEP] 42, Sofa, -4.354, 0.009, -2.089, 0, 90, 0,  [SEP] 43, Dresser, -3.505, 0.003, -5.101, 0, 0, 0,  [SEP] 44, Drawer, -2.981, 0.481, -5.031, 0, 0, 0,  [SEP] 45, Drawer, -4.022, 0.169, -5.013, 0, 0, 0,  [SEP] 46, Drawer, -2.978, 0.169, -5.013, 0, 0, 0,  [SEP] 47, Drawer, -4.022, 0.477, -5.013, 0, 0, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Make a right and then another to walk around the couch to reach the grey armchair. | STEP 2: Pick up the book from the grey armchair. | STEP 3: Turn to face the long grey couch to the right of the armchair. | STEP 4: Put the book down on the long grey couch. | END


Input: Pick up two rolls of toilet paper and put them in front of the lefthand 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, 0.903, 3.75, 0, 0, 0,  [SEP] 1, Cloth, -0.503, 0.164, 0.465, 0, 0, 0, 31 [SEP] 2, SoapBar, 0.234, 0.097, 2.642, 0, 0, 0, 27 [SEP] 3, SoapBar, 0.160, 0.097, 3.363, 0, 0, 0, 21 [SEP] 4, Candle, -0.043, 0.713, 0.426, 0, 0, 0, 22 [SEP] 5, Candle, 0.791, 1.056, 4.670, 0, 270, 0, 34 [SEP] 6, SprayBottle, 0.729, 1.048, 4.342, 0, 270, 0, 34 [SEP] 7, SprayBottle, -0.145, 0.153, 1.450, 0, 90, 0, 33 [SEP] 8, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 28 [SEP] 9, Candle, 0.539, 1.063, 2.078, 0, 0, 0, 25 [SEP] 10, Cloth, 0.377, 0.097, 3.167, 0, 0, 0, 21 [SEP] 11, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 32 [SEP] 12, Plunger, 0.480, 0.002, 4.793, 0, 0, 0,  [SEP] 13, SoapBar, 0.160, 0.097, 3.070, 0, 0, 0, 21 [SEP] 14, ToiletPaper, -0.122, 0.148, 1.349, 0, 90, 0, 33 [SEP] 15, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 29 [SEP] 16, SoapBottle, 0.765, 1.058, 4.116, 0, 0, 0, 25 [SEP] 17, SprayBottle, 0.449, 0.098, 3.460, 0, 0, 0, 21 [SEP] 18, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0,  [SEP] 19, Sink, 0.426, 1.037, 2.947, 0, 270, 0,  [SEP] 20, Window, -2.548, 1.673, 2.405, 0, 0, 0,  [SEP] 21, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0,  [SEP] 22, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0,  [SEP] 23, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0,  [SEP] 24, Mirror, 0.858, 1.863, 2.972, 0, 0, 0,  [SEP] 25, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0,  [SEP] 26, Faucet, -0.207, 0.687, 0.546, 0, 0, 0,  [SEP] 27, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0,  [SEP] 28, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0,  [SEP] 29, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0,  [SEP] 30, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0,  [SEP] 31, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0,  [SEP] 32, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0,  [SEP] 33, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0,  [SEP] 34, Toilet, 0.376, 0.002, 4.470, 0, 0, 0,  [SEP] 35, Faucet, 0.661, 1.043, 3.371, 0, 270, 0,  [SEP] 36, Faucet, 0.661, 1.043, 2.520, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk towards the trash can next to the bathtub. | STEP 2: Pick up the roll of toilet paper from the trash can. | STEP 3: Turn left to walk towards the sinks. | STEP 4: Put the roll of toilet paper down in front of the lefthand sink. | STEP 5: Turn left to walk to the toilet. | STEP 6: Pick up the empty roll of toilet paper from the floor next to the toilet. | STEP 7: Turn right to walk towards the sinks. | STEP 8: Put the empty roll of toilet paper down in front of the lefthand sink. | END


Input: Put a heated egg in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.0, 0, 0, 0,  [SEP] 1, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 68 [SEP] 2, Potato, -3.027, 0.685, -1.941, 0, 90, 0, 84 [SEP] 3, DishSponge, -3.393, 0.913, -3.428, 0, 0, 0, 43 [SEP] 4, Spatula, -1.638, 0.805, -3.661, 0, 270, 0, 85 [SEP] 5, Spatula, -0.412, 0.928, -2.911, 0, 270, 0, 43 [SEP] 6, Spoon, -0.530, 0.748, -2.913, 0, 90, 0, 73 [SEP] 7, Spoon, -1.845, 0.791, -3.747, 0, 0, 0, 85 [SEP] 8, Fork, -2.753, 0.714, -0.785, 0, 135, 0, 87 [SEP] 9, Cup, -2.696, 0.717, -0.930, 0, 135, 0, 87 [SEP] 10, Cup, -2.723, 0.714, -0.496, 0, 270, 0, 87 [SEP] 11, Plate, -0.374, 0.078, -0.838, 0, 0, 0, 47 [SEP] 12, Plate, -3.346, 0.911, -3.804, 0, 0, 0, 43 [SEP] 13, SoapBottle, -2.431, 0.716, -0.326, 0, 225, 0, 87 [SEP] 14, SoapBottle, -0.253, 0.079, -0.029, 0, 270, 0, 82 [SEP] 15, Bowl, -0.419, 0.913, -1.493, 0, 0, 0, 70 [SEP] 16, SaltShaker, -0.095, 0.912, -1.616, 0, 0, 0, 70 [SEP] 17, PepperShaker, -0.412, 0.743, -2.968, 0, 0, 0, 73 [SEP] 18, PepperShaker, -0.500, 0.742, -1.486, 0, 0, 0, 66 [SEP] 19, Lettuce, -2.664, 0.801, -0.697, 0, 135, 0, 87 [SEP] 20, Bread, -0.447, 0.954, -3.878, 0, 0, 0, 43 [SEP] 21, Apple, -1.983, 0.833, -3.790, 0, 0, 0, 85 [SEP] 22, Pot, -1.262, 0.916, -3.729, 0, 0, 0, 43 [SEP] 23, Egg, -2.564, 0.752, -0.194, 0, 225, 0, 87 [SEP] 24, Cup, -2.581, 0.714, -0.371, 0, 270, 0, 87 [SEP] 25, Bread, -2.928, 0.754, -0.780, 0, 0, 0, 87 [SEP] 26, Fork, -0.160, 0.914, -2.811, 0, 0, 0, 43 [SEP] 27, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 72 [SEP] 28, Potato, -3.182, 1.057, -1.879, 0, 90, 0, 84 [SEP] 29, Lettuce, -0.854, 1.001, -3.655, 0, 0, 0, 43 [SEP] 30, Tomato, -3.079, 1.063, -2.064, 0, 90, 0, 84 [SEP] 31, Apple, -3.130, 0.683, -1.879, 0, 90, 0, 84 [SEP] 32, SoapBottle, -0.411, 0.081, -3.285, 0, 0, 0, 44 [SEP] 33, Spatula, -3.056, 0.928, -2.926, 0, 0, 0, 43 [SEP] 34, SaltShaker, -3.053, 0.710, -0.638, 0, 0, 0, 87 [SEP] 35, Knife, -3.199, 0.779, -2.912, 0, 270, 0, 65 [SEP] 36, PepperShaker, -1.262, 0.910, -4.026, 0, 0, 0, 43 [SEP] 37, ButterKnife, -0.419, 0.916, -0.472, 0, 0, 0, 70 [SEP] 38, Plate, -0.650, 0.911, -3.878, 0, 0, 0, 43 [SEP] 39, DishSponge, -0.412, 0.745, -1.408, 0, 0, 0, 66 [SEP] 40, Spoon, -1.914, 0.791, -3.747, 0, 90, 0, 85 [SEP] 41, Mug, -1.776, 0.785, -3.832, 0, 0, 0, 85 [SEP] 42, Bowl, -3.182, 0.638, -2.064, 0, 90, 0, 84 [SEP] 43, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 44, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 45, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 46, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 47, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 48, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 49, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 50, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 51, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 52, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 53, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 54, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 55, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 56, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 57, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 58, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 59, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 60, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 61, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 62, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 63, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 64, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 65, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 66, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 67, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 68, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 69, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 70, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 71, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 72, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 73, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 74, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 75, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 76, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 77, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 78, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 79, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 80, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 81, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 82, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 83, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 84, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 85, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 86, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 87, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 88, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 89, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Go to the round table | STEP 2: Pick up the egg | STEP 3: Go to the microwave | STEP 4: Heat the egg | STEP 5: Go to the fridge | STEP 6: Put the egg in the fridge | END


Input: Pick up a book and turn on a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 180, 0,  [SEP] 1, CD, -0.774, 0.895, -1.217, 0, 0, 0, 21 [SEP] 2, CD, 3.361, 0.161, -0.028, 0, 270, 0, 29 [SEP] 3, Pen, -0.774, 0.906, -1.773, 0, 0, 0, 21 [SEP] 4, CreditCard, 0.961, 0.941, -1.91, 0, 0, 0, 27 [SEP] 5, Book, -0.426, 0.896, -1.680, 0, 0, 0, 21 [SEP] 6, Pillow, 2.054, 0.840, -0.906, 0, 180, 0, 31 [SEP] 7, AlarmClock, 0.253, 0.943, -1.937, 0, 0, 0, 27 [SEP] 8, AlarmClock, 2.591, 0.526, 1.191, 0, 180, 0, 33 [SEP] 9, Laptop, 1.506, 0.774, -1.205, 0, 180, 0, 38 [SEP] 10, Book, 2.878, 0.777, -1.354, 0, 180, 0, 31 [SEP] 11, Pen, -0.600, 0.901, -1.680, 0, 0, 0, 21 [SEP] 12, AlarmClock, -0.600, 0.902, -1.310, 0, 0, 0, 21 [SEP] 13, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 38 [SEP] 14, CellPhone, 3.152, 0.778, -1.354, 0, 180, 0, 31 [SEP] 15, Pencil, -0.774, 0.904, -1.680, 0, 270, 0, 21 [SEP] 16, Pillow, 2.054, 0.840, -1.354, 0, 180, 0, 38 [SEP] 17, Laptop, 2.603, 0.774, -0.757, 0, 180, 0, 31 [SEP] 18, KeyChain, 2.514, 0.525, 1.312, 0, 180, 0, 33 [SEP] 19, CreditCard, -0.806, 0.651, -1.279, 0, 0, 0, 24 [SEP] 20, CD, -0.078, 0.900, -1.310, 0, 0, 0, 21 [SEP] 21, Desk, -0.503, 0.006, -1.465, 0, 0, 0,  [SEP] 22, Drawer, -0.945, 0.493, -1.176, 0, 0, 0,  [SEP] 23, Drawer, -0.946, 0.212, -1.176, 0, 0, 0,  [SEP] 24, Drawer, -0.944, 0.739, -1.176, 0, 0, 0,  [SEP] 25, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0,  [SEP] 26, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0,  [SEP] 27, Shelf, 0.759, 0.934, -1.909, 0, 0, 0,  [SEP] 28, Mirror, 2.407, 1.294, 1.401, 0, 0, 0,  [SEP] 29, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0,  [SEP] 30, Window, 0.717, 1.603, -2.108, 90, 0, 0,  [SEP] 31, Bed, 2.301, 0.005, -1.056, 0, 270, 0,  [SEP] 32, Blinds, 0.749, 2.523, -2.022, 0, 0, 0,  [SEP] 33, SideTable, 2.436, 0.002, 1.143, 0, 180, 0,  [SEP] 34, Drawer, 2.437, 0.122, 1.154, 0, 180, 0,  [SEP] 35, Drawer, 2.437, 0.350, 1.153, 0, 180, 0,  [SEP] 36, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305,  [SEP] 37, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0,  [SEP] 38, , , , , , , ,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Move forward towards the desk in front of you. | STEP 2: Pick the blue book up from the desk. | STEP 3: Turn and go to the left side of the desk and stand facing the lamp. | STEP 4: Turn the lamp on. | END


Input: Pick up the book from the desk, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 180, 0,  [SEP] 1, CD, -0.774, 0.895, -1.217, 0, 0, 0, 21 [SEP] 2, CD, 3.361, 0.161, -0.028, 0, 270, 0, 29 [SEP] 3, Pen, -0.774, 0.906, -1.773, 0, 0, 0, 21 [SEP] 4, CreditCard, 0.961, 0.941, -1.91, 0, 0, 0, 27 [SEP] 5, Book, -0.426, 0.896, -1.680, 0, 0, 0, 21 [SEP] 6, Pillow, 2.054, 0.840, -0.906, 0, 180, 0, 31 [SEP] 7, AlarmClock, 0.253, 0.943, -1.937, 0, 0, 0, 27 [SEP] 8, AlarmClock, 2.591, 0.526, 1.191, 0, 180, 0, 33 [SEP] 9, Laptop, 1.506, 0.774, -1.205, 0, 180, 0, 38 [SEP] 10, Book, 2.878, 0.777, -1.354, 0, 180, 0, 31 [SEP] 11, Pen, -0.600, 0.901, -1.680, 0, 0, 0, 21 [SEP] 12, AlarmClock, -0.600, 0.902, -1.310, 0, 0, 0, 21 [SEP] 13, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 38 [SEP] 14, CellPhone, 3.152, 0.778, -1.354, 0, 180, 0, 31 [SEP] 15, Pencil, -0.774, 0.904, -1.680, 0, 270, 0, 21 [SEP] 16, Pillow, 2.054, 0.840, -1.354, 0, 180, 0, 38 [SEP] 17, Laptop, 2.603, 0.774, -0.757, 0, 180, 0, 31 [SEP] 18, KeyChain, 2.514, 0.525, 1.312, 0, 180, 0, 33 [SEP] 19, CreditCard, -0.806, 0.651, -1.279, 0, 0, 0, 24 [SEP] 20, CD, -0.078, 0.900, -1.310, 0, 0, 0, 21 [SEP] 21, Desk, -0.503, 0.006, -1.465, 0, 0, 0,  [SEP] 22, Drawer, -0.945, 0.493, -1.176, 0, 0, 0,  [SEP] 23, Drawer, -0.946, 0.212, -1.176, 0, 0, 0,  [SEP] 24, Drawer, -0.944, 0.739, -1.176, 0, 0, 0,  [SEP] 25, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0,  [SEP] 26, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0,  [SEP] 27, Shelf, 0.759, 0.934, -1.909, 0, 0, 0,  [SEP] 28, Mirror, 2.407, 1.294, 1.401, 0, 0, 0,  [SEP] 29, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0,  [SEP] 30, Window, 0.717, 1.603, -2.108, 90, 0, 0,  [SEP] 31, Bed, 2.301, 0.005, -1.056, 0, 270, 0,  [SEP] 32, Blinds, 0.749, 2.523, -2.022, 0, 0, 0,  [SEP] 33, SideTable, 2.436, 0.002, 1.143, 0, 180, 0,  [SEP] 34, Drawer, 2.437, 0.122, 1.154, 0, 180, 0,  [SEP] 35, Drawer, 2.437, 0.350, 1.153, 0, 180, 0,  [SEP] 36, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305,  [SEP] 37, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0,  [SEP] 38, , , , , , , ,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Take the Geometry book from the desk | STEP 2: Turn around, walk to the bed | STEP 3: Turn to the right, walk to the lamp | STEP 4: Turn on the lamp | END


Input: Put two mugs in the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.901, 2.25, 0, 270, 0,  [SEP] 1, Mug, -0.543, 0.976, -1.134, 0, 0, 0, 42 [SEP] 2, Mug, -0.574, 0.666, 2.728, 0, 90, 0, 37 [SEP] 3, Pencil, 1.608, 0.110, -0.731, 0, 90, 0, 47 [SEP] 4, Book, -0.672, 0.069, 2.163, 0, 0, 0, 26 [SEP] 5, Book, -0.692, 0.681, 1.245, 0, 90, 0, 27 [SEP] 6, Box, -0.493, 0.2, -0.286, 0, 84.024, 0,  [SEP] 7, TennisRacket, -1.345, 0.288, 0.233, 30.000, 270, 180,  [SEP] 8, Pen, -0.386, 0.674, 2.815, 0, 90, 0, 37 [SEP] 9, AlarmClock, 1.612, 0.727, 0.482, 0, 270, 0, 51 [SEP] 10, Pillow, -0.867, 1.585, -0.496, 0, 0, 0, 41 [SEP] 11, Pillow, -1.137, 1.585, -0.942, 0, 0, 0, 41 [SEP] 12, CellPhone, -0.709, 0.980, -1.228, 0, 0, 0, 42 [SEP] 13, KeyChain, -0.607, 0.095, -1.071, 0, 0, 0, 45 [SEP] 14, CreditCard, 1.587, 0.444, 1.605, 0, 180, 0, 54 [SEP] 15, CD, 1.587, 0.432, 1.419, 0, 180, 0, 54 [SEP] 16, Pencil, 1.807, 0.730, 0.482, 0, 270, 0, 51 [SEP] 17, Laptop, 1.710, 0.724, -0.010, 0, 270, 0, 51 [SEP] 18, Mug, -0.949, 0.666, 3.075, 0, 90, 0, 37 [SEP] 19, DeskLamp, 2.016, 0.701, 0.708, 0, 0, 0,  [SEP] 20, Painting, 2.199, 1.771, -0.101, 90, 270, 0,  [SEP] 21, GarbageCan, 2.022, -0.037, -1.239, 0, 270, 0,  [SEP] 22, Mirror, 2.229, 1.254, 2.664, 0, 90, 0,  [SEP] 23, LightSwitch, 2.199, 1.258, 1.988, 0, 270, 0,  [SEP] 24, Window, 1.575, 1.559, -1.953, 90, 180, 0,  [SEP] 25, Drawer, -0.551, 0.578, 2.246, 0, 90, 0,  [SEP] 26, Cabinet, -0.649, 0.270, 2.247, 0, 90, 0,  [SEP] 27, Desk, -0.655, 0.006, 1.814, 0, 90, 0,  [SEP] 28, Shelf, 1.769, 0.184, 0.757, 0, 270, 0,  [SEP] 29, Shelf, 1.769, 0.572, 0.757, 0, 270, 0,  [SEP] 30, Shelf, 1.769, 0.572, 0.935, 0, 270, 0,  [SEP] 31, Shelf, 1.769, 0.378, 0.935, 0, 270, 0,  [SEP] 32, Shelf, 1.769, 0.378, 0.757, 0, 270, 0,  [SEP] 33, Shelf, 1.769, 0.184, 0.935, 0, 270, 0,  [SEP] 34, Blinds, 1.547, 2.434, -1.886, 0, 0, 0,  [SEP] 35, Drawer, -0.553, 0.155, 2.942, 0, 90, 0,  [SEP] 36, Drawer, -0.553, 0.572, 2.942, 0, 90, 0,  [SEP] 37, Dresser, -0.665, 0.001, 2.939, 0, 90, 0,  [SEP] 38, Drawer, -0.553, 0.376, 2.942, 0, 90, 0,  [SEP] 39, Chair, 1.482, 0.012, 0.223, 0, 77.085, 0,  [SEP] 40, Chair, -0.199, 0.012, 1.538, 0, 287.086, 0,  [SEP] 41, Bed, -0.866, 0.007, -0.919, 0, 0, 0,  [SEP] 42, Dresser, -0.772, 0.001, -1.313, 0, 90, 0,  [SEP] 43, Drawer, -0.660, 0.830, -1.309, 0, 90, 0,  [SEP] 44, Drawer, -0.660, 0.225, -1.309, 0, 90, 0,  [SEP] 45, Drawer, -0.660, 0.547, -1.309, 0, 90, 0,  [SEP] 46, Bed, -0.872, 1.637, 2.188, 0, 0, 0,  [SEP] 47, Drawer, 1.685, 0.160, -0.805, 0, 270, 0,  [SEP] 48, Drawer, 1.685, 0.160, -0.378, 0, 270, 0,  [SEP] 49, Drawer, 1.685, 0.547, -0.805, 0, 270, 0,  [SEP] 50, Drawer, 1.685, 0.547, -0.378, 0, 270, 0,  [SEP] 51, Desk, 1.812, 0.003, -0.014, 0, 270, 0,  [SEP] 52, Drawer, 1.685, 0.354, -0.805, 0, 270, 0,  [SEP] 53, Drawer, 1.685, 0.354, -0.378, 0, 270, 0,  [SEP] 54, ArmChair, 1.712, -0.000, 1.532, 0, 270, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the wall then turn left. | STEP 2: Pick up the mug that's in front of you. | STEP 3: Take one step back then three steps to your right so you're facing the chair at the desk. | STEP 4: Open the desk door to the right of the chair and put the mug down there before closing the door. | STEP 5: Go back to where you got the first mug. | STEP 6: Pick up the mug that's in front of you. | STEP 7: Go back to where you put the first mug. | STEP 8: Put the mug by the first one then close the door. | END


Input: Place the towel from the toilet basin into the drawer. 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, 3.0, 0, 0, 0,  [SEP] 1, Cloth, 0.588, 0.824, 3.239, 0, 0, 0, 27 [SEP] 2, SoapBar, 0.502, 0.210, 2.155, 0, 0, 0, 20 [SEP] 3, Candle, 0.323, 0.821, 3.294, 0, 0, 0, 27 [SEP] 4, Candle, 0.558, 0.513, 2.075, 0, 0, 0, 23 [SEP] 5, SprayBottle, 0.521, 0.820, 2.161, 0, 0, 0, 27 [SEP] 6, SoapBottle, 0.507, 0.215, 3.824, 0, 0, 0, 35 [SEP] 7, ToiletPaper, 0.593, 1.041, 1.401, 0, 270, 0, 39 [SEP] 8, SoapBottle, 0.596, 0.809, 3.415, 0, 225, 0, 27 [SEP] 9, HandTowel, 0.634, 1.512, 1.892, 0, 90, 0, 37 [SEP] 10, Towel, 0.609, 1.376, 0.583, 0, 270, 0, 31 [SEP] 11, SoapBar, 0.614, 0.512, 2.235, 0, 0, 0, 23 [SEP] 12, ToiletPaper, 0.361, 0.504, 2.174, 0, 0, 0, 23 [SEP] 13, ToiletPaper, 0.308, 0.615, 1.912, 0, 180, 90, 34 [SEP] 14, Candle, 0.502, 0.514, 2.275, 0, 0, 0, 23 [SEP] 15, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0,  [SEP] 16, Cloth, 0.594, 1.050, 1.533, 0, 270, 0, 39 [SEP] 17, Plunger, 0.594, -0.000, 1.898, 0, 0, 0,  [SEP] 18, SprayBottle, 0.384, 0.810, 2.124, 0, 327.500, 0, 27 [SEP] 19, Drawer, 0.443, 0.624, 3.310, 0, 0, 0,  [SEP] 20, Drawer, 0.443, 0.323, 2.194, 0, 0, 0,  [SEP] 21, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0,  [SEP] 22, Sink, 0.495, 0.661, 2.756, 0, 270, 0,  [SEP] 23, Drawer, 0.443, 0.624, 2.193, 0, 0, 0,  [SEP] 24, Faucet, 0.717, 0.982, 2.756, 0, 0, 0,  [SEP] 25, Mirror, 0.629, 1.532, 2.697, 0, 0, 0,  [SEP] 26, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0,  [SEP] 27, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0,  [SEP] 28, Drawer, 0.443, 0.323, 2.566, 0, 0, 0,  [SEP] 29, Drawer, 0.443, 0.323, 2.937, 0, 0, 0,  [SEP] 30, Drawer, 0.443, 0.323, 3.310, 0, 0, 0,  [SEP] 31, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0,  [SEP] 32, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0,  [SEP] 33, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0,  [SEP] 35, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0,  [SEP] 36, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0,  [SEP] 37, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0,  [SEP] 38, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0,  [SEP] 39, Toilet, 0.270, 0.000, 1.463, 0, 0, 0,  [SEP] 40, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around and head towards the toilet to your left. | STEP 2: Pick up the towel on the toilet basin. | STEP 3: Look at the drawer below the sink. | STEP 4: Open the drawer, place the towel in it, and close the drawer. | END


Input: Examine the pencil by the light of the lamp 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, 0.75, 0.937, -1.25, 0, 180, 0,  [SEP] 1, Mug, -0.914, 1.114, -2.902, 0, 0, 0, 35 [SEP] 2, Mug, -2.625, 0.080, -2.976, 0, 0, 0, 29 [SEP] 3, CD, 1.828, 0.093, -3.154, 0, 90, 0, 53 [SEP] 4, CD, 1.315, 0.077, -2.825, 0, 0, 0, 32 [SEP] 5, Pencil, -1.16, 0.586, -2.726, 0, 0, 0, 31 [SEP] 6, Pencil, -3.327, 0.377, -2.797, 0, 4.809, 0, 37 [SEP] 7, Book, -0.187, 0.082, -2.830, 0, 0, 0, 34 [SEP] 8, Book, -2.805, 0.082, -3.135, 0, 0, 0, 29 [SEP] 9, RemoteControl, -1.071, 0.085, -2.934, 0, 0, 0, 33 [SEP] 10, RemoteControl, -1.539, 1.118, -3.158, 0, 0, 0, 35 [SEP] 11, AlarmClock, -1.539, 1.118, -2.988, 0, 0, 0, 35 [SEP] 12, AlarmClock, -1.851, 1.118, -3.073, 0, 0, 0, 35 [SEP] 13, Laptop, 0.104, 0.830, 0.735, 0, 0, 0, 28 [SEP] 14, Book, 1.609, 0.553, 2.391, 0, 90, 0, 55 [SEP] 15, AlarmClock, -0.602, 1.118, -2.817, 0, 0, 0, 35 [SEP] 16, CellPhone, 0.104, 0.836, 0.975, 0, 0, 0, 28 [SEP] 17, Pillow, 0.958, 0.940, 0.015, 0, 0, 0, 28 [SEP] 18, Pillow, 1.815, 0.87, 1.153, 0, 270, 0, 28 [SEP] 19, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 20, CreditCard, -0.454, 0.083, -2.726, 0, 0, 0, 34 [SEP] 21, KeyChain, 1.561, 0.095, -3.206, 0, 180, 0, 53 [SEP] 22, Pencil, -2.164, 1.119, -3.158, 0, 0, 0, 35 [SEP] 23, Laptop, 1.243, 0.830, 0.495, 0, 0, 0, 28 [SEP] 24, RemoteControl, -2.164, 1.118, -2.902, 0, 0, 0, 35 [SEP] 25, CD, -2.164, 1.115, -2.732, 0, 0, 0, 35 [SEP] 26, Pen, -0.982, 0.088, -2.882, 0, 0, 0, 33 [SEP] 27, Mug, 1.068, 0.075, -2.993, 0, 0, 0, 32 [SEP] 28, Bed, 0.967, 0.049, 0.667, 0, 90, 0,  [SEP] 29, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0,  [SEP] 30, Drawer, -0.365, 0.785, -2.848, 0, 0, 0,  [SEP] 31, Drawer, -1.159, 0.785, -2.848, 0, 0, 0,  [SEP] 32, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0,  [SEP] 33, Drawer, -1.159, 0.285, -2.848, 0, 0, 0,  [SEP] 34, Drawer, -0.365, 0.285, -2.848, 0, 0, 0,  [SEP] 35, Desk, -1.271, 1.169, -2.987, 0, 0, 0,  [SEP] 36, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0,  [SEP] 37, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0,  [SEP] 38, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0,  [SEP] 39, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0,  [SEP] 40, Mirror, -1.603, 1.447, 3.999, 0, 0, 0,  [SEP] 41, Television, -3.883, 1.771, 2.122, 0, 90, 0,  [SEP] 42, Window, -1.952, 2.148, -3.302, 90, 180, 0,  [SEP] 43, Window, -0.467, 2.148, -3.302, 90, 180, 0,  [SEP] 44, Window, -3.894, 1.751, 0.582, 90, 270, 0,  [SEP] 45, Window, -3.894, 1.751, -0.675, 90, 270, 0,  [SEP] 46, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354,  [SEP] 47, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0,  [SEP] 48, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0,  [SEP] 49, Blinds, -0.477, 2.785, -3.253, 0, 0, 0,  [SEP] 50, Blinds, -1.957, 2.785, -3.253, 0, 0, 0,  [SEP] 51, Blinds, -3.799, 2.506, 0.602, 0, 90, 0,  [SEP] 52, Blinds, -3.799, 2.506, -0.647, 0, 90, 0,  [SEP] 53, Safe, 1.673, 0.054, -3.004, 0, 0, 0,  [SEP] 54, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0,  [SEP] 55, SideTable, 1.775, 0.048, 2.377, 0, 0, 0,  [SEP] 56, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, EastWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, WestWall, , , , , , ,

Output: STEP 1: Move to the recycling bin. | STEP 2: Pick up the pencil in the recycling bin. | STEP 3: Bring the pencil to the lamp on the small round table. | STEP 4: Turn on the lamp on the table.  | END