Input: To cool a slice of tomato plus store it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 1.25, 0, 90, 0,  [SEP] 1, Potato, -1.065, 1.531, 0.195, 0, 90, 0, 76 [SEP] 2, Potato, -0.710, 0.970, 0.843, 0, 0, 0, 69 [SEP] 3, DishSponge, -1.211, 0.937, 2.159, 0, 0, 0, 44 [SEP] 4, Spoon, 1.669, 0.939, 0.873, 0, 0, 0, 49 [SEP] 5, Spoon, -0.792, 0.747, 0.779, 0, 180, 0, 67 [SEP] 6, Spatula, 1.439, 0.952, 0.739, 0, 90, 0, 49 [SEP] 7, Spatula, -0.896, 0.761, 1.050, 0, 270, 0, 67 [SEP] 8, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 46 [SEP] 9, Egg, 1.550, 0.979, 1.840, 0, 180, 0, 71 [SEP] 10, Cup, -0.999, 1.948, 1.830, 0, 0, 0, 59 [SEP] 11, Cup, -1.012, 0.813, 0.195, 0, 90, 0, 76 [SEP] 12, Knife, -0.876, 0.959, 1.076, 0, 0, 0, 69 [SEP] 13, Tomato, -1.209, 0.999, 0.998, 0, 0, 0, 69 [SEP] 14, SoapBottle, 1.418, 0.100, 0.272, 0, 0, 0, 54 [SEP] 15, SoapBottle, -0.868, 0.083, 0.845, 0, 0, 0, 56 [SEP] 16, Bowl, -0.976, 0.562, 0.042, 0, 90, 0, 76 [SEP] 17, Bowl, -1.038, 1.824, 0.356, 0, 0, 0, 58 [SEP] 18, SaltShaker, 1.787, 0.934, 1.780, 0, 0, 0, 49 [SEP] 19, SaltShaker, -1.209, 0.934, 1.154, 0, 0, 0, 69 [SEP] 20, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 49 [SEP] 21, Mug, -1.065, 1.314, 0.118, 0, 90, 0, 76 [SEP] 22, Apple, 1.587, 1.645, 1.598, 0, 270, 0, 83 [SEP] 23, Lettuce, 1.456, 1.014, 1.681, 3.862, 59.981, 0, 71 [SEP] 24, SoapBottle, 1.489, 0.069, 2.912, 0, 0, 0, 82 [SEP] 25, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 44 [SEP] 26, Fork, -0.793, 0.938, 0.921, 0, 0, 0, 69 [SEP] 27, Tomato, -1.126, 0.999, 0.687, 0, 0, 0, 69 [SEP] 28, Bowl, -0.971, 1.495, 0.042, 0, 90, 0, 76 [SEP] 29, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 68 [SEP] 30, Spatula, -0.876, 0.952, 0.765, 0, 0, 0, 69 [SEP] 31, Knife, 1.448, 0.768, 1.052, 0, 270, 0, 74 [SEP] 32, SaltShaker, -1.154, 1.825, -0.035, 0, 0, 0, 57 [SEP] 33, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 76 [SEP] 34, PepperShaker, 1.344, 0.743, 2.188, 0, 0, 0, 47 [SEP] 35, ButterKnife, -0.793, 0.937, 1.154, 0, 0, 0, 69 [SEP] 36, Potato, -0.840, 0.232, -0.044, 0, 90, 0, 76 [SEP] 37, Plate, 1.391, 0.086, 2.321, 0, 0, 0, 53 [SEP] 38, DishSponge, -0.764, 0.081, 2.313, 0, 0, 0, 65 [SEP] 39, Egg, 1.597, 0.979, 1.589, 0, 180, 0, 71 [SEP] 40, Cup, -1.211, 0.936, 2.386, 0, 0, 0, 44 [SEP] 41, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 52 [SEP] 42, Spoon, -0.960, 0.939, 0.921, 0, 0, 0, 69 [SEP] 43, Mug, 1.422, 0.838, 1.341, 0, 0, 0, 86 [SEP] 44, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 45, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 46, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 47, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 48, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 49, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 50, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 51, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 52, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 53, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 54, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 55, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 56, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 57, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 58, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 59, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 60, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 61, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 62, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 63, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 64, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 65, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 66, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 67, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 68, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 69, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 70, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 71, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 72, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 73, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 74, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 75, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 76, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 77, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 78, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 79, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 80, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 81, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 82, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 83, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 84, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 85, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 86, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 87, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 88, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up to face the tomato on the right side of the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Look down to face the edge of the counter. | STEP 6: Place the knife on the counter. | STEP 7: Look up to face the tomato on the counter. | STEP 8: Pick up the slice of tomato on the counter. | STEP 9: Take a step to the left to face the fridge. | STEP 10: Cool the tomato in the fridge and then remove it. | STEP 11: Turn around and walk across the room to face the microwave. | STEP 12: Place the tomato slice in the microwave. | END


Input: Examine an empty box by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 2.5, 0, 0, 0,  [SEP] 1, Statue, -2.005, 0.847, 6.565, 0, 0, 0, 40 [SEP] 2, Statue, -4.191, 0.489, 3.549, 0, 0, 0, 27 [SEP] 3, KeyChain, -1.169, 0.756, 0.993, 0, 0, 0, 43 [SEP] 4, KeyChain, -4.219, 0.480, 5.325, 0, 90, 0, 34 [SEP] 5, CreditCard, -4.139, 0.477, 4.863, 0, 0, 0, 34 [SEP] 6, RemoteControl, -4.300, 0.480, 4.631, 0, 0, 0, 34 [SEP] 7, RemoteControl, -3.544, 0.399, 3.628, 0, 0, 0, 42 [SEP] 8, Pillow, -4.300, 0.548, 5.556, 0, 0, 0, 34 [SEP] 9, Box, -1.732, 0.867, 0.993, 0, 90, 0, 43 [SEP] 10, Statue, -1.451, 0.761, 0.852, 0, 0, 0, 43 [SEP] 11, Watch, -0.349, 0.626, 3.918, 0, 48.401, 0, 41 [SEP] 12, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0,  [SEP] 13, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 43 [SEP] 14, CreditCard, -2.749, 0.066, 6.772, 0, 0, 0, 31 [SEP] 15, KeyChain, -1.873, 0.756, 1.695, 0, 0, 0, 43 [SEP] 16, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 34 [SEP] 17, RemoteControl, -2.202, 0.844, 6.699, 0, 0, 0, 40 [SEP] 18, Curtains, -0.037, 2.148, 0.999, 0, 0, 0,  [SEP] 19, Painting, -0.016, 2.061, 5.380, 0, 0, 0,  [SEP] 20, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0,  [SEP] 21, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0,  [SEP] 22, Television, -3.192, 1.184, 6.767, 0, 180, 0,  [SEP] 23, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0,  [SEP] 24, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0,  [SEP] 25, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0,  [SEP] 26, Window, -0.008, 1.340, 1.725, 90, 270, 0,  [SEP] 27, SideTable, -4.190, 0.000, 3.587, 0, 0, 0,  [SEP] 28, Drawer, -2.925, 0.475, 6.717, 0, 180, 0,  [SEP] 29, Drawer, -3.476, 0.475, 6.717, 0, 180, 0,  [SEP] 30, Dresser, -3.201, -0.001, 6.791, 0, 180, 0,  [SEP] 31, Drawer, -2.925, 0.165, 6.719, 0, 180, 0,  [SEP] 32, Drawer, -3.476, 0.165, 6.719, 0, 180, 0,  [SEP] 33, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0,  [SEP] 34, Sofa, -4.425, 0.014, 5.062, 0, 90, 0,  [SEP] 35, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0,  [SEP] 36, Chair, -2.151, 0.004, 1.284, 0, 90, 0,  [SEP] 37, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0,  [SEP] 38, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0,  [SEP] 39, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0,  [SEP] 40, SideTable, -2.071, 0.000, 6.699, 0, 0, 0,  [SEP] 41, SideTable, -0.244, -0.000, 3.524, 0, 270, 0,  [SEP] 42, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0,  [SEP] 43, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Turn right and walk to the dining table. | STEP 2: Pick up the empty box from the dining table. | STEP 3: Turn right and walk around the table towards the lamp on a desk. | STEP 4: Turn on the lamp. | END


Input: Move the two perfume bottles on the vanity to the right-most cupboard underneath the vanity. 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, 1.75, 0, 90, 0,  [SEP] 1, SoapBar, -1.831, 0.953, 1.946, 0, 180, 0, 32 [SEP] 2, Candle, -1.755, 0.917, 3.097, 0, 0, 0, 20 [SEP] 3, Candle, -1.519, 0.917, 3.072, 0, 0, 0, 20 [SEP] 4, SprayBottle, -1.694, 0.037, 2.870, 0, 0, 0, 18 [SEP] 5, SoapBottle, -1.643, 0.040, 3.272, 0, 0, 0, 23 [SEP] 6, Candle, -1.938, 0.953, 1.884, 0, 180, 0, 32 [SEP] 7, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.542, 0.041, 3.678, 0, 270, 0, 26 [SEP] 9, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 27 [SEP] 10, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 23 [SEP] 11, SoapBar, -1.694, 0.040, 3.678, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -1.610, 0.031, 2.582, 0, 0, 0, 17 [SEP] 13, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 14, SprayBottle, -1.912, 0.950, 2.071, 0, 180, 0, 32 [SEP] 15, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 28 [SEP] 16, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 17, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0,  [SEP] 18, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0,  [SEP] 19, Sink, -1.746, 0.884, 3.553, 0, 90, 0,  [SEP] 20, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0,  [SEP] 21, Faucet, -1.894, 1.006, 2.730, 0, 0, 0,  [SEP] 22, Mirror, -1.943, 1.532, 3.443, 0, 0, 0,  [SEP] 23, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0,  [SEP] 24, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0,  [SEP] 25, Painting, -0.566, 1.591, 1.173, 0, 0, 0,  [SEP] 26, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0,  [SEP] 27, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0,  [SEP] 28, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0,  [SEP] 29, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0,  [SEP] 30, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0,  [SEP] 31, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0,  [SEP] 32, Toilet, -1.447, 0.000, 1.961, 0, 90, 0,  [SEP] 33, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090,  [SEP] 34, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0,  [SEP] 35, Faucet, -1.894, 1.006, 3.560, 0, 0, 0,  [SEP] 36, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090,  [SEP] 37, Sink, -1.746, 0.884, 2.723, 0, 90, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn left and move to the vanity underneath the mirror. | STEP 2: Pick up the perfume bottle nearest to you. | STEP 3: Move a few feet backwards, facing towards the vanity. | STEP 4: Open up the right-most cupboard underneath the sink on the right hand side, place the perfume into the cupboard, and close it. | STEP 5: Approach the vanity underneath the mirror again. | STEP 6: Pick up the last perfume bottle on the vanity. | STEP 7: Move a few feet backwards again, facing towards the vanity. | STEP 8: Open up the right-most cupboard underneath the sink on the right hand side, place the perfume into the cupboard, and close it. | END


Input: Slice the small potato above the dishwasher, chill it in the refrigerator, and throw the potato slice into the garbage can by the refrigerator. 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, 0, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 2, DishSponge, -2.604, 0.910, -0.062, 0, 0, 0, 68 [SEP] 3, ButterKnife, 0.102, 1.111, 1.617, 0, 315, 0, 69 [SEP] 4, ButterKnife, 0.375, 1.101, 1.652, 0, 315, 0, 69 [SEP] 5, Pot, -2.823, 0.928, -0.396, 0, 0, 0, 75 [SEP] 6, Spoon, 0.307, 0.748, -1.095, 0, 0, 0, 77 [SEP] 7, Spoon, 0.688, 0.912, -0.948, 0, 0, 0, 76 [SEP] 8, Fork, -2.585, 0.747, 0.163, 0, 0, 0, 74 [SEP] 9, Cup, 0.756, 0.115, -0.976, 0, 0, 0, 56 [SEP] 10, Cup, -0.123, 1.110, 1.390, 0, 315, 0, 69 [SEP] 11, Egg, -2.920, 0.854, 1.013, 0, 90, 0, 88 [SEP] 12, Egg, -2.815, 0.072, 1.501, 0, 0, 0, 87 [SEP] 13, Knife, -2.388, 0.934, -1.115, 0, 270, 0, 76 [SEP] 14, Knife, -2.236, 0.934, -0.948, 0, 0, 0, 76 [SEP] 15, SoapBottle, 0.198, 0.116, -1.130, 0, 0, 0, 58 [SEP] 16, SoapBottle, -2.025, 0.117, -1.019, 0, 0, 0, 52 [SEP] 17, Tomato, 0.187, 1.161, 1.835, 0, 315, 0, 69 [SEP] 18, Tomato, -2.757, 0.085, 1.396, 0, 0, 0, 87 [SEP] 19, Bowl, -2.860, 1.672, 0.851, 0, 90, 0, 88 [SEP] 20, Bowl, 0.997, 0.910, -1.282, 0, 0, 0, 76 [SEP] 21, Lettuce, -2.740, 0.899, 0.690, 0, 90, 0, 88 [SEP] 22, PepperShaker, 0.842, 0.907, -0.948, 0, 0, 0, 76 [SEP] 23, PepperShaker, -2.773, 1.791, -0.376, 0, 0, 0, 48 [SEP] 24, Mug, 0.451, 1.000, -1.347, 0, 0, 0, 89 [SEP] 25, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 26, Apple, 0.210, 1.145, 1.654, 38.826, 69.604, 126.180, 69 [SEP] 27, Fork, -1.933, 0.911, -1.365, 0, 0, 0, 76 [SEP] 28, Kettle, -2.620, 0.922, -0.724, 0, 0, 0, 67 [SEP] 29, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 76 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 86 [SEP] 32, SoapBottle, -2.773, 1.796, -0.731, 0, 0, 0, 47 [SEP] 33, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 68 [SEP] 34, Lettuce, -2.860, 0.457, 0.690, 0, 90, 0, 88 [SEP] 35, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 68 [SEP] 36, Tomato, -2.920, 0.869, 0.690, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.811, 2.039, 1.444, 0, 0, 0, 61 [SEP] 38, ButterKnife, -2.085, 0.911, -1.032, 0, 0, 0, 76 [SEP] 39, Pot, -2.236, 0.912, -1.365, 0, 0, 0, 76 [SEP] 40, DishSponge, -2.499, 0.746, 0.036, 0, 0, 0, 74 [SEP] 41, Egg, -2.619, 1.509, 1.094, 0, 90, 0, 88 [SEP] 42, Spoon, -1.332, 0.850, -1.194, 0, 90, 0, 86 [SEP] 43, Knife, -2.521, 0.934, 0.190, 0, 0, 0, 68 [SEP] 44, Cup, 0.540, 1.661, -1.435, 0, 0, 0, 55 [SEP] 45, Mug, -2.774, 2.038, 0.718, 0, 0, 0, 66 [SEP] 46, Bowl, -2.740, 1.472, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk forward to the counter. | STEP 2: Turn left again and walk forward to the other counter. | STEP 3: Pick up the butter knife from the counter top. | STEP 4: Turn left, move forward, and then turn right and move to the dishwasher. | STEP 5: Slice the small potato above the dishwasher with the butter knife. | STEP 6: Turn around, move forward, and then turn and move towards the refrigerator on the left. | STEP 7: Open the refrigerator, put the knife on the top shelf inside the refrigerator, and close the refrigerator. | STEP 8: Turn around, move forward, then turn right and move to the dishwasher. | STEP 9: Pick up one slice of potato from the counter top above the dishwasher, turn around, move forward, and then turn and move towards the refrigerator on the left. | STEP 10: Place the potato slice in the refrigerator next to the butter knife on the top shelf, close the door, wait until it is chilled, then take the potato slice out of the refrigerator and close the refrigerator. | STEP 11: Move to the garbage can on the right side of the refrigerator. | STEP 12: Put the slice of potato into the garbage can. | END


Input: Slice a potato, wash a slice and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.5, 0, 90, 0,  [SEP] 1, CellPhone, 1.128, 0.909, 0.706, 0, 0, 0, 69 [SEP] 2, CellPhone, 1.523, 0.909, 0.422, 0, 0, 0, 69 [SEP] 3, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 50 [SEP] 4, ButterKnife, 1.367, 0.886, 2.477, 0, 0, 0, 101 [SEP] 5, ButterKnife, -1.123, 0.912, -0.748, 0, 90, 0, 75 [SEP] 6, Glassbottle, 1.034, 0.887, 2.153, 0, 0, 0, 101 [SEP] 7, WineBottle, -1.089, 0.117, 0.289, 0, 180, 0, 72 [SEP] 8, Spoon, 1.042, 0.777, 0.403, 0, 270, 0, 83 [SEP] 9, Spoon, -0.144, 0.759, -0.612, 0, 90, 0, 96 [SEP] 10, Spatula, -0.919, 0.764, 2.459, 0, 0, 0, 50 [SEP] 11, Spatula, 1.523, 0.926, 0.139, 0, 0, 0, 69 [SEP] 12, Pot, -1.206, 1.421, 1.197, 0, 90, 0, 89 [SEP] 13, Plate, 1.324, 2.155, 0.957, 0, 0, 0, 60 [SEP] 14, Plate, 1.034, 0.887, 2.692, 0, 0, 0, 101 [SEP] 15, Knife, -1.105, 0.770, 2.273, 0, 0, 0, 50 [SEP] 16, Knife, 1.117, 0.908, 2.477, 0, 0, 0, 101 [SEP] 17, Bread, -1.290, 0.812, 2.459, 0, 0, 0, 50 [SEP] 18, Bread, -1.206, 0.814, 0.988, 0, 90, 0, 89 [SEP] 19, SaltShaker, 1.200, 0.882, 2.800, 0, 0, 0, 101 [SEP] 20, PepperShaker, 1.286, 0.907, 0.706, 0, 0, 0, 69 [SEP] 21, Mug, -0.813, 0.907, -0.589, 0, 0, 0, 75 [SEP] 22, Apple, -0.206, 0.818, -0.573, 0, 90, 0, 96 [SEP] 23, Apple, -0.020, 0.818, -0.533, 0, 0, 0, 96 [SEP] 24, Bread, -1.263, 1.700, 1.086, 0, 90, 0, 89 [SEP] 25, Glassbottle, -1.437, 0.912, -0.902, 0, 0, 0, 75 [SEP] 26, Fork, 0.951, 0.886, 2.369, 0, 270, 0, 101 [SEP] 27, Kettle, -0.658, 0.913, -0.509, 0, 0, 0, 75 [SEP] 28, Tomato, -1.378, 1.338, 1.092, 0, 90, 0, 89 [SEP] 29, Plate, -1.012, 0.749, 2.087, 0, 0, 0, 50 [SEP] 30, CellPhone, -1.156, 0.773, 0.174, 0, 180, 0, 71 [SEP] 31, Lettuce, -1.012, 0.820, 2.830, 0, 0, 0, 50 [SEP] 32, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 78 [SEP] 33, SoapBottle, -1.286, 0.913, -0.902, 0, 0, 0, 75 [SEP] 34, WineBottle, -1.060, 0.913, -0.817, 0, 0, 0, 75 [SEP] 35, Spatula, 1.365, 0.926, 0.422, 0, 90, 0, 69 [SEP] 36, Bowl, 1.286, 0.909, -0.144, 0, 0, 0, 69 [SEP] 37, Apple, 1.200, 0.946, 2.692, 0, 0, 0, 101 [SEP] 38, Cup, 1.450, 0.885, 2.261, 0, 0, 0, 101 [SEP] 39, Knife, -1.197, 0.770, 1.902, 0, 90, 0, 50 [SEP] 40, Egg, 0.165, 0.792, -0.691, 0, 0, 0, 96 [SEP] 41, SaltShaker, 1.131, 0.112, 0.808, 0, 0, 0, 61 [SEP] 42, PepperShaker, -1.388, 2.149, 1.206, 0, 0, 0, 68 [SEP] 43, Potato, 1.189, 0.131, 1.409, 0, 0, 0, 90 [SEP] 44, ButterKnife, -1.383, 0.749, 2.087, 0, 0, 0, 50 [SEP] 45, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 101 [SEP] 46, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 76 [SEP] 47, Spoon, 1.200, 0.887, 2.261, 0, 0, 0, 101 [SEP] 48, SprayBottle, -1.294, 2.152, 1.262, 0, 0, 0, 68 [SEP] 49, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 88 [SEP] 50, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 51, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 52, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 53, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 54, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 55, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 56, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 57, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 58, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 59, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 61, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 62, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 63, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 64, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 65, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 66, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 67, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 68, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 69, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 70, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 71, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 72, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 73, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 74, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 75, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 76, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 77, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 78, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 79, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 80, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 81, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 82, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 83, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 84, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 85, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 87, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 89, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 90, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 91, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 92, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 93, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 94, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 95, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 96, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 97, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 98, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 99, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 100, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 101, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn around, go to the counter | STEP 2: Pick up the knife nearest to the wall | STEP 3: Turn around, go to the basket | STEP 4: Slice the potato in the basket | STEP 5: Put the knife in the basket | STEP 6: Pick up a potato slice | STEP 7: Turn around, go forward, turn left and go to the sink | STEP 8: Put the potato slice in the sink, wash the potato slice with water, pick up the potato slice | STEP 9: Turn right, go to the microwave | STEP 10: Put the potato slice in the microwave | END


Input: Put a washed slice of potato in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.5, 0, 90, 0,  [SEP] 1, CellPhone, 1.128, 0.909, 0.706, 0, 0, 0, 69 [SEP] 2, CellPhone, 1.523, 0.909, 0.422, 0, 0, 0, 69 [SEP] 3, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 50 [SEP] 4, ButterKnife, 1.367, 0.886, 2.477, 0, 0, 0, 101 [SEP] 5, ButterKnife, -1.123, 0.912, -0.748, 0, 90, 0, 75 [SEP] 6, Glassbottle, 1.034, 0.887, 2.153, 0, 0, 0, 101 [SEP] 7, WineBottle, -1.089, 0.117, 0.289, 0, 180, 0, 72 [SEP] 8, Spoon, 1.042, 0.777, 0.403, 0, 270, 0, 83 [SEP] 9, Spoon, -0.144, 0.759, -0.612, 0, 90, 0, 96 [SEP] 10, Spatula, -0.919, 0.764, 2.459, 0, 0, 0, 50 [SEP] 11, Spatula, 1.523, 0.926, 0.139, 0, 0, 0, 69 [SEP] 12, Pot, -1.206, 1.421, 1.197, 0, 90, 0, 89 [SEP] 13, Plate, 1.324, 2.155, 0.957, 0, 0, 0, 60 [SEP] 14, Plate, 1.034, 0.887, 2.692, 0, 0, 0, 101 [SEP] 15, Knife, -1.105, 0.770, 2.273, 0, 0, 0, 50 [SEP] 16, Knife, 1.117, 0.908, 2.477, 0, 0, 0, 101 [SEP] 17, Bread, -1.290, 0.812, 2.459, 0, 0, 0, 50 [SEP] 18, Bread, -1.206, 0.814, 0.988, 0, 90, 0, 89 [SEP] 19, SaltShaker, 1.200, 0.882, 2.800, 0, 0, 0, 101 [SEP] 20, PepperShaker, 1.286, 0.907, 0.706, 0, 0, 0, 69 [SEP] 21, Mug, -0.813, 0.907, -0.589, 0, 0, 0, 75 [SEP] 22, Apple, -0.206, 0.818, -0.573, 0, 90, 0, 96 [SEP] 23, Apple, -0.020, 0.818, -0.533, 0, 0, 0, 96 [SEP] 24, Bread, -1.263, 1.700, 1.086, 0, 90, 0, 89 [SEP] 25, Glassbottle, -1.437, 0.912, -0.902, 0, 0, 0, 75 [SEP] 26, Fork, 0.951, 0.886, 2.369, 0, 270, 0, 101 [SEP] 27, Kettle, -0.658, 0.913, -0.509, 0, 0, 0, 75 [SEP] 28, Tomato, -1.378, 1.338, 1.092, 0, 90, 0, 89 [SEP] 29, Plate, -1.012, 0.749, 2.087, 0, 0, 0, 50 [SEP] 30, CellPhone, -1.156, 0.773, 0.174, 0, 180, 0, 71 [SEP] 31, Lettuce, -1.012, 0.820, 2.830, 0, 0, 0, 50 [SEP] 32, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 78 [SEP] 33, SoapBottle, -1.286, 0.913, -0.902, 0, 0, 0, 75 [SEP] 34, WineBottle, -1.060, 0.913, -0.817, 0, 0, 0, 75 [SEP] 35, Spatula, 1.365, 0.926, 0.422, 0, 90, 0, 69 [SEP] 36, Bowl, 1.286, 0.909, -0.144, 0, 0, 0, 69 [SEP] 37, Apple, 1.200, 0.946, 2.692, 0, 0, 0, 101 [SEP] 38, Cup, 1.450, 0.885, 2.261, 0, 0, 0, 101 [SEP] 39, Knife, -1.197, 0.770, 1.902, 0, 90, 0, 50 [SEP] 40, Egg, 0.165, 0.792, -0.691, 0, 0, 0, 96 [SEP] 41, SaltShaker, 1.131, 0.112, 0.808, 0, 0, 0, 61 [SEP] 42, PepperShaker, -1.388, 2.149, 1.206, 0, 0, 0, 68 [SEP] 43, Potato, 1.189, 0.131, 1.409, 0, 0, 0, 90 [SEP] 44, ButterKnife, -1.383, 0.749, 2.087, 0, 0, 0, 50 [SEP] 45, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 101 [SEP] 46, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 76 [SEP] 47, Spoon, 1.200, 0.887, 2.261, 0, 0, 0, 101 [SEP] 48, SprayBottle, -1.294, 2.152, 1.262, 0, 0, 0, 68 [SEP] 49, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 88 [SEP] 50, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 51, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 52, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 53, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 54, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 55, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 56, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 57, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 58, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 59, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 61, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 62, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 63, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 64, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 65, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 66, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 67, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 68, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 69, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 70, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 71, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 72, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 73, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 74, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 75, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 76, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 77, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 78, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 79, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 80, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 81, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 82, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 83, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 84, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 85, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 87, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 89, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 90, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 91, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 92, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 93, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 94, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 95, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 96, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 97, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 98, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 99, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 100, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 101, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn right, go forward a step, turn right, go forward to the white table. | STEP 2: Take the small knife closest to the wall from the table. | STEP 3: Turn around, go forward to the red bin. | STEP 4: Cut the potato in the bin into slices. | STEP 5: Put the knife in the bin. | STEP 6: Take a slice of potato from the bin. | STEP 7: Turn around, go forward, turn left to the sink, go to the sink. | STEP 8: Wash the slice of potato in the sink then take the potato out. | STEP 9: Turn right, go forward to the microwave. | STEP 10: Put the potato in the microwave. | END


Input: Chill a tomato slice and put it in a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.908, 2.0, 0, 270, 0,  [SEP] 1, CellPhone, -1.383, 0.746, 2.830, 0, 0, 0, 44 [SEP] 2, ButterKnife, -0.658, 0.912, -0.509, 0, 0, 0, 69 [SEP] 3, Glassbottle, 1.175, 0.116, 0.732, 0, 0, 0, 55 [SEP] 4, Spoon, -0.919, 0.750, 2.273, 0, 0, 0, 44 [SEP] 5, Spoon, -0.082, 0.759, -0.651, 0, 0, 0, 90 [SEP] 6, Fork, -1.105, 0.749, 2.644, 0, 90, 0, 44 [SEP] 7, Fork, 1.367, 0.886, 2.153, 0, 90, 0, 95 [SEP] 8, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 95 [SEP] 9, Knife, 1.128, 0.933, -0.144, 0, 270, 0, 63 [SEP] 10, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 44 [SEP] 11, Bread, 1.365, 0.974, 0.706, 0, 0, 0, 63 [SEP] 12, Lettuce, -1.197, 0.819, 2.830, 0, 0, 0, 44 [SEP] 13, Lettuce, -1.383, 0.820, 2.459, 0, 0, 0, 44 [SEP] 14, SaltShaker, 1.131, 0.112, 1.157, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.306, 0.112, 0.808, 0, 0, 0, 55 [SEP] 16, Mug, -0.020, 0.753, -0.533, 0, 0, 0, 90 [SEP] 17, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 82 [SEP] 18, Bread, 1.128, 0.974, 0.139, 0, 0, 0, 63 [SEP] 19, Glassbottle, -1.290, 0.749, 2.644, 0, 0, 0, 44 [SEP] 20, Fork, -1.197, 0.750, 1.902, 0, 0, 0, 44 [SEP] 21, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 44 [SEP] 22, Tomato, 0.951, 0.936, 2.369, 0, 0, 0, 95 [SEP] 23, Plate, 1.200, 0.887, 2.477, 0, 0, 0, 95 [SEP] 24, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 63 [SEP] 25, Lettuce, -1.012, 0.820, 1.902, 0, 0, 0, 44 [SEP] 26, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 72 [SEP] 27, SoapBottle, -1.475, 0.750, 2.273, 0, 180, 0, 44 [SEP] 28, WineBottle, -1.012, 0.749, 2.644, 0, 0, 0, 44 [SEP] 29, Spatula, 1.284, 0.901, 2.692, 0, 180, 0, 95 [SEP] 30, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 63 [SEP] 31, Apple, 1.367, 0.946, 2.369, 0, 0, 0, 95 [SEP] 32, Cup, -1.176, 0.116, 0.165, 0, 180, 0, 66 [SEP] 33, Knife, 1.286, 0.933, 0.706, 0, 0, 0, 63 [SEP] 34, Egg, -0.919, 0.783, 2.459, 0, 0, 0, 44 [SEP] 35, SaltShaker, 1.450, 0.882, 2.261, 0, 0, 0, 95 [SEP] 36, PepperShaker, -1.263, 1.652, -0.443, 0, 0, 0, 50 [SEP] 37, Potato, 1.200, 0.931, 2.261, 0, 0, 0, 95 [SEP] 38, ButterKnife, 1.117, 0.886, 2.692, 0, 0, 0, 95 [SEP] 39, DishSponge, 1.523, 0.911, 0.139, 0, 0, 0, 63 [SEP] 40, Pan, 0.502, 0.939, -0.469, 0, 0, 0, 76 [SEP] 41, Spoon, 0.041, 0.759, -0.612, 0, 180, 0, 90 [SEP] 42, SprayBottle, 1.365, 0.910, 0.139, 0, 0, 0, 63 [SEP] 43, Mug, -1.123, 0.907, -0.828, 0, 0, 0, 69 [SEP] 44, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 45, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 46, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 47, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 48, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 49, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 50, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 51, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 52, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 54, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 55, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 56, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 57, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 58, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 59, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 60, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 61, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 62, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 63, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 64, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 65, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 66, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 67, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 68, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 69, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 70, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 71, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 72, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 73, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 74, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 75, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 76, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 77, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 78, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 79, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 80, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 81, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 82, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 83, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 84, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 85, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 86, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 87, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 88, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 89, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 90, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 91, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 92, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 93, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 94, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 95, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn to the white table | STEP 2: Pick up the knife | STEP 3: Look down at the tomato | STEP 4: Cut the tomato into slices | STEP 5: Go to the refrigerator | STEP 6: Put the knife in the refrigerator | STEP 7: Go to the white table | STEP 8: Pick up a tomato slice | STEP 9: Go to the refrigerator | STEP 10: Chill the tomato slice | STEP 11: Go to the microwave | STEP 12: Put the tomato slice in the microwave | END


Input: Put a cold slice of tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.908, 2.0, 0, 270, 0,  [SEP] 1, CellPhone, -1.383, 0.746, 2.830, 0, 0, 0, 44 [SEP] 2, ButterKnife, -0.658, 0.912, -0.509, 0, 0, 0, 69 [SEP] 3, Glassbottle, 1.175, 0.116, 0.732, 0, 0, 0, 55 [SEP] 4, Spoon, -0.919, 0.750, 2.273, 0, 0, 0, 44 [SEP] 5, Spoon, -0.082, 0.759, -0.651, 0, 0, 0, 90 [SEP] 6, Fork, -1.105, 0.749, 2.644, 0, 90, 0, 44 [SEP] 7, Fork, 1.367, 0.886, 2.153, 0, 90, 0, 95 [SEP] 8, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 95 [SEP] 9, Knife, 1.128, 0.933, -0.144, 0, 270, 0, 63 [SEP] 10, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 44 [SEP] 11, Bread, 1.365, 0.974, 0.706, 0, 0, 0, 63 [SEP] 12, Lettuce, -1.197, 0.819, 2.830, 0, 0, 0, 44 [SEP] 13, Lettuce, -1.383, 0.820, 2.459, 0, 0, 0, 44 [SEP] 14, SaltShaker, 1.131, 0.112, 1.157, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.306, 0.112, 0.808, 0, 0, 0, 55 [SEP] 16, Mug, -0.020, 0.753, -0.533, 0, 0, 0, 90 [SEP] 17, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 82 [SEP] 18, Bread, 1.128, 0.974, 0.139, 0, 0, 0, 63 [SEP] 19, Glassbottle, -1.290, 0.749, 2.644, 0, 0, 0, 44 [SEP] 20, Fork, -1.197, 0.750, 1.902, 0, 0, 0, 44 [SEP] 21, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 44 [SEP] 22, Tomato, 0.951, 0.936, 2.369, 0, 0, 0, 95 [SEP] 23, Plate, 1.200, 0.887, 2.477, 0, 0, 0, 95 [SEP] 24, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 63 [SEP] 25, Lettuce, -1.012, 0.820, 1.902, 0, 0, 0, 44 [SEP] 26, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 72 [SEP] 27, SoapBottle, -1.475, 0.750, 2.273, 0, 180, 0, 44 [SEP] 28, WineBottle, -1.012, 0.749, 2.644, 0, 0, 0, 44 [SEP] 29, Spatula, 1.284, 0.901, 2.692, 0, 180, 0, 95 [SEP] 30, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 63 [SEP] 31, Apple, 1.367, 0.946, 2.369, 0, 0, 0, 95 [SEP] 32, Cup, -1.176, 0.116, 0.165, 0, 180, 0, 66 [SEP] 33, Knife, 1.286, 0.933, 0.706, 0, 0, 0, 63 [SEP] 34, Egg, -0.919, 0.783, 2.459, 0, 0, 0, 44 [SEP] 35, SaltShaker, 1.450, 0.882, 2.261, 0, 0, 0, 95 [SEP] 36, PepperShaker, -1.263, 1.652, -0.443, 0, 0, 0, 50 [SEP] 37, Potato, 1.200, 0.931, 2.261, 0, 0, 0, 95 [SEP] 38, ButterKnife, 1.117, 0.886, 2.692, 0, 0, 0, 95 [SEP] 39, DishSponge, 1.523, 0.911, 0.139, 0, 0, 0, 63 [SEP] 40, Pan, 0.502, 0.939, -0.469, 0, 0, 0, 76 [SEP] 41, Spoon, 0.041, 0.759, -0.612, 0, 180, 0, 90 [SEP] 42, SprayBottle, 1.365, 0.910, 0.139, 0, 0, 0, 63 [SEP] 43, Mug, -1.123, 0.907, -0.828, 0, 0, 0, 69 [SEP] 44, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 45, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 46, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 47, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 48, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 49, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 50, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 51, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 52, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 54, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 55, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 56, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 57, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 58, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 59, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 60, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 61, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 62, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 63, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 64, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 65, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 66, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 67, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 68, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 69, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 70, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 71, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 72, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 73, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 74, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 75, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 76, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 77, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 78, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 79, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 80, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 81, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 82, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 83, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 84, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 85, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 86, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 87, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 88, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 89, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 90, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 91, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 92, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 93, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 94, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 95, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn right and take a step then turn right and walk to the table. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Look down at the tomato. | STEP 4: Slice the tomato into slices with the knife. | STEP 5: Turn right and walk until you're even with the fridge then turn right and walk to it when you are. | STEP 6: Open the fridge and put the knife in there then close the door. | STEP 7: Walk back over to thee sliced tomato. | STEP 8: Pick up a slice of the tomato please. | STEP 9: Walk back over the the fridge and face it please. | STEP 10: Chill the slice of tomato in the fridge then get it back out and close the door. | STEP 11: Turn left and walk to the counter then turn right and walk to the microwave. | STEP 12: Put the slice of tomato in the microwave then close the door. | END


Input: Move a bottle of soap from a counter top to a garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.5, 0, 180, 0,  [SEP] 1, Cloth, -0.246, 0.206, 2.495, 0, 0, 0, 33 [SEP] 2, Cloth, -0.246, 0.511, 1.408, 0, 0, 0, 32 [SEP] 3, SoapBar, -0.246, 0.512, 2.957, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.414, 0.510, 1.463, 0, 0, 0, 32 [SEP] 5, Candle, -0.215, 0.952, 3.533, 0, 0, 0, 41 [SEP] 6, Candle, -0.289, 0.812, 2.403, 0, 0, 0, 26 [SEP] 7, SprayBottle, -0.417, 0.813, 3.230, 0, 0, 0, 26 [SEP] 8, DishSponge, -0.188, 0.954, 3.783, 0, 0, 0, 41 [SEP] 9, DishSponge, -0.161, 0.954, 3.658, 0, 0, 0, 41 [SEP] 10, ToiletPaper, -0.302, 0.507, 3.012, 0, 0, 0, 24 [SEP] 11, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 40 [SEP] 12, SoapBar, -0.414, 0.206, 1.630, 0, 0, 0, 29 [SEP] 13, ToiletPaper, -0.289, 0.809, 1.288, 0, 0, 0, 26 [SEP] 14, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 15, Candle, -0.353, 0.812, 2.243, 0, 0, 0, 26 [SEP] 16, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 26 [SEP] 17, ToiletPaper, -1.156, 0.897, 3.925, 0, 180, 90, 37 [SEP] 18, SprayBottle, -0.482, 0.813, 2.137, 0, 0, 0, 26 [SEP] 19, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 38 [SEP] 20, Cloth, -0.358, 0.205, 1.408, 0, 0, 0, 32 [SEP] 21, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 22, DishSponge, -0.363, 0.829, 2.850, 0, 0, 0, 44 [SEP] 23, Sink, -0.299, 0.807, 2.754, 0, 270, 0,  [SEP] 24, Drawer, -0.319, 0.615, 3.012, 0, 0, 0,  [SEP] 25, Drawer, -0.319, 0.316, 3.012, 0, 0, 0,  [SEP] 26, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0,  [SEP] 27, Drawer, -0.319, 0.615, 1.978, 0, 0, 0,  [SEP] 28, Drawer, -0.319, 0.316, 1.978, 0, 0, 0,  [SEP] 29, Drawer, -0.319, 0.316, 1.463, 0, 0, 0,  [SEP] 30, Drawer, -0.319, 0.615, 2.495, 0, 0, 0,  [SEP] 31, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0,  [SEP] 32, Drawer, -0.319, 0.615, 1.463, 0, 0, 0,  [SEP] 33, Drawer, -0.319, 0.316, 2.495, 0, 0, 0,  [SEP] 34, Faucet, -0.076, 0.805, 2.757, 0, 0, 0,  [SEP] 35, Mirror, -0.228, 0.465, 1.453, 0, 0, 0,  [SEP] 36, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0,  [SEP] 37, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0,  [SEP] 38, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0,  [SEP] 39, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0,  [SEP] 40, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0,  [SEP] 41, Toilet, -0.600, -0.000, 3.671, 0, 270, 0,  [SEP] 42, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0,  [SEP] 43, Faucet, -0.076, 0.805, 1.733, 0, 0, 0,  [SEP] 44, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0,  [SEP] 45, Sink, -0.298, 0.807, 1.725, 0, 270, 0,  [SEP] 46, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0,  [SEP] 47, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,

Output: STEP 1: Walk forward to the towel, then turn left and walk forward to the sink. | STEP 2: Pick up the bottle of soap from the counter near the toilet paper. | STEP 3: Turn around, walk to the wall, then turn right and walk to the garbage can on the floor in the corner. | STEP 4: Put the bottle of soap in the garbage can. | END


Input: Place two CDs in a trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.25, 0.900, 0.0, 0, 270, 0,  [SEP] 1, CD, 0.814, 0.432, -1.986, 0, 330.000, 0, 37 [SEP] 2, CD, 3.084, 0.777, -1.500, 0, 0, 0, 39 [SEP] 3, Pen, 0.291, 0.710, 1.296, 0, 90, 0, 33 [SEP] 4, Pen, 3.239, 0.785, -1.768, 0, 0, 0, 39 [SEP] 5, Pencil, 3.084, 0.784, -1.411, 0, 0, 0, 39 [SEP] 6, CreditCard, 0.961, 0.432, -1.901, 0, 330.000, 0, 37 [SEP] 7, CreditCard, 2.930, 0.779, -1.500, 0, 0, 0, 39 [SEP] 8, KeyChain, 0.313, 0.616, -0.864, 0, 180, 0, 36 [SEP] 9, KeyChain, 0.357, 0.706, 1.130, 0, 90, 0, 33 [SEP] 10, AlarmClock, 0.226, 0.704, 1.463, 0, 90, 0, 33 [SEP] 11, AlarmClock, 3.084, 0.779, -1.857, 0, 0, 0, 39 [SEP] 12, Book, 1.374, 0.596, 0.722, 0, 0, 0, 26 [SEP] 13, KeyChain, 2.776, 0.779, -1.59, 0, 0, 0, 39 [SEP] 14, Pillow, 0.463, 0.638, 0.408, 0, 101.363, 0, 26 [SEP] 15, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 26 [SEP] 16, CreditCard, 0.258, 0.705, 1.213, 0, 90, 0, 33 [SEP] 17, Pen, 2.930, 0.785, -1.679, 0, 0, 0, 39 [SEP] 18, Pencil, 3.547, 0.784, -1.411, 0, 0, 0, 39 [SEP] 19, TissueBox, 0.303, 0.698, -0.783, 0, 0, 0, 34 [SEP] 20, Laptop, 3.452, 0.773, -1.667, 0, 210.000, 0, 39 [SEP] 21, CellPhone, 0.291, 0.704, 1.463, 0, 90, 0, 33 [SEP] 22, AlarmClock, 3.701, 0.779, -1.679, 0, 0, 0, 39 [SEP] 23, CD, 3.547, 0.779, -1.322, 0, 0, 0, 39 [SEP] 24, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0,  [SEP] 25, Mirror, 1.083, 1.228, 1.700, 0, 0, 0,  [SEP] 26, Bed, 0.898, -0.002, 0.141, 0, 270, 0,  [SEP] 27, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0,  [SEP] 28, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0,  [SEP] 29, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0,  [SEP] 30, Painting, 0.100, 1.432, -2.053, 90, 270, 0,  [SEP] 31, Window, 2.270, 1.547, -2.915, 90, 0, 0,  [SEP] 32, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0,  [SEP] 33, SideTable, 0.277, 0.000, 1.299, 0, 90, 0,  [SEP] 34, SideTable, 0.276, 0.000, -1.017, 0, 90, 0,  [SEP] 35, Drawer, 0.328, 0.624, 1.299, 0, 90, 0,  [SEP] 36, Drawer, 0.328, 0.624, -1.017, 0, 90, 0,  [SEP] 37, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0,  [SEP] 38, Blinds, 2.299, 2.525, -2.892, 0, 0, 0,  [SEP] 39, Desk, 3.238, 0.003, -1.590, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Go to the table | STEP 2: Pick up a CD from the table | STEP 3: Look at the trash bin | STEP 4: Place the CD in the trash bin | STEP 5: Go back to the table | STEP 6: Pick up another CD from the table | STEP 7: Look at the trash bin | STEP 8: Place the CD in the trash bin next to the other one | END


Input: Put a pencil in a mug and put the mug on the nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.25, 0, 0, 0,  [SEP] 1, Mug, 1.479, 0.701, -1.521, 0, 180, 0, 47 [SEP] 2, Mug, 0.987, 0.699, -1.326, 0, 180, 0, 47 [SEP] 3, TissueBox, 0.248, 0.703, -1.716, 0, 180, 0, 47 [SEP] 4, CD, 1.233, 0.703, -1.423, 0, 180, 0, 47 [SEP] 5, CellPhone, 0.987, 0.707, -1.521, 0, 180, 0, 47 [SEP] 6, Pen, 0.018, 0.086, -1.372, 0, 180, 0, 43 [SEP] 7, Pencil, 0.987, 0.705, -1.423, 0, 180, 0, 47 [SEP] 8, CreditCard, 1.600, 0.708, -0.385, 0, 0, 0, 39 [SEP] 9, Book, -1.923, 0.527, -0.814, 0, 0, 0, 30 [SEP] 10, KeyChain, 1.550, 1.412, 0.264, 0, 270, 0, 39 [SEP] 11, AlarmClock, 1.480, 0.489, -0.464, 0, 270, 0, 40 [SEP] 12, AlarmClock, 0.494, 0.702, -1.716, 0, 180, 0, 47 [SEP] 13, Box, 1.537, 1.652, 0.692, 0, 0, 0, 33 [SEP] 14, Book, 0.387, 0.497, -1.532, 0, 180, 0, 48 [SEP] 15, AlarmClock, 1.541, 0.489, -0.604, 0, 270, 0, 40 [SEP] 16, CellPhone, 1.638, 0.711, -0.623, 0, 0, 0, 39 [SEP] 17, TissueBox, 1.480, 0.490, -0.324, 0, 270, 0, 40 [SEP] 18, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 30 [SEP] 19, CreditCard, 1.479, 0.701, -1.326, 0, 180, 0, 47 [SEP] 20, KeyChain, 1.600, 0.709, -0.544, 0, 0, 0, 39 [SEP] 21, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 22, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 23, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 30 [SEP] 24, Laptop, -1.483, 0.525, -0.082, 0, 0, 0, 30 [SEP] 25, CD, 0.741, 0.701, -1.423, 0, 180, 0, 47 [SEP] 26, Pen, 0.494, 0.707, -1.423, 0, 180, 0, 47 [SEP] 27, Pencil, 1.562, 0.712, -0.703, 0, 0, 0, 39 [SEP] 28, Mug, 0.494, 0.701, -1.521, 0, 180, 0, 47 [SEP] 29, Mirror, -0.689, 1.495, 0.954, 0, 0, 0,  [SEP] 30, Bed, -1.742, 0.000, -0.071, 0, 0, 0,  [SEP] 31, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0,  [SEP] 32, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0,  [SEP] 33, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0,  [SEP] 34, Painting, -2.401, 1.700, -0.859, 90, 90, 0,  [SEP] 35, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0,  [SEP] 36, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0,  [SEP] 37, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0,  [SEP] 38, Window, 0.046, 1.559, -2.079, 90, 180, 0,  [SEP] 39, SideTable, 1.561, 0.000, -0.465, 0, 270, 0,  [SEP] 40, Shelf, 1.541, 0.493, -0.475, 0, 270, 0,  [SEP] 41, Blinds, 0.007, 2.152, -2.014, 0, 0, 0,  [SEP] 42, Drawer, -0.156, 0.547, -1.430, 0, 0, 0,  [SEP] 43, Drawer, 0.270, 0.159, -1.430, 0, 0, 0,  [SEP] 44, Drawer, -0.156, 0.159, -1.430, 0, 0, 0,  [SEP] 45, Drawer, 0.270, 0.353, -1.430, 0, 0, 0,  [SEP] 46, Drawer, -0.156, 0.353, -1.430, 0, 0, 0,  [SEP] 47, Desk, 0.634, 0.002, -1.557, 0, 0, 0,  [SEP] 48, Drawer, 0.270, 0.547, -1.430, 0, 0, 0,  [SEP] 49, Shelf, 1.406, 0.571, -1.514, 0, 0, 0,  [SEP] 50, Shelf, 1.406, 0.183, -1.514, 0, 0, 0,  [SEP] 51, Shelf, 1.584, 0.183, -1.514, 0, 0, 0,  [SEP] 52, Shelf, 1.406, 0.377, -1.514, 0, 0, 0,  [SEP] 53, Shelf, 1.584, 0.377, -1.514, 0, 0, 0,  [SEP] 54, Shelf, 1.584, 0.571, -1.514, 0, 0, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn around, and walk to the desk. | STEP 2: Pick up the pencil behind the mug. | STEP 3: Put the pencil in the mug on the left. | STEP 4: Pick up the mug on the left. | STEP 5: Turn around and face the safe. | STEP 6: Put the mug on the nightstand. | END


Input: Move a coffee mug from the desk to the small bookshelf.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.25, 0, 0, 0,  [SEP] 1, Mug, 1.479, 0.701, -1.521, 0, 180, 0, 47 [SEP] 2, Mug, 0.987, 0.699, -1.326, 0, 180, 0, 47 [SEP] 3, TissueBox, 0.248, 0.703, -1.716, 0, 180, 0, 47 [SEP] 4, CD, 1.233, 0.703, -1.423, 0, 180, 0, 47 [SEP] 5, CellPhone, 0.987, 0.707, -1.521, 0, 180, 0, 47 [SEP] 6, Pen, 0.018, 0.086, -1.372, 0, 180, 0, 43 [SEP] 7, Pencil, 0.987, 0.705, -1.423, 0, 180, 0, 47 [SEP] 8, CreditCard, 1.600, 0.708, -0.385, 0, 0, 0, 39 [SEP] 9, Book, -1.923, 0.527, -0.814, 0, 0, 0, 30 [SEP] 10, KeyChain, 1.550, 1.412, 0.264, 0, 270, 0, 39 [SEP] 11, AlarmClock, 1.480, 0.489, -0.464, 0, 270, 0, 40 [SEP] 12, AlarmClock, 0.494, 0.702, -1.716, 0, 180, 0, 47 [SEP] 13, Box, 1.537, 1.652, 0.692, 0, 0, 0, 33 [SEP] 14, Book, 0.387, 0.497, -1.532, 0, 180, 0, 48 [SEP] 15, AlarmClock, 1.541, 0.489, -0.604, 0, 270, 0, 40 [SEP] 16, CellPhone, 1.638, 0.711, -0.623, 0, 0, 0, 39 [SEP] 17, TissueBox, 1.480, 0.490, -0.324, 0, 270, 0, 40 [SEP] 18, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 30 [SEP] 19, CreditCard, 1.479, 0.701, -1.326, 0, 180, 0, 47 [SEP] 20, KeyChain, 1.600, 0.709, -0.544, 0, 0, 0, 39 [SEP] 21, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 22, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 23, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 30 [SEP] 24, Laptop, -1.483, 0.525, -0.082, 0, 0, 0, 30 [SEP] 25, CD, 0.741, 0.701, -1.423, 0, 180, 0, 47 [SEP] 26, Pen, 0.494, 0.707, -1.423, 0, 180, 0, 47 [SEP] 27, Pencil, 1.562, 0.712, -0.703, 0, 0, 0, 39 [SEP] 28, Mug, 0.494, 0.701, -1.521, 0, 180, 0, 47 [SEP] 29, Mirror, -0.689, 1.495, 0.954, 0, 0, 0,  [SEP] 30, Bed, -1.742, 0.000, -0.071, 0, 0, 0,  [SEP] 31, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0,  [SEP] 32, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0,  [SEP] 33, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0,  [SEP] 34, Painting, -2.401, 1.700, -0.859, 90, 90, 0,  [SEP] 35, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0,  [SEP] 36, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0,  [SEP] 37, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0,  [SEP] 38, Window, 0.046, 1.559, -2.079, 90, 180, 0,  [SEP] 39, SideTable, 1.561, 0.000, -0.465, 0, 270, 0,  [SEP] 40, Shelf, 1.541, 0.493, -0.475, 0, 270, 0,  [SEP] 41, Blinds, 0.007, 2.152, -2.014, 0, 0, 0,  [SEP] 42, Drawer, -0.156, 0.547, -1.430, 0, 0, 0,  [SEP] 43, Drawer, 0.270, 0.159, -1.430, 0, 0, 0,  [SEP] 44, Drawer, -0.156, 0.159, -1.430, 0, 0, 0,  [SEP] 45, Drawer, 0.270, 0.353, -1.430, 0, 0, 0,  [SEP] 46, Drawer, -0.156, 0.353, -1.430, 0, 0, 0,  [SEP] 47, Desk, 0.634, 0.002, -1.557, 0, 0, 0,  [SEP] 48, Drawer, 0.270, 0.547, -1.430, 0, 0, 0,  [SEP] 49, Shelf, 1.406, 0.571, -1.514, 0, 0, 0,  [SEP] 50, Shelf, 1.406, 0.183, -1.514, 0, 0, 0,  [SEP] 51, Shelf, 1.584, 0.183, -1.514, 0, 0, 0,  [SEP] 52, Shelf, 1.406, 0.377, -1.514, 0, 0, 0,  [SEP] 53, Shelf, 1.584, 0.377, -1.514, 0, 0, 0,  [SEP] 54, Shelf, 1.584, 0.571, -1.514, 0, 0, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the desk.  | STEP 2: Pick up the pencil on the desk. | STEP 3: Put the pencil in a coffee mug on the desk.  | STEP 4: Pick up the coffee mug on the desk.  | STEP 5: Turn and go to the small bookshelf. | STEP 6: Put the coffee mug on the small bookshelf.  | END


Input: Move a pencil from the trash to a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.25, 0, 180, 0,  [SEP] 1, CellPhone, -0.705, 1.779, -2.281, 0, 0, 0, 36 [SEP] 2, CellPhone, -0.244, 0.839, -1.861, 0, 0, 0, 36 [SEP] 3, KeyChain, -1.033, 1.347, -2.271, 0, 90, 0, 39 [SEP] 4, AlarmClock, -0.705, 1.777, -2.101, 0, 0, 0, 36 [SEP] 5, AlarmClock, -1.165, 0.837, -2.293, 0, 90, 0, 36 [SEP] 6, Laptop, 0.300, 0.643, 0.238, 0, 0, 0, 23 [SEP] 7, Laptop, -1.165, 1.775, -2.101, 0, 0, 0, 36 [SEP] 8, Book, -0.935, 0.839, -1.861, 0, 0, 0, 36 [SEP] 9, Box, -0.424, 2.065, -2.027, 0, 352.503, 0, 36 [SEP] 10, Pillow, 1.152, 0.739, 0.777, 0, 0, 0, 23 [SEP] 11, AlarmClock, 1.672, 0.673, -0.855, 0, 0, 0, 31 [SEP] 12, BasketBall, -0.337, 0.120, 1.031, 0, 0, 0, Floor|-00.16| [SEP] 13, BaseballBat, -1.602, 0.022, 0.356, 90, 8.736, 0, Floor|-00.16| [SEP] 14, Pen, -0.935, 1.783, -2.221, 0, 0, 0, 36 [SEP] 15, CellPhone, 2.004, 0.647, 0.239, 0, 0, 0, 23 [SEP] 16, TennisRacket, -1.667, 0.0, 0.818, 90, 29.999, 0, Floor|-00.16| [SEP] 17, Laptop, 1.152, 0.643, -0.120, 0, 0, 0, 23 [SEP] 18, Pencil, 0.101, 0.146, -2.118, 0, 90, 0, 26 [SEP] 19, KeyChain, 1.592, 0.374, -0.988, 0, 180, 0, 29 [SEP] 20, CreditCard, -1.000, 1.347, -1.976, 0, 0, 0, 39 [SEP] 21, CD, 1.626, 0.680, -1.065, 0, 270, 0, 31 [SEP] 22, Mirror, 0.883, 1.582, -2.399, 0, 180, 0,  [SEP] 23, Bed, 1.176, -0.002, 0.238, 0, 90, 0,  [SEP] 24, LightSwitch, 1.899, 1.297, -1.302, 0, 270, 0,  [SEP] 25, Poster, -1.927, 1.411, -1.455, 90, 90, 0,  [SEP] 26, GarbageCan, 0.128, -0.030, -2.146, 0, 90, 0,  [SEP] 27, Window, -2.028, 1.388, -0.270, 90, 270, 0,  [SEP] 28, DeskLamp, -1.673, 1.774, -2.190, 0, 0, 0,  [SEP] 29, Drawer, 1.624, 0.453, -0.987, 0, 270, 0,  [SEP] 30, Drawer, 1.624, 0.163, -0.987, 0, 270, 0,  [SEP] 31, SideTable, 1.691, 0.002, -0.988, 0, 270, 0,  [SEP] 32, Chair, -1.089, 0.009, -1.570, 0, 166.824, 0,  [SEP] 33, Blinds, -1.949, 2.158, -0.252, 0, 90, 0,  [SEP] 34, Cabinet, -0.241, 1.534, -2.101, 0, 0, 0,  [SEP] 35, Cabinet, -1.301, 1.534, -2.101, 0, 0, 0,  [SEP] 36, Desk, -0.962, 0.003, -1.942, 0, 0, 0,  [SEP] 37, Cabinet, -1.683, 1.534, -2.101, 0, 0, 0,  [SEP] 38, Cabinet, -0.623, 1.534, -2.101, 0, 0, 0,  [SEP] 39, Shelf, -0.962, 1.534, -2.101, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn to the right to find the trash can. | STEP 2: Pick up the pencil from inside the trash can. | STEP 3: Hold the pencil and turn to the right, then left to go to the front of the desk. | STEP 4: Place the pencil on the top right shelf of the desk. | END


Input: Move two toilet rolls from the top shelf to the bottom shelf.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.0, 0, 90, 0,  [SEP] 1, Candle, -0.118, 1.043, -0.544, 0, 270, 0, 31 [SEP] 2, Candle, -2.547, 0.991, -2.657, 0, 0, 0, 22 [SEP] 3, SprayBottle, -0.148, 1.166, -3.497, 0, 90, 0, 36 [SEP] 4, ToiletPaper, -2.768, 0.989, -3.454, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 26 [SEP] 6, SoapBar, -2.524, 0.080, -0.678, 0, 90, 0, 28 [SEP] 7, ToiletPaper, -2.915, 0.989, -2.125, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -2.620, 0.989, -2.923, 0, 0, 0, 22 [SEP] 9, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 23 [SEP] 10, SoapBottle, -0.138, 0.355, -3.399, 0, 90, 0, 33 [SEP] 11, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 12, Cloth, -2.649, 0.085, -0.822, 0, 90, 0, 28 [SEP] 13, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 14, Candle, -2.544, 0.356, -2.714, 0, 0, 0, 20 [SEP] 15, SprayBottle, -2.576, 0.358, -3.131, 0, 0, 0, 20 [SEP] 16, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0,  [SEP] 17, Faucet, -0.040, 1.017, -2.076, 0, 270, 0,  [SEP] 18, Sink, -0.307, 0.0, -2.076, 0, 270, 0,  [SEP] 19, Mirror, -2.983, 1.565, -2.900, 0, 0, 0,  [SEP] 20, Shelf, -2.581, 0.395, -2.923, 0, 0, 0,  [SEP] 21, Shelf, -2.539, 0.130, -2.923, 0, 0, 0,  [SEP] 22, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0,  [SEP] 23, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0,  [SEP] 24, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0,  [SEP] 25, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0,  [SEP] 26, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0,  [SEP] 27, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0,  [SEP] 28, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0,  [SEP] 29, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0,  [SEP] 30, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0,  [SEP] 31, Toilet, -0.411, -0.000, -0.547, 0, 0, 0,  [SEP] 32, Drawer, -0.229, 0.161, -3.398, 0, 270, 0,  [SEP] 33, Drawer, -0.229, 0.420, -3.398, 0, 270, 0,  [SEP] 34, Drawer, -0.229, 0.680, -3.398, 0, 270, 0,  [SEP] 35, Drawer, -0.229, 0.940, -3.398, 0, 270, 0,  [SEP] 36, Dresser, -0.205, 0.000, -3.398, 0, 270, 0,  [SEP] 37, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0,  [SEP] 38, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,

Output: STEP 1: Turn and go to the shelves by the door. | STEP 2: Pick up a toilet roll on the top shelf.  | STEP 3: Turn and go to the shelves by the door. | STEP 4: Put the toilet roll on the bottom shelf. | STEP 5: Turn and go to the shelves by the door. | STEP 6: Pick up a toilet roll on the top shelf.  | STEP 7: Turn and go to the shelves by the door. | STEP 8: Put the toilet roll on the bottom shelf. | END


Input: Put a cardboard box on the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0,  [SEP] 1, KeyChain, 0.133, 0.554, 0.997, 0, 180, 0, 33 [SEP] 2, RemoteControl, 0.353, 0.550, 0.997, 0, 180, 0, 33 [SEP] 3, Laptop, -0.115, 0.475, -1.120, 0, 180, 0, 36 [SEP] 4, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 46 [SEP] 5, Bowl, -1.871, 0.757, -1.290, 0, 90, 0, 40 [SEP] 6, KeyChain, 0.794, 0.546, 0.906, 0, 180, 0, 33 [SEP] 7, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 41 [SEP] 8, Statue, -1.743, 0.761, -0.350, 0, 270, 0, 40 [SEP] 9, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 33 [SEP] 10, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 40 [SEP] 11, Vase, -1.640, 0.569, -1.715, 0, 90, 0, 44 [SEP] 12, Statue, 0.336, 0.575, -1.182, 0, 180, 0, 36 [SEP] 13, RemoteControl, 0.573, 0.549, 0.906, 0, 180, 0, 33 [SEP] 14, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 30 [SEP] 15, CreditCard, 2.405, 0.452, -2.225, 0, 270, 0, 46 [SEP] 16, Vase, -0.471, 0.481, -2.222, 0, 0, 0, 31 [SEP] 17, Statue, -1.616, 0.767, -1.055, 0, 90, 0, 40 [SEP] 18, Painting, 0.172, 1.781, 1.934, 0, 0, 0,  [SEP] 19, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0,  [SEP] 20, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0,  [SEP] 21, Television, -0.035, 1.239, -2.439, 0, 0, 0,  [SEP] 22, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0,  [SEP] 23, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0,  [SEP] 24, Window, -0.816, 1.534, -2.719, 90, 0, 0,  [SEP] 25, Window, 0.791, 1.534, -2.718, 90, 0, 0,  [SEP] 26, Shelf, 0.340, 0.474, -2.377, 0, 0, 0,  [SEP] 27, Shelf, 0.341, 0.273, -2.377, 0, 0, 0,  [SEP] 28, TVStand, -0.025, -0.000, -2.385, 0, 0, 0,  [SEP] 29, Shelf, -0.393, 0.302, -2.382, 0, 0, 0,  [SEP] 30, Shelf, -0.026, 0.442, -2.380, 0, 0, 0,  [SEP] 31, Shelf, -0.393, 0.597, -2.382, 0, 0, 0,  [SEP] 32, Shelf, 0.340, 0.643, -2.377, 0, 0, 0,  [SEP] 33, Sofa, 0.124, 0.008, 1.032, 0, 180, 0,  [SEP] 34, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0,  [SEP] 35, Shelf, -1.827, 2.041, -2.356, 0, 90, 0,  [SEP] 36, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0,  [SEP] 37, Shelf, -1.827, 1.744, -2.356, 0, 90, 0,  [SEP] 38, Shelf, -1.827, 1.452, -2.356, 0, 90, 0,  [SEP] 39, Shelf, -1.730, 0.278, -1.635, 0, 90, 0,  [SEP] 40, TVStand, -1.733, -0.000, -1.058, 0, 90, 0,  [SEP] 41, Shelf, -1.730, 0.302, -0.479, 0, 90, 0,  [SEP] 42, Shelf, -1.732, 0.446, -1.056, 0, 90, 0,  [SEP] 43, Shelf, -1.731, 0.596, -0.478, 0, 90, 0,  [SEP] 44, Shelf, -1.733, 0.648, -1.635, 0, 90, 0,  [SEP] 45, Shelf, -1.730, 0.477, -1.635, 0, 90, 0,  [SEP] 46, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0,  [SEP] 47, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the box on the floor by the chair | STEP 2: Pick up the box from the floor | STEP 3: Turn left and go to the blue couch on the right | STEP 4: Put the box on the couch between the pillow and keys | END


Input: Place a box on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0,  [SEP] 1, KeyChain, 0.133, 0.554, 0.997, 0, 180, 0, 33 [SEP] 2, RemoteControl, 0.353, 0.550, 0.997, 0, 180, 0, 33 [SEP] 3, Laptop, -0.115, 0.475, -1.120, 0, 180, 0, 36 [SEP] 4, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 46 [SEP] 5, Bowl, -1.871, 0.757, -1.290, 0, 90, 0, 40 [SEP] 6, KeyChain, 0.794, 0.546, 0.906, 0, 180, 0, 33 [SEP] 7, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 41 [SEP] 8, Statue, -1.743, 0.761, -0.350, 0, 270, 0, 40 [SEP] 9, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 33 [SEP] 10, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 40 [SEP] 11, Vase, -1.640, 0.569, -1.715, 0, 90, 0, 44 [SEP] 12, Statue, 0.336, 0.575, -1.182, 0, 180, 0, 36 [SEP] 13, RemoteControl, 0.573, 0.549, 0.906, 0, 180, 0, 33 [SEP] 14, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 30 [SEP] 15, CreditCard, 2.405, 0.452, -2.225, 0, 270, 0, 46 [SEP] 16, Vase, -0.471, 0.481, -2.222, 0, 0, 0, 31 [SEP] 17, Statue, -1.616, 0.767, -1.055, 0, 90, 0, 40 [SEP] 18, Painting, 0.172, 1.781, 1.934, 0, 0, 0,  [SEP] 19, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0,  [SEP] 20, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0,  [SEP] 21, Television, -0.035, 1.239, -2.439, 0, 0, 0,  [SEP] 22, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0,  [SEP] 23, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0,  [SEP] 24, Window, -0.816, 1.534, -2.719, 90, 0, 0,  [SEP] 25, Window, 0.791, 1.534, -2.718, 90, 0, 0,  [SEP] 26, Shelf, 0.340, 0.474, -2.377, 0, 0, 0,  [SEP] 27, Shelf, 0.341, 0.273, -2.377, 0, 0, 0,  [SEP] 28, TVStand, -0.025, -0.000, -2.385, 0, 0, 0,  [SEP] 29, Shelf, -0.393, 0.302, -2.382, 0, 0, 0,  [SEP] 30, Shelf, -0.026, 0.442, -2.380, 0, 0, 0,  [SEP] 31, Shelf, -0.393, 0.597, -2.382, 0, 0, 0,  [SEP] 32, Shelf, 0.340, 0.643, -2.377, 0, 0, 0,  [SEP] 33, Sofa, 0.124, 0.008, 1.032, 0, 180, 0,  [SEP] 34, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0,  [SEP] 35, Shelf, -1.827, 2.041, -2.356, 0, 90, 0,  [SEP] 36, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0,  [SEP] 37, Shelf, -1.827, 1.744, -2.356, 0, 90, 0,  [SEP] 38, Shelf, -1.827, 1.452, -2.356, 0, 90, 0,  [SEP] 39, Shelf, -1.730, 0.278, -1.635, 0, 90, 0,  [SEP] 40, TVStand, -1.733, -0.000, -1.058, 0, 90, 0,  [SEP] 41, Shelf, -1.730, 0.302, -0.479, 0, 90, 0,  [SEP] 42, Shelf, -1.732, 0.446, -1.056, 0, 90, 0,  [SEP] 43, Shelf, -1.731, 0.596, -0.478, 0, 90, 0,  [SEP] 44, Shelf, -1.733, 0.648, -1.635, 0, 90, 0,  [SEP] 45, Shelf, -1.730, 0.477, -1.635, 0, 90, 0,  [SEP] 46, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0,  [SEP] 47, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the blue chair. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and face the coffee table, then walk ahead and veer right to the couch. | STEP 4: Place the box on the couch, to the right of the blue pillow. | END


Input: Move two credit cards to the night stand between the beds.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.899, 0.0, 0, 0, 0,  [SEP] 1, Bowl, -2.948, 1.413, -1.497, 0, 90, 0, 43 [SEP] 2, Bowl, 0.891, 1.413, -2.025, 0, 270, 0, 44 [SEP] 3, Watch, -1.523, 0.075, 0.414, 0, 90, 0, 68 [SEP] 4, Watch, 0.954, 1.141, -1.607, 0, 270, 0, 48 [SEP] 5, Pen, 2.993, 0.546, -0.552, 0, 270, 0, 63 [SEP] 6, Pen, 3.086, 0.797, -0.838, 0, 0, 0, 65 [SEP] 7, Pencil, -1.383, 0.619, 0.462, 0, 180, 0, 69 [SEP] 8, Pencil, 2.993, 0.547, -2.311, 0, 270, 0, 64 [SEP] 9, CreditCard, 3.209, 0.791, -1.121, 0, 0, 0, 65 [SEP] 10, KeyChain, -1.523, 0.339, 0.393, 0, 0, 0, 67 [SEP] 11, KeyChain, -2.979, 1.414, -2.390, 0, 180, 0, 46 [SEP] 12, Book, -0.479, 0.614, -0.317, 0, 0, 0, 38 [SEP] 13, Book, -2.003, 0.599, -0.035, 0, 0, 0, 37 [SEP] 14, AlarmClock, 3.271, 0.794, -2.250, 0, 0, 0, 65 [SEP] 15, Laptop, -0.936, 0.614, -0.879, 0, 0, 0, 38 [SEP] 16, Book, 3.18, 0.785, -1.541, 0, 21.311, 0, 65 [SEP] 17, Laptop, -2.46, 0.598, -1.160, 0, 0, 0, 37 [SEP] 18, KeyChain, -1.523, 0.615, 0.381, 0, 180, 0, 69 [SEP] 19, Cloth, 0.970, -0.001, -2.404, 0, 0, 0,  [SEP] 20, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0,  [SEP] 21, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0,  [SEP] 22, Pillow, -0.327, 0.693, -1.160, 0, 0, 0, 38 [SEP] 23, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 38 [SEP] 24, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978,  [SEP] 25, Pencil, -1.592, 0.619, 0.503, 0, 180, 0, 69 [SEP] 26, CreditCard, 3.271, 0.792, -1.968, 0, 0, 0, 65 [SEP] 27, Cloth, 0.911, 0.025, -2.702, 0, 0, 0,  [SEP] 28, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 37 [SEP] 29, Pen, 0.922, 1.147, -2.653, 0, 270, 0, 47 [SEP] 30, Cloth, 0.705, -0.001, -2.75, 0, 270, 0,  [SEP] 31, AlarmClock, 3.024, 0.794, -2.250, 0, 0, 0, 65 [SEP] 32, Watch, -1.731, 0.614, 0.340, 0, 180, 0, 69 [SEP] 33, CellPhone, -0.175, 0.616, -0.035, 0, 0, 0, 38 [SEP] 34, CD, -3.011, 1.413, -1.765, 0, 90, 0, 53 [SEP] 35, Mug, 0.985, 1.411, -2.519, 0, 270, 0, 44 [SEP] 36, Bowl, -2.916, 1.413, -2.744, 0, 90, 0, 49 [SEP] 37, Bed, -2.455, -0.000, -0.572, 0, 0, 0,  [SEP] 38, Bed, -0.634, -0.000, -0.567, 0, 0, 0,  [SEP] 39, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0,  [SEP] 40, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0,  [SEP] 41, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0,  [SEP] 42, Shelf, 0.922, 1.133, -2.163, 0, 270, 0,  [SEP] 43, Shelf, -2.948, 1.405, -1.621, 0, 90, 0,  [SEP] 44, Shelf, 0.922, 1.405, -2.163, 0, 270, 0,  [SEP] 45, Shelf, -2.948, 1.133, -2.188, 0, 90, 0,  [SEP] 46, Shelf, -2.948, 1.405, -2.188, 0, 90, 0,  [SEP] 47, Shelf, 0.922, 1.133, -2.729, 0, 270, 0,  [SEP] 48, Shelf, 0.922, 1.133, -1.616, 0, 270, 0,  [SEP] 49, Shelf, -2.948, 1.405, -2.735, 0, 90, 0,  [SEP] 50, Shelf, 0.922, 1.405, -1.616, 0, 270, 0,  [SEP] 51, Shelf, -2.948, 1.133, -2.735, 0, 90, 0,  [SEP] 52, Shelf, 0.922, 1.405, -2.729, 0, 270, 0,  [SEP] 53, Shelf, -2.948, 1.133, -1.621, 0, 90, 0,  [SEP] 54, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0,  [SEP] 55, Poster, 3.400, 1.863, -1.976, 90, 90, 0,  [SEP] 56, Poster, 3.400, 1.702, -0.792, 90, 90, 0,  [SEP] 57, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0,  [SEP] 58, Mirror, 0.453, 1.491, 0.616, 0, 0, 0,  [SEP] 59, Window, 2.278, 0.925, -3.184, 90, 0, 0,  [SEP] 60, Window, -1.019, 0.925, -3.184, 90, 0, 0,  [SEP] 61, Blinds, -1.003, 2.072, -3.177, 0, 0, 0,  [SEP] 62, Blinds, 2.292, 2.072, -3.177, 0, 0, 0,  [SEP] 63, Shelf, 3.124, 0.633, -0.564, 0, 270, 0,  [SEP] 64, Shelf, 3.124, 0.633, -2.267, 0, 270, 0,  [SEP] 65, Desk, 3.141, -0.000, -1.414, 0, 270, 0,  [SEP] 66, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0,  [SEP] 67, Drawer, -1.523, 0.408, 0.346, 0, 180, 0,  [SEP] 68, Drawer, -1.523, 0.141, 0.346, 0, 180, 0,  [SEP] 69, SideTable, -1.522, -0.001, 0.411, 0, 180, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Walk forward and walk around the left side of the bed. Go forward to the desk. | STEP 2: Pick up the credit card from the desk.  | STEP 3: Turn around completely and walk around the bed to the right. Walk forward to the night stand. | STEP 4: Set the credit card on the night stand.  | STEP 5: Walk forward and walk around the left side of the bed. Go forward to the desk. | STEP 6: Pick up the credit card from the desk.  | STEP 7: Turn around completely and walk around the bed to the right. Walk forward to the night stand. | STEP 8: Set the credit card on the night stand.  | END


Input: Move two towels from the wall behind the sink to the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0,  [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0,  [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0,  [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0,  [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0,  [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0,  [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0,  [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0,  [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0,  [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0,  [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0,  [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0,  [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0,  [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0,  [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0,  [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0,  [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0,  [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0,  [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0,  [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,

Output: STEP 1: Turn to your left and stand in front of the left side of the sink. | STEP 2: Take the towel from its holder hanging on the wall to the left of the mirror. | STEP 3: Turn around to face the side of the toilet nearest the shower.  | STEP 4: Place the towel on the left side of the back of the toilet nearest the flusher handle. | STEP 5: Turn around and walk to the towel rack to the right of the sink. | STEP 6: Remove the towel from the rack. | STEP 7: Turn around and walk to the toilet. | STEP 8: Place the towel on the end of the back of the toilet to the right of the soap dispenser. | END


Input: Place two towels, one on the left, one on the right on the back of the toilet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0,  [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0,  [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0,  [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0,  [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0,  [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0,  [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0,  [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0,  [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0,  [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0,  [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0,  [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0,  [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0,  [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0,  [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0,  [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0,  [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0,  [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0,  [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0,  [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,

Output: STEP 1: Turn  left and walk towards the sink.  | STEP 2: Remove the towel on the left side of the mirror. | STEP 3: Turn right and walk towards the shower, turn right and walk towards the toilet. | STEP 4: Place the towel next to the pink bar of soap on the toilet. | STEP 5: Turn all the way around and walk towards the sink. | STEP 6: Remove the towel on the right side of the mirror.  | STEP 7: Turn all the way around and walk towards the toilet. | STEP 8: Place the towel on the right side of the bottle of lotion on the toilet. | END


Input: Put two rags on the handle to the left of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0,  [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0,  [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0,  [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0,  [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0,  [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0,  [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0,  [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0,  [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0,  [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0,  [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0,  [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0,  [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0,  [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0,  [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0,  [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0,  [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0,  [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0,  [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0,  [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,

Output: STEP 1: Move to the sink ahead of the toilet | STEP 2: Pick up a rag from the towel ring on the wall | STEP 3: Move to the left side of the toilet behind you | STEP 4: Put the rag on the wall handle | STEP 5: Move to the sink ahead of the toilet | STEP 6: Pick up a rag from the towel ring on the wall | STEP 7: Move to the left side of the toilet behind you | STEP 8: Put the rag on the wall handle | END


Input: Move two hand towels to the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0,  [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0,  [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0,  [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0,  [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0,  [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0,  [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0,  [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0,  [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0,  [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0,  [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0,  [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0,  [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0,  [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0,  [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0,  [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0,  [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0,  [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0,  [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0,  [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,

Output: STEP 1: Turn directly to your left and face the bathroom counter | STEP 2: Pick up a hand towel off of the rack | STEP 3: Turn around so you are facing the left of the toilet | STEP 4: Place the hand towel on the back of the toilet on the left side | STEP 5: Turn around and walk to the bathroom counter behind you | STEP 6: Pick up a hand towel off of the rack | STEP 7: Turn around and walk to the left side of the toilet again | STEP 8: Place this hand towel on the back of the toilet on the right side | END


Input: Place a heated potato in a trash bin. 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, Potato, -0.211, 0.947, 1.540, 0, 0, 0, 45 [SEP] 2, DishSponge, -2.455, 0.910, 1.230, 0, 0, 0, 73 [SEP] 3, ButterKnife, -2.289, 0.910, 0.631, 0, 0, 0, 73 [SEP] 4, ButterKnife, 1.684, 0.910, -0.851, 0, 0, 0, 55 [SEP] 5, Fork, -2.379, 0.773, -0.073, 0, 90, 0, 63 [SEP] 6, Fork, -2.621, 0.911, 0.631, 0, 0, 0, 73 [SEP] 7, Spoon, -2.289, 0.912, 0.631, 0, 0, 0, 73 [SEP] 8, Spoon, -2.318, 0.775, 0.905, 0, 90, 0, 50 [SEP] 9, Spatula, -0.471, 0.925, 0.647, 0, 0, 0, 45 [SEP] 10, Spatula, -0.471, 0.925, 1.094, 0, 90, 0, 45 [SEP] 11, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 53 [SEP] 12, Egg, -2.455, 0.941, 1.530, 0, 0, 0, 73 [SEP] 13, Cup, -2.485, 1.298, -0.507, 0, 90, 0, 77 [SEP] 14, Knife, -2.348, 0.798, 0.952, 0, 270, 0, 50 [SEP] 15, Knife, -2.348, 0.798, 0.391, 0, 90, 0, 62 [SEP] 16, SoapBottle, 1.646, 0.187, 0.651, 0, 0, 0, 84 [SEP] 17, SoapBottle, -2.645, 1.539, 2.768, 0, 0, 0, 49 [SEP] 18, SaltShaker, -2.638, 1.533, 1.984, 0, 0, 0, 57 [SEP] 19, Bread, 0.048, 0.996, 1.764, 0, 0, 0, 45 [SEP] 20, Mug, 0.195, 0.905, -1.795, 0, 0, 0, 55 [SEP] 21, Mug, 1.521, 0.905, -0.918, 0, 45, 0, 55 [SEP] 22, Pan, -0.730, 0.910, 1.094, 0, 0, 0, 45 [SEP] 23, Knife, -2.287, 0.799, 0.857, 0, 90, 0, 50 [SEP] 24, Apple, -2.621, 0.972, 0.331, 0, 0, 0, 73 [SEP] 25, Bowl, 1.599, 0.908, -0.684, 0, 0, 0, 55 [SEP] 26, Fork, 1.598, 0.911, 0.465, 0, 0, 0, 54 [SEP] 27, Bread, -2.538, 0.996, 0.631, 0, 0, 0, 73 [SEP] 28, Plate, -0.211, 0.913, 1.764, 0, 0, 0, 45 [SEP] 29, Egg, 1.221, 0.949, -1.161, 0, 225, 0, 59 [SEP] 30, Kettle, -0.471, 0.911, 1.540, 0, 0, 0, 45 [SEP] 31, Potato, 1.418, 0.954, -1.034, 0, 315, 0, 59 [SEP] 32, SaltShaker, -2.524, 1.532, 0.125, 0, 0, 0, 68 [SEP] 33, Lettuce, -2.289, 0.994, 0.931, 0, 0, 0, 73 [SEP] 34, Cup, -2.241, 0.112, 0.541, 0, 0, 0, 70 [SEP] 35, SoapBottle, 1.434, 0.924, -1.158, 0, 225, 0, 59 [SEP] 36, Spatula, 0.966, 0.925, -1.585, 0, 45, 0, 55 [SEP] 37, PaperTowelRoll, 0.985, 1.015, -1.775, 0, 0, 0, 55 [SEP] 38, ButterKnife, -2.621, 0.910, 0.931, 0, 0, 0, 73 [SEP] 39, PepperShaker, 1.662, 1.658, -0.335, 0, 0, 0, 65 [SEP] 40, DishSponge, -2.645, 1.537, -0.019, 0, 0, 0, 68 [SEP] 41, Pot, 1.412, 0.929, -0.335, 0, 0, 0, 46 [SEP] 42, Spoon, -0.601, 0.912, 0.423, 0, 0, 0, 45 [SEP] 43, Tomato, 1.341, 0.953, 0.376, 0, 0, 0, 54 [SEP] 44, Mug, -2.448, 1.578, -1.412, 0, 180, 0, 72 [SEP] 45, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 46, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 47, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 48, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 49, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 50, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 51, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 52, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 53, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 54, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 55, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 56, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 57, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 58, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 59, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 60, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 61, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 62, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 63, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 64, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 65, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 66, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 67, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 68, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 69, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 70, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 71, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 72, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 73, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 74, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 75, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 76, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 77, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 78, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 79, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 80, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 81, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 82, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 83, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 84, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 85, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 86, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 87, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 88, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk along the kitchen island, turning left at the end and turning to face the island. | STEP 2: Pick up the potato next to the kettle on the counter. | STEP 3: Turn right and walk to the microwave. | STEP 4: Heat the potato in the microwave. | STEP 5: Turn around and walk to the white door, then turn right and walk to the gray trash bin. | STEP 6: Place the potato in the trash bin. | END


Input: Move a book while turning 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, -1.25, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Pen, -1.594, 0.867, -2.436, 0, 0, 0, 54 [SEP] 2, Pencil, 0.459, 0.815, -2.169, 0, 0, 0, 47 [SEP] 3, Pencil, -1.232, 0.656, -2.363, 0, 0, 0, 53 [SEP] 4, KeyChain, -1.232, 0.372, -2.211, 0, 270, 0, 52 [SEP] 5, Laptop, 0.528, 0.772, 1.496, 0, 0, 0, 25 [SEP] 6, AlarmClock, 0.042, 0.813, -2.169, 0, 0, 0, 47 [SEP] 7, AlarmClock, 0.355, 0.813, -2.440, 0, 0, 0, 47 [SEP] 8, Book, -0.621, 0.774, 0.850, 0, 0, 0, 25 [SEP] 9, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 10, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 11, CellPhone, -1.406, 0.371, -2.287, 0, 0, 0, 52 [SEP] 12, Pencil, -1.319, 0.091, -2.325, 0, 0, 0, 51 [SEP] 13, Laptop, -0.046, 0.772, 1.819, 0, 0, 0, 25 [SEP] 14, AlarmClock, -0.587, 0.862, -2.248, 0, 0, 0, 54 [SEP] 15, CreditCard, -0.990, 0.862, -2.311, 0, 0, 0, 54 [SEP] 16, KeyChain, 1.494, 0.824, -1.363, 0, 270, 0, 45 [SEP] 17, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 18, RemoteControl, -1.580, 0.373, -2.325, 0, 0, 0, 52 [SEP] 19, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 25 [SEP] 20, CD, -1.192, 0.861, -2.436, 0, 0, 0, 54 [SEP] 21, CD, -1.145, 0.371, -2.363, 0, 0, 0, 52 [SEP] 22, CD, 1.313, 0.151, -2.510, 0, 315, 0, 32 [SEP] 23, Pen, -0.061, 0.818, -2.372, 0, 0, 0, 47 [SEP] 24, Bowl, -0.990, 0.863, -2.436, 0, 0, 0, 54 [SEP] 25, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 26, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 27, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 28, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 29, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 30, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 31, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 32, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 33, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 34, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 35, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 36, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 37, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 38, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 39, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 40, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 41, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 42, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 45, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 46, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 47, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 48, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 49, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 50, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 51, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 52, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 53, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 54, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Move to the left side of the end of the bed | STEP 2: Pick up the book on the edge of the bed | STEP 3: Carry the book to the small desk top where the lamp is | STEP 4: Turn on the lamp | END


Input: Examine the book by the light of the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Pen, -1.594, 0.867, -2.436, 0, 0, 0, 54 [SEP] 2, Pencil, 0.459, 0.815, -2.169, 0, 0, 0, 47 [SEP] 3, Pencil, -1.232, 0.656, -2.363, 0, 0, 0, 53 [SEP] 4, KeyChain, -1.232, 0.372, -2.211, 0, 270, 0, 52 [SEP] 5, Laptop, 0.528, 0.772, 1.496, 0, 0, 0, 25 [SEP] 6, AlarmClock, 0.042, 0.813, -2.169, 0, 0, 0, 47 [SEP] 7, AlarmClock, 0.355, 0.813, -2.440, 0, 0, 0, 47 [SEP] 8, Book, -0.621, 0.774, 0.850, 0, 0, 0, 25 [SEP] 9, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 10, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 11, CellPhone, -1.406, 0.371, -2.287, 0, 0, 0, 52 [SEP] 12, Pencil, -1.319, 0.091, -2.325, 0, 0, 0, 51 [SEP] 13, Laptop, -0.046, 0.772, 1.819, 0, 0, 0, 25 [SEP] 14, AlarmClock, -0.587, 0.862, -2.248, 0, 0, 0, 54 [SEP] 15, CreditCard, -0.990, 0.862, -2.311, 0, 0, 0, 54 [SEP] 16, KeyChain, 1.494, 0.824, -1.363, 0, 270, 0, 45 [SEP] 17, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 18, RemoteControl, -1.580, 0.373, -2.325, 0, 0, 0, 52 [SEP] 19, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 25 [SEP] 20, CD, -1.192, 0.861, -2.436, 0, 0, 0, 54 [SEP] 21, CD, -1.145, 0.371, -2.363, 0, 0, 0, 52 [SEP] 22, CD, 1.313, 0.151, -2.510, 0, 315, 0, 32 [SEP] 23, Pen, -0.061, 0.818, -2.372, 0, 0, 0, 47 [SEP] 24, Bowl, -0.990, 0.863, -2.436, 0, 0, 0, 54 [SEP] 25, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 26, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 27, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 28, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 29, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 30, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 31, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 32, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 33, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 34, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 35, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 36, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 37, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 38, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 39, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 40, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 41, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 42, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 45, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 46, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 47, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 48, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 49, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 50, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 51, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 52, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 53, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 54, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn left move forward then turn left head to the end of the bed | STEP 2: Pick up the book on the bed | STEP 3: Turn right walk forward head to the table with lamp | STEP 4: Turn on the lamp | END