Input: Put the heated mug on the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.5, 0, 0, 0,  [SEP] 1, Potato, 0.877, 0.916, -0.314, 0, 0, 0, 42 [SEP] 2, DishSponge, 0.817, 0.759, -0.252, 0, 0, 0, 41 [SEP] 3, Spatula, 0.149, 0.915, 1.101, 0, 90, 0, 68 [SEP] 4, Spoon, 0.799, 0.773, -0.570, 0, 270, 0, 65 [SEP] 5, Spoon, 0.841, 0.666, 0.326, 0, 0, 0, 47 [SEP] 6, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 44 [SEP] 7, Egg, 0.630, 0.809, -0.515, 0, 270, 0, 65 [SEP] 8, Knife, -1.886, 0.724, -1.091, 0, 0, 0, 78 [SEP] 9, Knife, 0.769, 0.782, -0.188, 0, 0, 0, 41 [SEP] 10, Tomato, 0.824, 1.207, -1.880, 0, 270, 0, 62 [SEP] 11, Tomato, 0.901, 0.712, 0.508, 0, 0, 0, 47 [SEP] 12, SoapBottle, -2.054, 0.701, -1.199, 0, 0, 0, 78 [SEP] 13, Bowl, 0.858, 1.462, -0.084, 0, 0, 0, 53 [SEP] 14, PepperShaker, -0.252, 0.896, 0.843, 0, 270, 0, 68 [SEP] 15, Bread, -1.056, 0.944, 0.929, 0, 270, 0, 68 [SEP] 16, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 62 [SEP] 17, Lettuce, 0.149, 0.987, 0.843, 0, 270, 0, 68 [SEP] 18, Mug, 0.715, 0.767, -0.680, 0, 270, 0, 65 [SEP] 19, Apple, -0.654, 0.954, 0.758, 0, 270, 0, 68 [SEP] 20, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 46 [SEP] 21, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 78 [SEP] 22, Fork, 0.721, 0.665, 0.508, 0, 0, 0, 47 [SEP] 23, SoapBottle, 0.781, 0.664, 0.508, 0, 0, 0, 47 [SEP] 24, Apple, -1.297, 0.105, -3.537, 0, 270, 0, 57 [SEP] 25, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 45 [SEP] 26, Egg, -1.896, 0.836, -3.738, 0, 0, 0, 64 [SEP] 27, Spatula, -1.535, 0.715, -3.782, 0, 90, 0, 69 [SEP] 28, Potato, 0.669, 1.407, -2.190, 0, 270, 0, 62 [SEP] 29, Cup, 0.746, 0.663, -1.958, 0, 270, 0, 62 [SEP] 30, SaltShaker, 0.787, 0.012, -0.184, 0, 0, 0, 52 [SEP] 31, PepperShaker, 0.842, 0.012, 0.011, 0, 0, 0, 52 [SEP] 32, ButterKnife, 0.729, 0.883, 0.098, 0, 0, 0, 42 [SEP] 33, DishSponge, 0.720, 0.759, -0.124, 0, 0, 0, 41 [SEP] 34, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 68 [SEP] 35, Lettuce, -1.719, 0.788, -1.199, 0, 0, 0, 78 [SEP] 36, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 47 [SEP] 37, Spoon, 0.720, 0.761, -0.061, 0, 0, 0, 41 [SEP] 38, Knife, 0.574, 0.783, -0.124, 0, 90, 0, 41 [SEP] 39, Mug, 0.566, 0.010, 0.076, 0, 180, 0, 52 [SEP] 40, Bowl, 0.746, 0.464, -1.802, 0, 270, 0, 62 [SEP] 41, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 42, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 43, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 44, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 45, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 46, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 47, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 48, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 49, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 50, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 51, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 52, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 53, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 54, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 55, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 56, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 57, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 58, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 59, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 60, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 61, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 63, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 64, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 65, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 66, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 67, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 68, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 69, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 70, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 71, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 72, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 73, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 74, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 75, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 76, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 77, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 78, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 79, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn right then head to the sink on your right | STEP 2: Pick up the mug in the sink | STEP 3: Turn around to the right walk forward then head to the microwave | STEP 4: Open the microwave heat the mug then take it out and close the microwave | STEP 5: Turn left then heat to the coffee maker on your right | STEP 6: Put the mug on the coffee maker | END


Input: Put both bars of soap next to the sink on the right 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, 3.5, 0, 270, 0,  [SEP] 1, Cloth, -0.246, 0.205, 1.463, 0, 0, 0, 27 [SEP] 2, SoapBar, -0.205, 0.828, 2.753, 0, 0, 0, 39 [SEP] 3, Candle, -0.353, 0.812, 1.401, 0, 0, 0, 21 [SEP] 4, SprayBottle, -0.161, 0.813, 3.260, 0, 0, 0, 21 [SEP] 5, SoapBottle, -0.417, 0.813, 2.350, 0, 0, 0, 21 [SEP] 6, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 35 [SEP] 7, SoapBar, -0.299, 0.828, 1.772, 0, 0, 0, 42 [SEP] 8, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 36 [SEP] 9, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 10, Candle, -0.134, 0.953, 3.846, 0, 0, 0, 36 [SEP] 11, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.289, 0.809, 1.316, 0, 0, 0, 21 [SEP] 13, SprayBottle, -2.146, 0.057, 3.843, 0, 90, 0, 34 [SEP] 14, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 33 [SEP] 15, Cloth, -0.246, 0.512, 1.463, 0, 0, 0, 27 [SEP] 16, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 17, DishSponge, -0.300, 0.829, 2.656, 0, 0, 0, 39 [SEP] 18, Sink, -0.299, 0.807, 2.754, 0, 270, 0,  [SEP] 19, Drawer, -0.319, 0.615, 3.012, 0, 0, 0,  [SEP] 20, Drawer, -0.319, 0.316, 3.012, 0, 0, 0,  [SEP] 21, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0,  [SEP] 22, Drawer, -0.319, 0.615, 1.978, 0, 0, 0,  [SEP] 23, Drawer, -0.319, 0.316, 1.978, 0, 0, 0,  [SEP] 24, Drawer, -0.319, 0.316, 1.463, 0, 0, 0,  [SEP] 25, Drawer, -0.319, 0.615, 2.495, 0, 0, 0,  [SEP] 26, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0,  [SEP] 27, Drawer, -0.319, 0.615, 1.463, 0, 0, 0,  [SEP] 28, Drawer, -0.319, 0.316, 2.495, 0, 0, 0,  [SEP] 29, Faucet, -0.076, 0.805, 2.757, 0, 0, 0,  [SEP] 30, Mirror, -0.228, 0.465, 1.453, 0, 0, 0,  [SEP] 31, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0,  [SEP] 33, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0,  [SEP] 34, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0,  [SEP] 35, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0,  [SEP] 36, Toilet, -0.600, -0.000, 3.671, 0, 270, 0,  [SEP] 37, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0,  [SEP] 38, Faucet, -0.076, 0.805, 1.733, 0, 0, 0,  [SEP] 39, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0,  [SEP] 40, Sink, -0.298, 0.807, 1.725, 0, 270, 0,  [SEP] 41, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0,  [SEP] 42, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,

Output: STEP 1: Head to the left, stand in front of the sink | STEP 2: Take the soap out of the sink | STEP 3: put the soap on the counter next to the sink | STEP 4: Turn to the left | STEP 5: head to the other sink | STEP 6: Take the soap from the counter | STEP 7: Head back to the right | STEP 8: Face the sink, put the soap on the counter | END


Input: Put two pink sponges on the counter around the right sink 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, 3.5, 0, 270, 0,  [SEP] 1, Cloth, -0.246, 0.205, 1.463, 0, 0, 0, 27 [SEP] 2, SoapBar, -0.205, 0.828, 2.753, 0, 0, 0, 39 [SEP] 3, Candle, -0.353, 0.812, 1.401, 0, 0, 0, 21 [SEP] 4, SprayBottle, -0.161, 0.813, 3.260, 0, 0, 0, 21 [SEP] 5, SoapBottle, -0.417, 0.813, 2.350, 0, 0, 0, 21 [SEP] 6, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 35 [SEP] 7, SoapBar, -0.299, 0.828, 1.772, 0, 0, 0, 42 [SEP] 8, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 36 [SEP] 9, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 10, Candle, -0.134, 0.953, 3.846, 0, 0, 0, 36 [SEP] 11, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.289, 0.809, 1.316, 0, 0, 0, 21 [SEP] 13, SprayBottle, -2.146, 0.057, 3.843, 0, 90, 0, 34 [SEP] 14, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 33 [SEP] 15, Cloth, -0.246, 0.512, 1.463, 0, 0, 0, 27 [SEP] 16, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 17, DishSponge, -0.300, 0.829, 2.656, 0, 0, 0, 39 [SEP] 18, Sink, -0.299, 0.807, 2.754, 0, 270, 0,  [SEP] 19, Drawer, -0.319, 0.615, 3.012, 0, 0, 0,  [SEP] 20, Drawer, -0.319, 0.316, 3.012, 0, 0, 0,  [SEP] 21, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0,  [SEP] 22, Drawer, -0.319, 0.615, 1.978, 0, 0, 0,  [SEP] 23, Drawer, -0.319, 0.316, 1.978, 0, 0, 0,  [SEP] 24, Drawer, -0.319, 0.316, 1.463, 0, 0, 0,  [SEP] 25, Drawer, -0.319, 0.615, 2.495, 0, 0, 0,  [SEP] 26, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0,  [SEP] 27, Drawer, -0.319, 0.615, 1.463, 0, 0, 0,  [SEP] 28, Drawer, -0.319, 0.316, 2.495, 0, 0, 0,  [SEP] 29, Faucet, -0.076, 0.805, 2.757, 0, 0, 0,  [SEP] 30, Mirror, -0.228, 0.465, 1.453, 0, 0, 0,  [SEP] 31, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0,  [SEP] 33, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0,  [SEP] 34, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0,  [SEP] 35, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0,  [SEP] 36, Toilet, -0.600, -0.000, 3.671, 0, 270, 0,  [SEP] 37, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0,  [SEP] 38, Faucet, -0.076, 0.805, 1.733, 0, 0, 0,  [SEP] 39, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0,  [SEP] 40, Sink, -0.298, 0.807, 1.725, 0, 270, 0,  [SEP] 41, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0,  [SEP] 42, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,

Output: STEP 1: Turn around and go to the bathroom sink on the right. | STEP 2: Pick up the pink sponge in the sink.  | STEP 3: Move back slightly from the counter. | STEP 4: Place the pink sponge on the counter space on the left of the sink. | STEP 5: Move forward and then to the left sink. | STEP 6: Pick up the pink sponge in the sink. | STEP 7: Go back to the sink on the right. | STEP 8: Place the pink sponge on the counter space on the right of the sink.  | END


Input: Move a pot with a sponge to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.914, 2.25, 0, 180, 0,  [SEP] 1, Potato, -0.089, 1.574, 4.067, 0, 180, 0, 69 [SEP] 2, Potato, -0.790, 1.306, 4.027, 0, 180, 0, 69 [SEP] 3, DishSponge, -1.921, 0.789, 3.737, 0, 0, 0, 73 [SEP] 4, DishSponge, -3.492, 1.994, 1.835, 0, 0, 0, 57 [SEP] 5, DishSponge, -1.815, 0.915, 4.062, 0, 0, 0, 43 [SEP] 6, WineBottle, -3.272, 0.916, 3.827, 0, 0, 0, 43 [SEP] 7, Spatula, -2.302, 0.930, 3.998, 0, 0, 0, 43 [SEP] 8, Fork, -1.666, 0.790, 3.737, 0, 270, 0, 73 [SEP] 9, Cup, -3.654, 0.915, 1.357, 0, 0, 0, 52 [SEP] 10, Plate, -3.176, 0.919, 1.440, 0, 0, 0, 52 [SEP] 11, Knife, -3.463, 0.939, 1.189, 0, 90, 0, 52 [SEP] 12, Tomato, -3.081, 0.984, 1.189, 0, 0, 0, 52 [SEP] 13, Bowl, -0.440, 1.272, 4.062, 0, 180, 0, 69 [SEP] 14, Bowl, -2.126, 0.914, 4.146, 0, 0, 0, 43 [SEP] 15, SaltShaker, -3.186, 0.742, 3.296, 0, 0, 0, 53 [SEP] 16, SaltShaker, -3.540, 1.455, 2.998, 0, 0, 0, 50 [SEP] 17, Mug, -1.793, 0.784, 3.625, 0, 0, 0, 73 [SEP] 18, Apple, -3.505, 1.606, 2.120, 0, 90, 0, 74 [SEP] 19, Apple, -0.790, 0.782, 3.817, 0, 180, 0, 69 [SEP] 20, Egg, -0.673, 0.758, 3.817, 0, 180, 0, 69 [SEP] 21, Knife, -1.449, 0.939, 4.106, 0, 90, 0, 43 [SEP] 22, Fork, -1.608, 0.916, 4.146, 0, 0, 0, 43 [SEP] 23, Bread, -1.192, 0.167, 3.788, 0, 270, 0, 75 [SEP] 24, Potato, -3.559, 0.948, 1.273, 0, 0, 0, 52 [SEP] 25, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 43 [SEP] 26, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 49 [SEP] 27, Kettle, -3.505, 1.456, 3.579, 0, 0, 0, 60 [SEP] 28, WineBottle, -3.272, 0.916, 1.189, 0, 0, 0, 52 [SEP] 29, Bowl, -0.44, 0.985, 3.988, 0, 180, 0, 69 [SEP] 30, Tomato, -3.559, 0.984, 1.106, 0, 0, 0, 52 [SEP] 31, Cup, -0.790, 1.541, 4.033, 0, 180, 0, 69 [SEP] 32, Spatula, -3.368, 0.930, 1.273, 0, 90, 0, 52 [SEP] 33, SoapBottle, -3.191, 0.083, 1.591, 0, 0, 0, 62 [SEP] 34, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 79 [SEP] 35, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 43 [SEP] 36, Apple, -0.673, 1.046, 4.051, 0, 180, 0, 69 [SEP] 37, SaltShaker, -3.463, 0.912, 1.440, 0, 0, 0, 52 [SEP] 38, PepperShaker, -2.905, 0.911, 3.998, 0, 0, 0, 43 [SEP] 39, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 73 [SEP] 40, DishSponge, -3.654, 0.915, 1.607, 0, 0, 0, 52 [SEP] 41, Spoon, -3.272, 0.916, 2.844, 0, 0, 0, 43 [SEP] 42, Mug, -0.089, 0.717, 3.843, 0, 180, 0, 69 [SEP] 43, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 44, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 45, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 46, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 47, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 48, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 49, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 50, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 51, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 52, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 53, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 54, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 55, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 56, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 57, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 58, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 59, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 60, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 61, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 62, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 63, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 64, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 65, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 66, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 67, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 68, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 69, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 70, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 71, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 72, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 73, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 74, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 75, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 76, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 77, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 78, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 79, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 80, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the sink. | STEP 2: Pick up a sponge in the sink. | STEP 3: Turn and go to the stove. | STEP 4: Put the sponge in the pot on the stove. | STEP 5: Pick up the pot on the stove.  | STEP 6: Turn and go to the table. | STEP 7: Put the pot on the table.  | END


Input: Put a clean cloth on top of the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.25, 0, 270, 0,  [SEP] 1, Cloth, -2.620, 0.997, -3.720, 0, 0, 0, 24 [SEP] 2, Cloth, -2.620, 0.997, -2.923, 0, 0, 0, 24 [SEP] 3, Candle, -0.114, 0.616, -3.254, 0, 90, 0, 36 [SEP] 4, Candle, -0.179, 1.043, -0.347, 0, 270, 0, 33 [SEP] 5, SprayBottle, -0.180, 1.162, -3.300, 0, 90, 0, 38 [SEP] 6, SprayBottle, -0.149, 1.045, -0.544, 0, 270, 0, 33 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -2.462, 0.080, -0.391, 0, 90, 0, 30 [SEP] 9, ToiletPaper, -0.148, 1.161, -3.104, 0, 90, 0, 38 [SEP] 10, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 31 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -2.620, 0.994, -2.125, 0, 0, 0, 24 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.547, 0.997, -2.391, 0, 0, 0, 24 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -0.114, 0.616, -3.616, 0, 90, 0, 36 [SEP] 17, SprayBottle, -2.544, 0.358, -2.505, 0, 0, 0, 22 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0,  [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0,  [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0,  [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0,  [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0,  [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0,  [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0,  [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0,  [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0,  [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0,  [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0,  [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0,  [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0,  [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0,  [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0,  [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0,  [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0,  [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0,  [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0,  [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0,  [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0,  [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0,  [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,

Output: STEP 1: Walk across the room to the vanity to the left of the tub. | STEP 2: Pick up the dirty cloth on the vanity. | STEP 3: Turn and walk across the room to the sink. | STEP 4: Clean the cloth in the sink. | STEP 5: Go to the dresser next to the door. | STEP 6: Put the cloth down on the dresser next to the bottle of cleaner. | END


Input: place a clean wash cloth on top of the tall white cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.25, 0, 270, 0,  [SEP] 1, Cloth, -2.620, 0.997, -3.720, 0, 0, 0, 24 [SEP] 2, Cloth, -2.620, 0.997, -2.923, 0, 0, 0, 24 [SEP] 3, Candle, -0.114, 0.616, -3.254, 0, 90, 0, 36 [SEP] 4, Candle, -0.179, 1.043, -0.347, 0, 270, 0, 33 [SEP] 5, SprayBottle, -0.180, 1.162, -3.300, 0, 90, 0, 38 [SEP] 6, SprayBottle, -0.149, 1.045, -0.544, 0, 270, 0, 33 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -2.462, 0.080, -0.391, 0, 90, 0, 30 [SEP] 9, ToiletPaper, -0.148, 1.161, -3.104, 0, 90, 0, 38 [SEP] 10, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 31 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -2.620, 0.994, -2.125, 0, 0, 0, 24 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.547, 0.997, -2.391, 0, 0, 0, 24 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -0.114, 0.616, -3.616, 0, 90, 0, 36 [SEP] 17, SprayBottle, -2.544, 0.358, -2.505, 0, 0, 0, 22 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0,  [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0,  [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0,  [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0,  [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0,  [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0,  [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0,  [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0,  [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0,  [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0,  [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0,  [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0,  [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0,  [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0,  [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0,  [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0,  [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0,  [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0,  [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0,  [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0,  [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0,  [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0,  [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,

Output: STEP 1: walk over to the bathroom cabinets | STEP 2: pick up a dirty cloth off of the cabinets | STEP 3: walk over to the bathroom sink | STEP 4: wash the cloth in the sink and pick it back up | STEP 5: walk over to the tall white cabinet | STEP 6: place the wash cloth on top | END


Input: Put a rag in the bathtub.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 90, 0,  [SEP] 1, Cloth, -2.372, 0.831, 1.439, 0, 0, 0, 22 [SEP] 2, Cloth, -2.874, 0.887, 1.827, 0, 0, 0, 48 [SEP] 3, Cloth, -1.117, 0.542, 1.935, 0, 0, 0, 23 [SEP] 4, SoapBar, -0.967, 0.826, 1.968, 0, 0, 0, 22 [SEP] 5, Candle, -1.079, 1.053, 4.526, 0, 270, 0, 42 [SEP] 6, SprayBottle, -1.065, 0.121, 3.734, 0, 90, 0, 41 [SEP] 7, SoapBottle, -0.987, 1.046, 4.591, 0, 270, 0, 42 [SEP] 8, SoapBottle, -0.987, 1.046, 4.460, 0, 270, 0, 42 [SEP] 9, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 35 [SEP] 10, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 43 [SEP] 11, Candle, -1.306, 0.546, 1.883, 0, 0, 0, 23 [SEP] 12, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 40 [SEP] 13, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 14, SoapBar, -3.028, 0.537, 1.728, 0, 0, 0, 29 [SEP] 15, ToiletPaper, -2.933, 0.534, 1.832, 0, 0, 0, 29 [SEP] 16, Cloth, -1.401, 0.274, 1.883, 0, 0, 0, 24 [SEP] 17, ToiletPaper, -1.086, 0.115, 3.640, 0, 90, 0, 41 [SEP] 18, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 34 [SEP] 19, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 20, SoapBottle, -2.372, 0.828, 1.651, 0, 0, 0, 22 [SEP] 21, SprayBottle, -1.086, 0.121, 3.797, 0, 0, 0, 41 [SEP] 22, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0,  [SEP] 23, Drawer, -1.307, 0.606, 1.890, 0, 0, 0,  [SEP] 24, Drawer, -1.307, 0.337, 1.890, 0, 0, 0,  [SEP] 25, Faucet, -4.646, 0.448, 1.689, 0, 0, 0,  [SEP] 26, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0,  [SEP] 27, Drawer, -3.029, 0.337, 1.890, 0, 0, 0,  [SEP] 28, Drawer, -2.169, 0.606, 1.890, 0, 0, 0,  [SEP] 29, Drawer, -3.029, 0.606, 1.890, 0, 0, 0,  [SEP] 30, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0,  [SEP] 31, Drawer, -2.169, 0.337, 1.890, 0, 0, 0,  [SEP] 32, Mirror, -2.177, 1.856, 1.390, 0, 0, 0,  [SEP] 33, Sink, -1.421, 0.837, 1.776, 0, 0, 0,  [SEP] 34, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0,  [SEP] 35, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0,  [SEP] 36, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0,  [SEP] 37, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0,  [SEP] 38, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0,  [SEP] 39, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0,  [SEP] 40, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0,  [SEP] 41, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0,  [SEP] 42, Toilet, -1.340, -0.000, 4.456, 0, 0, 0,  [SEP] 43, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0,  [SEP] 44, Faucet, -1.421, 0.954, 1.507, 0, 0, 0,  [SEP] 45, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0,  [SEP] 46, Faucet, -2.944, 0.954, 1.507, 0, 0, 0,  [SEP] 47, Sink, -2.943, 0.837, 1.776, 0, 0, 0,  [SEP] 48, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn to the empty counter space between the two sinks, on your right.  | STEP 2: Pick up the yellow rag on the counter.  | STEP 3: Turn to the bathtub on your right.  | STEP 4: Place the yellow rag inside the bathtub.  | END


Input: Put a heated apple in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 2.5, 0, 270, 0,  [SEP] 1, Potato, -2.726, 1.484, 1.957, 0, 90, 0, 63 [SEP] 2, Ladle, -2.540, 1.893, 2.420, 0, 0, 0, 55 [SEP] 3, Spoon, -1.709, 0.824, 0.539, 0, 0, 0, 45 [SEP] 4, Spatula, -1.207, 0.838, 0.528, 0, 0, 0, 45 [SEP] 5, Tomato, -2.782, 1.495, 2.397, 0, 90, 0, 63 [SEP] 6, Tomato, -2.892, 1.495, 1.957, 0, 90, 0, 63 [SEP] 7, SoapBottle, -0.362, 0.054, 2.539, 0, 0, 0, 65 [SEP] 8, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 57 [SEP] 9, SaltShaker, -0.323, 0.818, 1.326, 0, 0, 0, 45 [SEP] 10, SaltShaker, -0.817, 0.818, 0.203, 0, 0, 0, 45 [SEP] 11, PepperShaker, -2.840, 0.818, 0.055, 0, 0, 0, 45 [SEP] 12, PepperShaker, -2.929, 1.430, 0.640, 0, 0, 0, 54 [SEP] 13, Mug, -2.840, 0.818, 0.203, 0, 0, 0, 45 [SEP] 14, Mug, -2.782, 0.819, 2.221, 0, 90, 0, 63 [SEP] 15, Apple, -2.837, 1.216, 2.133, 0, 90, 0, 63 [SEP] 16, Apple, -2.504, 0.896, 0.707, 0, 0, 0, 45 [SEP] 17, Apple, -2.726, 1.518, 2.221, 0, 90, 0, 63 [SEP] 18, Fork, -0.497, 0.697, 0.875, 0, 90, 0, 47 [SEP] 19, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 39 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.262, 0.054, 2.674, 0, 0, 0, 65 [SEP] 22, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 42 [SEP] 23, Tomato, -2.669, 1.181, 2.373, 0, 0, 0, 63 [SEP] 24, Potato, -2.726, 0.863, 2.045, 0, 90, 0, 63 [SEP] 25, SaltShaker, -0.147, 0.818, 0.426, 0, 0, 0, 45 [SEP] 26, Plate, -1.465, 0.130, 0.401, 0, 0, 0, 58 [SEP] 27, Spatula, -2.375, 0.838, 0.203, 0, 0, 0, 45 [SEP] 28, Knife, -0.314, 0.849, 0.352, 0, 180, 0, 45 [SEP] 29, Egg, -0.295, 0.080, 2.505, 0, 0, 0, 65 [SEP] 30, Cup, -2.726, 1.144, 1.957, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.631, 0.692, 1.511, 0, 0, 0, 50 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.888, 0.712, 0.445, 0, 270, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.397, 0, 90, 0, 63 [SEP] 38, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 51 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Go left and then right to face the counter to the left of the microwave. | STEP 2: Pick the apple up from the counter. | STEP 3: Move to the right and face the microwave. | STEP 4: Put the apple in the microwave and shut the door and then open the door and take the apple out again. | STEP 5: Turn and face the sink to the left. | STEP 6: Put the apple in the sink on the left side. | END


Input: Place a heated apple in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 2.5, 0, 270, 0,  [SEP] 1, Potato, -2.726, 1.484, 1.957, 0, 90, 0, 63 [SEP] 2, Ladle, -2.540, 1.893, 2.420, 0, 0, 0, 55 [SEP] 3, Spoon, -1.709, 0.824, 0.539, 0, 0, 0, 45 [SEP] 4, Spatula, -1.207, 0.838, 0.528, 0, 0, 0, 45 [SEP] 5, Tomato, -2.782, 1.495, 2.397, 0, 90, 0, 63 [SEP] 6, Tomato, -2.892, 1.495, 1.957, 0, 90, 0, 63 [SEP] 7, SoapBottle, -0.362, 0.054, 2.539, 0, 0, 0, 65 [SEP] 8, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 57 [SEP] 9, SaltShaker, -0.323, 0.818, 1.326, 0, 0, 0, 45 [SEP] 10, SaltShaker, -0.817, 0.818, 0.203, 0, 0, 0, 45 [SEP] 11, PepperShaker, -2.840, 0.818, 0.055, 0, 0, 0, 45 [SEP] 12, PepperShaker, -2.929, 1.430, 0.640, 0, 0, 0, 54 [SEP] 13, Mug, -2.840, 0.818, 0.203, 0, 0, 0, 45 [SEP] 14, Mug, -2.782, 0.819, 2.221, 0, 90, 0, 63 [SEP] 15, Apple, -2.837, 1.216, 2.133, 0, 90, 0, 63 [SEP] 16, Apple, -2.504, 0.896, 0.707, 0, 0, 0, 45 [SEP] 17, Apple, -2.726, 1.518, 2.221, 0, 90, 0, 63 [SEP] 18, Fork, -0.497, 0.697, 0.875, 0, 90, 0, 47 [SEP] 19, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 39 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.262, 0.054, 2.674, 0, 0, 0, 65 [SEP] 22, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 42 [SEP] 23, Tomato, -2.669, 1.181, 2.373, 0, 0, 0, 63 [SEP] 24, Potato, -2.726, 0.863, 2.045, 0, 90, 0, 63 [SEP] 25, SaltShaker, -0.147, 0.818, 0.426, 0, 0, 0, 45 [SEP] 26, Plate, -1.465, 0.130, 0.401, 0, 0, 0, 58 [SEP] 27, Spatula, -2.375, 0.838, 0.203, 0, 0, 0, 45 [SEP] 28, Knife, -0.314, 0.849, 0.352, 0, 180, 0, 45 [SEP] 29, Egg, -0.295, 0.080, 2.505, 0, 0, 0, 65 [SEP] 30, Cup, -2.726, 1.144, 1.957, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.631, 0.692, 1.511, 0, 0, 0, 50 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.888, 0.712, 0.445, 0, 270, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.397, 0, 90, 0, 63 [SEP] 38, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 51 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Walk ahead and veer left to the counter to the left of the microwave. | STEP 2: Pick up the red apple on the counter. | STEP 3: Take a step right. | STEP 4: Heat the apple in the microwave. | STEP 5: Turn left and walk to the sink. | STEP 6: Place the apple in the left basin of the sink. | END


Input: Put a cleaned bar of soap in a garbage bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.0, 0, 180, 0,  [SEP] 1, Candle, -1.799, 0.907, -1.739, 0, 0, 0, 34 [SEP] 2, Candle, -1.969, 0.907, -1.350, 0, 0, 0, 19 [SEP] 3, SprayBottle, -0.254, 0.018, -1.536, 0, 0, 0, 22 [SEP] 4, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 29 [SEP] 5, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 35 [SEP] 6, SoapBar, 0.753, 0.171, -0.818, 0, 270, 0, 33 [SEP] 7, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 30 [SEP] 8, ToiletPaper, -1.933, 1.041, 0.140, 0, 90, 0, 37 [SEP] 9, Cloth, 0.938, 0.171, -1.392, 0, 270, 0, 33 [SEP] 10, SprayBottle, -1.932, 1.045, 0.272, 0, 90, 0, 37 [SEP] 11, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 12, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 13, Candle, -1.989, 0.907, -1.486, 0, 0, 0, 19 [SEP] 14, SoapBottle, -1.901, 0.018, -1.486, 0, 0, 0, 25 [SEP] 15, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0,  [SEP] 16, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0,  [SEP] 17, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0,  [SEP] 18, Sink, -1.560, 0.811, -1.598, 0, 0, 0,  [SEP] 19, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0,  [SEP] 20, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0,  [SEP] 21, Faucet, -0.505, 0.898, -1.779, 0, 0, 0,  [SEP] 22, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0,  [SEP] 23, Mirror, -1.014, 1.501, -1.840, 0, 0, 0,  [SEP] 24, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0,  [SEP] 25, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0,  [SEP] 26, Sink, -0.526, 0.811, -1.598, 0, 0, 0,  [SEP] 27, Window, 1.532, 1.672, -1.037, 0, 0, 0,  [SEP] 28, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0,  [SEP] 29, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0,  [SEP] 30, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0,  [SEP] 31, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0,  [SEP] 32, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0,  [SEP] 33, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0,  [SEP] 34, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0,  [SEP] 35, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0,  [SEP] 36, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0,  [SEP] 37, Toilet, -1.610, -0.000, 0.209, 0, 180, 0,  [SEP] 38, Faucet, -1.537, 0.898, -1.779, 0, 0, 0,  [SEP] 39, Faucet, 0.929, 0.509, -1.978, 0, 0, 0,  [SEP] 40, Faucet, 0.890, 1.689, 0.724, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the bath tub. | STEP 2: Pick up the bar of soap from the bath tub. | STEP 3: Turn right and walk to the sink on the left. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it out of the sink. | STEP 5: Walk backwards and slightly to the left towards the garbage bin on the floor. | STEP 6: Put the bar of soap in the garbage bin. | END


Input: place a cold tomato slice in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.25, 0, 270, 0,  [SEP] 1, Potato, 2.059, 0.378, -0.460, 0, 270, 0, 77 [SEP] 2, WineBottle, 0.637, 0.082, 2.484, 0, 0, 0, 63 [SEP] 3, DishSponge, 2.206, 1.500, 1.916, 0, 0, 0, 59 [SEP] 4, ButterKnife, -0.272, 0.791, 1.217, 0, 0, 0, 83 [SEP] 5, ButterKnife, -0.042, 0.791, 1.386, 0, 0, 0, 83 [SEP] 6, Spatula, 1.223, 0.810, 2.750, 0, 270, 0, 80 [SEP] 7, Fork, 2.227, 0.938, 2.063, 0, 90, 0, 56 [SEP] 8, Cup, -0.115, 0.079, 2.265, 0, 0, 0, 50 [SEP] 9, Cup, 0.288, 0.935, 2.688, 0, 0, 0, 56 [SEP] 10, Plate, 2.164, 0.606, -0.369, 0, 270, 0, 77 [SEP] 11, Knife, 2.024, 0.771, 2.197, 0, 270, 0, 71 [SEP] 12, Knife, -0.042, 0.816, 1.217, 0, 0, 0, 83 [SEP] 13, SoapBottle, 0.288, 0.938, 2.478, 0, 0, 0, 56 [SEP] 14, Tomato, 0.033, 0.837, 1.049, 0, 0, 0, 83 [SEP] 15, Bowl, 1.227, 0.078, 2.484, 0, 0, 0, 62 [SEP] 16, SaltShaker, 2.225, 0.933, 0.806, 0, 0, 0, 67 [SEP] 17, SaltShaker, -0.042, 0.785, 0.545, 0, 0, 0, 83 [SEP] 18, PepperShaker, 0.495, 0.076, 2.445, 0, 0, 0, 63 [SEP] 19, PepperShaker, 0.033, 0.785, 0.377, 0, 0, 0, 83 [SEP] 20, Bread, 2.112, 1.371, -0.279, 0, 270, 0, 77 [SEP] 21, Lettuce, 2.059, 0.400, -0.188, 0, 0, 0, 77 [SEP] 22, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 82 [SEP] 23, Apple, -0.396, 0.987, 2.548, 0, 0, 0, 56 [SEP] 24, Apple, -0.395, 1.085, 2.068, 0, 90, 0, 81 [SEP] 25, Egg, -0.349, 0.833, 0.881, 0, 0, 0, 83 [SEP] 26, Lettuce, 0.033, 0.852, 0.713, 0, 0, 0, 83 [SEP] 27, Fork, 0.002, 0.747, 2.061, 0, 0, 0, 55 [SEP] 28, SoapBottle, -0.042, 0.782, 0.881, 0, 0, 0, 83 [SEP] 29, Ladle, -0.282, 0.982, 2.548, 0, 0, 0, 56 [SEP] 30, Ladle, -0.096, 0.942, 2.546, 6.838, 45, 340.406, 56 [SEP] 31, Bread, -0.201, 0.823, 0.813, 0, 0, 1.093, 83 [SEP] 32, SaltShaker, 0.174, 0.932, 2.827, 0, 0, 0, 56 [SEP] 33, Potato, 2.207, 0.642, -0.097, 0, 270, 0, 77 [SEP] 34, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 51 [SEP] 35, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 67 [SEP] 36, Spatula, 1.118, 0.810, 2.584, 0, 90, 0, 80 [SEP] 37, Knife, -0.138, 0.772, 2.197, 0, 270, 0, 55 [SEP] 38, Tomato, -0.349, 0.837, 1.217, 0, 0, 0, 83 [SEP] 39, Apple, 1.840, 0.988, 0.731, 0, 0, 0, 67 [SEP] 40, ButterKnife, -0.272, 0.791, 1.386, 0, 0, 0, 83 [SEP] 41, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 60 [SEP] 42, PepperShaker, 1.925, 0.077, 1.915, 0, 0, 0, 52 [SEP] 43, Cup, 0.576, 0.793, 2.529, 0, 0, 0, 80 [SEP] 44, DishSponge, 2.203, 1.503, 0.725, 0, 0, 0, 64 [SEP] 45, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 83 [SEP] 46, Spoon, 1.954, 0.746, 2.060, 0, 0, 0, 71 [SEP] 47, Mug, 2.096, 0.333, -0.007, 0, 270, 0, 77 [SEP] 48, Bowl, 2.165, 1.500, 0.388, 0, 0, 0, 54 [SEP] 49, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 50, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 51, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 53, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 54, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 55, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 56, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 57, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 58, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 59, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 60, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 61, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 62, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 64, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 65, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 66, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 67, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 68, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 69, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 70, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 71, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 75, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 76, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 77, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 78, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 79, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 80, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 81, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 82, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 83, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 84, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 86, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: turn right to the table | STEP 2: pick up the knife  | STEP 3: turn around to the tomato | STEP 4: slice the tomato with the knife | STEP 5: turn around to the cupboard  | STEP 6: drop the knife in it | STEP 7: turn around to the slice | STEP 8: pick up a tomato slice | STEP 9: lead to the fridge | STEP 10: place the tomato to cool and then take it out | STEP 11: turn around and head to the microwave | STEP 12: place the tomato in the microwave | END


Input: Grab the box on the table, turn off the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 5.25, 0, 90, 0,  [SEP] 1, Watch, -1.310, 0.756, 0.852, 0, 0, 0, 38 [SEP] 2, KeyChain, -0.437, 0.626, 3.524, 0, 0, 0, 36 [SEP] 3, CreditCard, -2.014, 0.755, 0.852, 0, 0, 0, 38 [SEP] 4, Box, -1.873, 0.867, 1.133, 0, 180, 0, 38 [SEP] 5, Statue, -1.732, 0.761, 0.993, 0, 0, 0, 38 [SEP] 6, Watch, -3.104, 0.066, 6.748, 0, 0, 0, 26 [SEP] 7, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0,  [SEP] 8, Laptop, -4.380, 0.475, 5.787, 0, 0, 0, 29 [SEP] 9, CreditCard, -1.169, 0.755, 1.554, 0, 0, 0, 38 [SEP] 10, KeyChain, -4.228, 0.484, 3.664, 0, 0, 0, 22 [SEP] 11, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 29 [SEP] 12, RemoteControl, -4.304, 0.486, 3.549, 0, 0, 0, 22 [SEP] 13, Curtains, -0.037, 2.148, 0.999, 0, 0, 0,  [SEP] 14, Painting, -0.016, 2.061, 5.380, 0, 0, 0,  [SEP] 15, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0,  [SEP] 16, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0,  [SEP] 17, Television, -3.192, 1.184, 6.767, 0, 180, 0,  [SEP] 18, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0,  [SEP] 19, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0,  [SEP] 20, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0,  [SEP] 21, Window, -0.008, 1.340, 1.725, 90, 270, 0,  [SEP] 22, SideTable, -4.190, 0.000, 3.587, 0, 0, 0,  [SEP] 23, Drawer, -2.925, 0.475, 6.717, 0, 180, 0,  [SEP] 24, Drawer, -3.476, 0.475, 6.717, 0, 180, 0,  [SEP] 25, Dresser, -3.201, -0.001, 6.791, 0, 180, 0,  [SEP] 26, Drawer, -2.925, 0.165, 6.719, 0, 180, 0,  [SEP] 27, Drawer, -3.476, 0.165, 6.719, 0, 180, 0,  [SEP] 28, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0,  [SEP] 29, Sofa, -4.425, 0.014, 5.062, 0, 90, 0,  [SEP] 30, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0,  [SEP] 31, Chair, -2.151, 0.004, 1.284, 0, 90, 0,  [SEP] 32, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0,  [SEP] 33, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0,  [SEP] 34, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0,  [SEP] 35, SideTable, -2.071, 0.000, 6.699, 0, 0, 0,  [SEP] 36, SideTable, -0.244, -0.000, 3.524, 0, 270, 0,  [SEP] 37, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0,  [SEP] 38, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,

Output: STEP 1: Turn right, and walk to the dining table, turn right, and turn left to the side of dining table | STEP 2: Grab the box on the table | STEP 3: Turn left and walk to the floor lamp | STEP 4: Turn off the floor lamp by the sofa | END


Input: Turn off the lamp next to the couch.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 5.25, 0, 90, 0,  [SEP] 1, Watch, -1.310, 0.756, 0.852, 0, 0, 0, 38 [SEP] 2, KeyChain, -0.437, 0.626, 3.524, 0, 0, 0, 36 [SEP] 3, CreditCard, -2.014, 0.755, 0.852, 0, 0, 0, 38 [SEP] 4, Box, -1.873, 0.867, 1.133, 0, 180, 0, 38 [SEP] 5, Statue, -1.732, 0.761, 0.993, 0, 0, 0, 38 [SEP] 6, Watch, -3.104, 0.066, 6.748, 0, 0, 0, 26 [SEP] 7, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0,  [SEP] 8, Laptop, -4.380, 0.475, 5.787, 0, 0, 0, 29 [SEP] 9, CreditCard, -1.169, 0.755, 1.554, 0, 0, 0, 38 [SEP] 10, KeyChain, -4.228, 0.484, 3.664, 0, 0, 0, 22 [SEP] 11, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 29 [SEP] 12, RemoteControl, -4.304, 0.486, 3.549, 0, 0, 0, 22 [SEP] 13, Curtains, -0.037, 2.148, 0.999, 0, 0, 0,  [SEP] 14, Painting, -0.016, 2.061, 5.380, 0, 0, 0,  [SEP] 15, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0,  [SEP] 16, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0,  [SEP] 17, Television, -3.192, 1.184, 6.767, 0, 180, 0,  [SEP] 18, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0,  [SEP] 19, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0,  [SEP] 20, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0,  [SEP] 21, Window, -0.008, 1.340, 1.725, 90, 270, 0,  [SEP] 22, SideTable, -4.190, 0.000, 3.587, 0, 0, 0,  [SEP] 23, Drawer, -2.925, 0.475, 6.717, 0, 180, 0,  [SEP] 24, Drawer, -3.476, 0.475, 6.717, 0, 180, 0,  [SEP] 25, Dresser, -3.201, -0.001, 6.791, 0, 180, 0,  [SEP] 26, Drawer, -2.925, 0.165, 6.719, 0, 180, 0,  [SEP] 27, Drawer, -3.476, 0.165, 6.719, 0, 180, 0,  [SEP] 28, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0,  [SEP] 29, Sofa, -4.425, 0.014, 5.062, 0, 90, 0,  [SEP] 30, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0,  [SEP] 31, Chair, -2.151, 0.004, 1.284, 0, 90, 0,  [SEP] 32, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0,  [SEP] 33, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0,  [SEP] 34, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0,  [SEP] 35, SideTable, -2.071, 0.000, 6.699, 0, 0, 0,  [SEP] 36, SideTable, -0.244, -0.000, 3.524, 0, 270, 0,  [SEP] 37, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0,  [SEP] 38, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,

Output: STEP 1: Move to the dining table. | STEP 2: Pick up the box from the table.  | STEP 3: Bring the box to the lamp next to the couch.  | STEP 4: Turn off the lamp next to the couch.  | END


Input: place a clean cup under a coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.899, 5.25, 0, 270, 0,  [SEP] 1, Pencil, -0.258, 0.925, 5.603, 0, 0, 0, 57 [SEP] 2, Potato, -0.295, 1.104, 3.850, 0, 270, 0, 105 [SEP] 3, Potato, -0.242, 1.104, 3.479, 0, 270, 0, 105 [SEP] 4, DishSponge, -0.334, 0.924, 5.932, 0, 0, 0, 57 [SEP] 5, DishSponge, -3.784, 0.068, 6.457, 0, 270, 0, 98 [SEP] 6, WineBottle, -4.242, 0.924, 2.882, 0, 0, 0, 72 [SEP] 7, Fork, -4.033, 0.924, 5.159, 0, 90, 0, 72 [SEP] 8, Spoon, -4.159, 0.792, 3.285, 0, 270, 0, 104 [SEP] 9, Spoon, -1.943, 0.924, 2.026, 0, 0, 0, 54 [SEP] 10, Spatula, -3.494, 0.938, 5.182, 0, 90, 0, 72 [SEP] 11, Egg, -3.639, 0.104, 6.498, 0, 270, 0, 98 [SEP] 12, Plate, -0.488, 0.925, 5.273, 0, 0, 0, 57 [SEP] 13, Knife, -3.686, 0.953, 1.875, 0, 0, 0, 72 [SEP] 14, Knife, -0.411, 0.954, 4.944, 0, 0, 0, 57 [SEP] 15, Tomato, -0.301, 1.637, 3.470, 0, 270, 0, 105 [SEP] 16, SaltShaker, -4.033, 0.919, 4.122, 0, 90, 0, 72 [SEP] 17, SaltShaker, -3.568, 0.743, 5.103, 0, 180, 0, 63 [SEP] 18, PepperShaker, -3.389, 1.456, 5.367, 0, 90, 0, 58 [SEP] 19, Bread, -0.301, 1.415, 3.850, 0, 270, 0, 105 [SEP] 20, Mug, -4.103, 1.451, 1.764, 0, 45, 0, 46 [SEP] 21, Mug, -1.693, 0.918, 1.724, 0, 0, 0, 54 [SEP] 22, Egg, -3.852, 0.959, 5.259, 0, 90, 0, 72 [SEP] 23, Apple, -0.181, 0.978, 5.932, 0, 0, 0, 57 [SEP] 24, Knife, -0.411, 0.954, 5.603, 0, 0, 0, 57 [SEP] 25, Potato, -2.635, 1.579, 1.698, 0, 0, 0, 102 [SEP] 26, Fork, -3.195, 0.914, 5.462, 0, 0, 0, 72 [SEP] 27, Bowl, -3.531, 0.079, 1.966, 0, 0, 0, 47 [SEP] 28, Plate, -2.026, 0.924, 1.724, 0, 0, 0, 54 [SEP] 29, Lettuce, -0.181, 1.020, 4.615, 0, 0, 0, 57 [SEP] 30, Bread, -3.859, 1.003, 1.951, 0, 0, 0, 72 [SEP] 31, Tomato, -0.259, 1.392, 3.355, 0, 270, 0, 105 [SEP] 32, WineBottle, -4.086, 0.085, 2.776, 0, 0, 0, 64 [SEP] 33, Spatula, -1.777, 0.938, 1.875, 0, 0, 0, 54 [SEP] 34, PaperTowelRoll, -4.478, 1.027, 2.965, 0, 0, 0, 72 [SEP] 35, Cup, -0.348, 1.069, 3.231, 0, 270, 0, 105 [SEP] 36, Pencil, -4.094, 0.755, 2.501, 0, 0, 0, 52 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -3.417, 0.741, 1.927, 0, 0, 0, 78 [SEP] 40, SoapBottle, -3.712, 0.068, 6.333, 0, 270, 0, 98 [SEP] 41, PepperShaker, -3.583, 0.741, 2.015, 0, 0, 0, 78 [SEP] 42, ButterKnife, -0.181, 0.925, 5.273, 0, 0, 0, 57 [SEP] 43, DishSponge, -4.047, 0.084, 2.625, 0, 0, 0, 64 [SEP] 44, Spoon, -3.852, 0.924, 5.412, 0, 90, 0, 72 [SEP] 45, Mug, -2.026, 0.918, 1.875, 0, 0, 0, 54 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: move left towards the table, then right towards the table under the shelf | STEP 2: pick up the mug | STEP 3: move right and then left towards the sink | STEP 4: rinse the mug in the sink | STEP 5: turn right towards the wall and then right towards the coffee maker | STEP 6: place the mug under the coffee maker | END


Input: Pick up both credit cards and move them to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.908, 8.75, 0, 180, 0,  [SEP] 1, TissueBox, -3.026, 0.457, 6.973, 0, 0, 0, 54 [SEP] 2, TissueBox, -3.227, 0.457, 7.182, 0, 0, 0, 54 [SEP] 3, Newspaper, -3.155, 0.781, 2.371, 0, 180, 0, 57 [SEP] 4, Watch, -2.926, 0.456, 6.764, 0, 0, 0, 54 [SEP] 5, KeyChain, -1.928, 0.456, 5.549, 0, 0, 0, 50 [SEP] 6, KeyChain, -2.047, 0.783, 2.061, 0, 180, 0, 57 [SEP] 7, CreditCard, -3.155, 0.781, 2.681, 0, 0, 0, 57 [SEP] 8, CreditCard, -2.047, 0.782, 2.681, 0, 0, 0, 57 [SEP] 9, CreditCard, -3.427, 0.455, 6.347, 0, 0, 0, 54 [SEP] 10, RemoteControl, -3.709, 0.782, 2.526, 0, 0, 0, 57 [SEP] 11, Laptop, -1.852, 0.453, 5.847, 0, 0, 0, 50 [SEP] 12, Pillow, -1.852, 0.516, 7.334, 0, 0, 0, 50 [SEP] 13, Box, -3.646, 0.904, 2.251, 0, 348.673, 0, 57 [SEP] 14, KeyChain, -0.589, 0.677, 0.315, 0, 239.437, 0, 52 [SEP] 15, Plate, -2.601, 0.798, 2.371, 0, 0, 0, 57 [SEP] 16, Candle, -0.333, 0.676, 8.563, 0, 239.437, 0, 53 [SEP] 17, Pillow, -1.775, 0.516, 6.441, 0, 0, 0, 50 [SEP] 18, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 53 [SEP] 19, TissueBox, -3.126, 0.457, 5.930, 0, 0, 0, 54 [SEP] 20, Laptop, -2.324, 0.780, 2.061, 0, 0, 0, 57 [SEP] 21, Newspaper, -3.155, 0.781, 2.061, 0, 0, 0, 57 [SEP] 22, CreditCard, -2.810, 0.533, 8.346, 0, 180, 0, 63 [SEP] 23, RemoteControl, -1.852, 0.456, 6.739, 0, 0, 0, 50 [SEP] 24, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 25, Candle, -3.608, 0.536, 8.596, 0, 180, 0, 63 [SEP] 26, Statue, -2.047, 0.883, 1.751, 0, 0, 0, 57 [SEP] 27, Watch, -3.432, 0.782, 2.216, 0, 0, 0, 57 [SEP] 28, Statue, -3.327, 0.467, 6.347, 0, 90, 0, 54 [SEP] 29, Mirror, -5.489, 1.825, 6.505, 0, 0, 0,  [SEP] 30, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0,  [SEP] 31, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0,  [SEP] 32, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0,  [SEP] 33, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0,  [SEP] 34, Television, -3.114, 0.996, 8.693, 1.686, 180, 0,  [SEP] 35, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0,  [SEP] 36, Painting, -5.954, 1.526, 1.153, 90, 270, 0,  [SEP] 37, Window, 0.157, 1.203, 6.895, 90, 90, 0,  [SEP] 38, Window, -4.855, 1.203, -0.158, 90, 180, 0,  [SEP] 39, Window, 0.157, 1.203, 4.923, 90, 90, 0,  [SEP] 40, Window, 0.157, 1.203, 2.986, 90, 90, 0,  [SEP] 41, Window, 0.157, 1.203, 1.088, 90, 90, 0,  [SEP] 42, Window, -2.942, 1.203, -0.158, 90, 180, 0,  [SEP] 43, Window, -1.057, 1.203, -0.158, 90, 180, 0,  [SEP] 44, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0,  [SEP] 45, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0,  [SEP] 46, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738,  [SEP] 47, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735,  [SEP] 48, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736,  [SEP] 49, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738,  [SEP] 50, Sofa, -1.706, 0.002, 6.448, 0, 270, 0,  [SEP] 51, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0,  [SEP] 52, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0,  [SEP] 53, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0,  [SEP] 54, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0,  [SEP] 55, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0,  [SEP] 56, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0,  [SEP] 57, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0,  [SEP] 58, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0,  [SEP] 59, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0,  [SEP] 60, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0,  [SEP] 61, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0,  [SEP] 62, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0,  [SEP] 63, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: cross the living room to the coffee table | STEP 2: pick up the card sitting on the coffee table | STEP 3: take the card to the chair beside coffee table | STEP 4: set the card down on the chair  | STEP 5: cross the room to the tv stand | STEP 6: pick up the card sitting on the tv stand | STEP 7: turn around and go back to the chair by the couch | STEP 8: set the credit card next to the first one | END


Input: To move two credit cards to the chair.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.908, 8.75, 0, 180, 0,  [SEP] 1, TissueBox, -3.026, 0.457, 6.973, 0, 0, 0, 54 [SEP] 2, TissueBox, -3.227, 0.457, 7.182, 0, 0, 0, 54 [SEP] 3, Newspaper, -3.155, 0.781, 2.371, 0, 180, 0, 57 [SEP] 4, Watch, -2.926, 0.456, 6.764, 0, 0, 0, 54 [SEP] 5, KeyChain, -1.928, 0.456, 5.549, 0, 0, 0, 50 [SEP] 6, KeyChain, -2.047, 0.783, 2.061, 0, 180, 0, 57 [SEP] 7, CreditCard, -3.155, 0.781, 2.681, 0, 0, 0, 57 [SEP] 8, CreditCard, -2.047, 0.782, 2.681, 0, 0, 0, 57 [SEP] 9, CreditCard, -3.427, 0.455, 6.347, 0, 0, 0, 54 [SEP] 10, RemoteControl, -3.709, 0.782, 2.526, 0, 0, 0, 57 [SEP] 11, Laptop, -1.852, 0.453, 5.847, 0, 0, 0, 50 [SEP] 12, Pillow, -1.852, 0.516, 7.334, 0, 0, 0, 50 [SEP] 13, Box, -3.646, 0.904, 2.251, 0, 348.673, 0, 57 [SEP] 14, KeyChain, -0.589, 0.677, 0.315, 0, 239.437, 0, 52 [SEP] 15, Plate, -2.601, 0.798, 2.371, 0, 0, 0, 57 [SEP] 16, Candle, -0.333, 0.676, 8.563, 0, 239.437, 0, 53 [SEP] 17, Pillow, -1.775, 0.516, 6.441, 0, 0, 0, 50 [SEP] 18, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 53 [SEP] 19, TissueBox, -3.126, 0.457, 5.930, 0, 0, 0, 54 [SEP] 20, Laptop, -2.324, 0.780, 2.061, 0, 0, 0, 57 [SEP] 21, Newspaper, -3.155, 0.781, 2.061, 0, 0, 0, 57 [SEP] 22, CreditCard, -2.810, 0.533, 8.346, 0, 180, 0, 63 [SEP] 23, RemoteControl, -1.852, 0.456, 6.739, 0, 0, 0, 50 [SEP] 24, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 25, Candle, -3.608, 0.536, 8.596, 0, 180, 0, 63 [SEP] 26, Statue, -2.047, 0.883, 1.751, 0, 0, 0, 57 [SEP] 27, Watch, -3.432, 0.782, 2.216, 0, 0, 0, 57 [SEP] 28, Statue, -3.327, 0.467, 6.347, 0, 90, 0, 54 [SEP] 29, Mirror, -5.489, 1.825, 6.505, 0, 0, 0,  [SEP] 30, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0,  [SEP] 31, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0,  [SEP] 32, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0,  [SEP] 33, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0,  [SEP] 34, Television, -3.114, 0.996, 8.693, 1.686, 180, 0,  [SEP] 35, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0,  [SEP] 36, Painting, -5.954, 1.526, 1.153, 90, 270, 0,  [SEP] 37, Window, 0.157, 1.203, 6.895, 90, 90, 0,  [SEP] 38, Window, -4.855, 1.203, -0.158, 90, 180, 0,  [SEP] 39, Window, 0.157, 1.203, 4.923, 90, 90, 0,  [SEP] 40, Window, 0.157, 1.203, 2.986, 90, 90, 0,  [SEP] 41, Window, 0.157, 1.203, 1.088, 90, 90, 0,  [SEP] 42, Window, -2.942, 1.203, -0.158, 90, 180, 0,  [SEP] 43, Window, -1.057, 1.203, -0.158, 90, 180, 0,  [SEP] 44, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0,  [SEP] 45, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0,  [SEP] 46, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738,  [SEP] 47, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735,  [SEP] 48, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736,  [SEP] 49, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738,  [SEP] 50, Sofa, -1.706, 0.002, 6.448, 0, 270, 0,  [SEP] 51, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0,  [SEP] 52, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0,  [SEP] 53, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0,  [SEP] 54, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0,  [SEP] 55, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0,  [SEP] 56, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0,  [SEP] 57, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0,  [SEP] 58, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0,  [SEP] 59, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0,  [SEP] 60, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0,  [SEP] 61, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0,  [SEP] 62, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0,  [SEP] 63, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Walk over to the coffee table in front of the couch.  | STEP 2: Pick up the credit card in front of the sculpture.  | STEP 3: walk over to the chair to the right of the couch.  | STEP 4: Put the credit card down on the chair.  | STEP 5: Walk over to the television stand.  | STEP 6: Pick up the credit card in front of the television.  | STEP 7: Turn around and walk back to the chair.  | STEP 8: Put the credit card on the chair to the right of the other credit card.  | END


Input: Put two credit cards on the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, -0.5, 0, 0, 0,  [SEP] 1, Watch, -2.257, 0.588, -2.987, 0, 0, 0, 41 [SEP] 2, Statue, -5.217, 0.488, -5.087, 0, 0, 0, 42 [SEP] 3, Statue, -2.933, 0.711, -5.188, 0, 0, 0, 44 [SEP] 4, KeyChain, -2.864, 0.076, -5.001, 0, 180, 0, 47 [SEP] 5, Book, -2.151, 0.587, -2.657, 0, 0, 0, 41 [SEP] 6, Book, -4.412, 0.334, -3.520, 0, 90, 0, 38 [SEP] 7, CreditCard, -1.883, 0.482, -5.032, 0, 0, 0, 40 [SEP] 8, CreditCard, -2.148, 0.482, -4.989, 0, 0, 0, 40 [SEP] 9, CreditCard, -2.257, 0.587, -2.326, 0, 0, 0, 41 [SEP] 10, RemoteControl, -4.076, 0.343, -2.500, 0, 0, 0, Floor|-04.47| [SEP] 11, Laptop, -3.503, 0.701, -5.093, 0, 0, 0, 44 [SEP] 12, Pillow, -4.262, 0.442, -3.520, 0, 90, 0, 38 [SEP] 13, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 14, Book, -2.469, 0.587, -1.996, 0, 0, 0, 41 [SEP] 15, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 43 [SEP] 16, Watch, -4.358, 0.705, -5.046, 0, 0, 0, 44 [SEP] 17, Pen, -5.418, 0.487, -5.087, 0, 0, 0, 42 [SEP] 18, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 19, Pillow, -4.282, 0.454, -1.736, 0, 270, 0, 43 [SEP] 20, CreditCard, -2.933, 0.704, -5.046, 0, 0, 0, 44 [SEP] 21, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 44 [SEP] 22, KeyChain, -4.230, 0.332, -1.462, 0, 0, 0, 43 [SEP] 23, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 44 [SEP] 24, Laptop, -2.568, 0.580, -2.514, 0, 300.000, 0, 41 [SEP] 25, Statue, -2.020, 0.475, -5.094, 0, 0, 0, 40 [SEP] 26, Vase, -2.786, 0.592, -2.987, 0, 0, 0, 41 [SEP] 27, RemoteControl, -2.151, 0.590, -2.326, 0, 0, 0, 41 [SEP] 28, Vase, -3.218, 0.704, -5.093, 0, 0, 0, 44 [SEP] 29, Mirror, -3.402, 2.028, 0.000, 0, 0, 0,  [SEP] 30, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0,  [SEP] 31, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0,  [SEP] 32, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0,  [SEP] 33, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0,  [SEP] 34, Painting, -3.372, 1.800, -5.392, 90, 180, 0,  [SEP] 35, Television, -0.606, 1.674, -2.602, 0, 270, 0,  [SEP] 36, Window, -8.237, 1.411, -1.509, 90, 270, 0,  [SEP] 37, Window, -8.237, 1.411, -4.081, 90, 270, 0,  [SEP] 38, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0,  [SEP] 39, Shelf, -2.475, 0.124, -2.486, 0, 90, 0,  [SEP] 40, SideTable, -2.016, 0.002, -5.075, 0, 180, 0,  [SEP] 41, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0,  [SEP] 42, SideTable, -5.428, 0.002, -5.123, 0, 180, 0,  [SEP] 43, Sofa, -4.354, 0.009, -2.089, 0, 90, 0,  [SEP] 44, Dresser, -3.505, 0.003, -5.101, 0, 0, 0,  [SEP] 45, Drawer, -2.981, 0.481, -5.031, 0, 0, 0,  [SEP] 46, Drawer, -4.022, 0.169, -5.013, 0, 0, 0,  [SEP] 47, Drawer, -2.978, 0.169, -5.013, 0, 0, 0,  [SEP] 48, Drawer, -4.022, 0.477, -5.013, 0, 0, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk straight back, turn right, then face the statue on the left. | STEP 2: Pick up the credit card in front of the statue. | STEP 3: Turn around and walk forward then face the chair on the left. | STEP 4: Place the card on the chair. | STEP 5: Turn around and walk to the far wall, turn right and walk in between the bin and the table. | STEP 6: Grab the card on the table. | STEP 7: Turn to the right, walk forward, then turn to the left and face the chair. | STEP 8: Put the card next to the other on the chair. | END


Input: place two credit cards on gray chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, -0.5, 0, 0, 0,  [SEP] 1, Watch, -2.257, 0.588, -2.987, 0, 0, 0, 41 [SEP] 2, Statue, -5.217, 0.488, -5.087, 0, 0, 0, 42 [SEP] 3, Statue, -2.933, 0.711, -5.188, 0, 0, 0, 44 [SEP] 4, KeyChain, -2.864, 0.076, -5.001, 0, 180, 0, 47 [SEP] 5, Book, -2.151, 0.587, -2.657, 0, 0, 0, 41 [SEP] 6, Book, -4.412, 0.334, -3.520, 0, 90, 0, 38 [SEP] 7, CreditCard, -1.883, 0.482, -5.032, 0, 0, 0, 40 [SEP] 8, CreditCard, -2.148, 0.482, -4.989, 0, 0, 0, 40 [SEP] 9, CreditCard, -2.257, 0.587, -2.326, 0, 0, 0, 41 [SEP] 10, RemoteControl, -4.076, 0.343, -2.500, 0, 0, 0, Floor|-04.47| [SEP] 11, Laptop, -3.503, 0.701, -5.093, 0, 0, 0, 44 [SEP] 12, Pillow, -4.262, 0.442, -3.520, 0, 90, 0, 38 [SEP] 13, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 14, Book, -2.469, 0.587, -1.996, 0, 0, 0, 41 [SEP] 15, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 43 [SEP] 16, Watch, -4.358, 0.705, -5.046, 0, 0, 0, 44 [SEP] 17, Pen, -5.418, 0.487, -5.087, 0, 0, 0, 42 [SEP] 18, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 19, Pillow, -4.282, 0.454, -1.736, 0, 270, 0, 43 [SEP] 20, CreditCard, -2.933, 0.704, -5.046, 0, 0, 0, 44 [SEP] 21, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 44 [SEP] 22, KeyChain, -4.230, 0.332, -1.462, 0, 0, 0, 43 [SEP] 23, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 44 [SEP] 24, Laptop, -2.568, 0.580, -2.514, 0, 300.000, 0, 41 [SEP] 25, Statue, -2.020, 0.475, -5.094, 0, 0, 0, 40 [SEP] 26, Vase, -2.786, 0.592, -2.987, 0, 0, 0, 41 [SEP] 27, RemoteControl, -2.151, 0.590, -2.326, 0, 0, 0, 41 [SEP] 28, Vase, -3.218, 0.704, -5.093, 0, 0, 0, 44 [SEP] 29, Mirror, -3.402, 2.028, 0.000, 0, 0, 0,  [SEP] 30, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0,  [SEP] 31, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0,  [SEP] 32, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0,  [SEP] 33, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0,  [SEP] 34, Painting, -3.372, 1.800, -5.392, 90, 180, 0,  [SEP] 35, Television, -0.606, 1.674, -2.602, 0, 270, 0,  [SEP] 36, Window, -8.237, 1.411, -1.509, 90, 270, 0,  [SEP] 37, Window, -8.237, 1.411, -4.081, 90, 270, 0,  [SEP] 38, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0,  [SEP] 39, Shelf, -2.475, 0.124, -2.486, 0, 90, 0,  [SEP] 40, SideTable, -2.016, 0.002, -5.075, 0, 180, 0,  [SEP] 41, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0,  [SEP] 42, SideTable, -5.428, 0.002, -5.123, 0, 180, 0,  [SEP] 43, Sofa, -4.354, 0.009, -2.089, 0, 90, 0,  [SEP] 44, Dresser, -3.505, 0.003, -5.101, 0, 0, 0,  [SEP] 45, Drawer, -2.981, 0.481, -5.031, 0, 0, 0,  [SEP] 46, Drawer, -4.022, 0.169, -5.013, 0, 0, 0,  [SEP] 47, Drawer, -2.978, 0.169, -5.013, 0, 0, 0,  [SEP] 48, Drawer, -4.022, 0.477, -5.013, 0, 0, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: turn around, go to dresser with laptop | STEP 2: pick up red credit card in front of black statue on dresser | STEP 3: turn right, go to gray chair with brown pillow | STEP 4: place credit card on gray chair with brown pillow | STEP 5: turn around, go to small table with black statue next to the dresser | STEP 6: pick up red credit card to the left of black statue | STEP 7: go to gray chair with brown pillow | STEP 8: place red credit card to the right of credit card on gray chair | END


Input: Place a bowl with a credit card in it on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Pen, 1.467, 0.829, -1.260, 0, 270, 0, 45 [SEP] 2, Pen, 0.146, 0.811, -2.507, 0, 0, 0, 47 [SEP] 3, Pencil, -1.493, 0.375, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, -1.580, 0.088, -2.287, 0, 0, 0, 51 [SEP] 5, CreditCard, -1.594, 0.861, -2.561, 0, 0, 0, 54 [SEP] 6, CreditCard, 1.411, 0.823, -1.363, 0, 270, 0, 45 [SEP] 7, Book, 0.241, 0.774, 1.335, 0, 0, 0, 25 [SEP] 8, Book, 0.528, 0.774, 1.657, 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, -0.386, 0.861, -2.561, 0, 0, 0, 54 [SEP] 12, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 47 [SEP] 13, Laptop, -0.998, 0.855, -2.401, 0, 13.355, 0, 54 [SEP] 14, AlarmClock, -0.062, 0.804, -2.506, 0, 358.366, 0, 47 [SEP] 15, CreditCard, 0.459, 0.811, -2.304, 0, 0, 0, 47 [SEP] 16, KeyChain, 1.522, 0.824, -1.570, 0, 270, 0, 45 [SEP] 17, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 18, RemoteControl, -1.406, 0.089, -2.363, 0, 0, 0, 51 [SEP] 19, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 25 [SEP] 20, CD, 1.521, 0.817, -1.727, 0, 0, 0, 45 [SEP] 21, CD, 0.527, 0.806, -2.485, 0, 0, 0, 47 [SEP] 22, CD, 0.251, 0.812, -2.169, 0, 0, 0, 47 [SEP] 23, Pen, 0.042, 0.817, -2.304, 0, 0, 0, 47 [SEP] 24, Bowl, 0.459, 0.813, -2.507, 0, 0, 0, 47 [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 right and veer left to the right side of the desk.  | STEP 2: Pick up the red credit card on the desk. | STEP 3: Place the card in the bowl. | STEP 4: Pick up the bowl. | STEP 5: Walk right and straight around the desk. | STEP 6: Place the bowl on the desk to the right of the laptop. | END


Input: Move the laptop between the remote controls to the red lounge chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 2.5, 0, 90, 0,  [SEP] 1, Watch, -3.356, 0.376, 6.723, 0, 0, 0, 28 [SEP] 2, Watch, -2.014, 0.756, 0.993, 0, 0, 0, 42 [SEP] 3, KeyChain, -4.380, 0.480, 4.863, 0, 0, 0, 33 [SEP] 4, RemoteControl, -2.014, 0.758, 1.554, 0, 0, 0, 42 [SEP] 5, RemoteControl, -4.300, 0.481, 4.631, 0, 0, 0, 33 [SEP] 6, Laptop, -2.005, 0.839, 6.632, 0, 0, 0, 39 [SEP] 7, Laptop, -1.732, 0.753, 0.993, 0, 0, 0, 42 [SEP] 8, Box, -1.607, 0.151, 6.854, 0, 0, 0, 39 [SEP] 9, Statue, -1.440, 0.747, 1.229, 0, 0, 0, 42 [SEP] 10, Watch, -0.379, 0.626, 3.840, 0, 22.813, 0, 40 [SEP] 11, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0,  [SEP] 12, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 42 [SEP] 13, CreditCard, -4.380, 0.479, 5.325, 0, 0, 0, 33 [SEP] 14, KeyChain, -4.300, 0.478, 5.787, 0, 0, 0, 33 [SEP] 15, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 33 [SEP] 16, RemoteControl, -1.310, 0.758, 1.554, 0, 0, 0, 42 [SEP] 17, Curtains, -0.037, 2.148, 0.999, 0, 0, 0,  [SEP] 18, Painting, -0.016, 2.061, 5.380, 0, 0, 0,  [SEP] 19, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0,  [SEP] 20, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0,  [SEP] 21, Television, -3.192, 1.184, 6.767, 0, 180, 0,  [SEP] 22, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0,  [SEP] 23, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0,  [SEP] 24, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0,  [SEP] 25, Window, -0.008, 1.340, 1.725, 90, 270, 0,  [SEP] 26, SideTable, -4.190, 0.000, 3.587, 0, 0, 0,  [SEP] 27, Drawer, -2.925, 0.475, 6.717, 0, 180, 0,  [SEP] 28, Drawer, -3.476, 0.475, 6.717, 0, 180, 0,  [SEP] 29, Dresser, -3.201, -0.001, 6.791, 0, 180, 0,  [SEP] 30, Drawer, -2.925, 0.165, 6.719, 0, 180, 0,  [SEP] 31, Drawer, -3.476, 0.165, 6.719, 0, 180, 0,  [SEP] 32, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0,  [SEP] 33, Sofa, -4.425, 0.014, 5.062, 0, 90, 0,  [SEP] 34, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0,  [SEP] 35, Chair, -2.151, 0.004, 1.284, 0, 90, 0,  [SEP] 36, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0,  [SEP] 37, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0,  [SEP] 38, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0,  [SEP] 39, SideTable, -2.071, 0.000, 6.699, 0, 0, 0,  [SEP] 40, SideTable, -0.244, -0.000, 3.524, 0, 270, 0,  [SEP] 41, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0,  [SEP] 42, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,

Output: STEP 1: Turn right and go to the glass table. | STEP 2: Close the laptop nearest to you and pick it up. | STEP 3: Turn around and move to the red lounge chair in the center of the room. | STEP 4: Set the laptop down on the seat of the red lounge chair. | END


Input: retrieve a box of  tissues from the cabinet and put the on the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 3.0, 0, 90, 0,  [SEP] 1, TissueBox, -3.770, 0.541, 1.109, 0, 90, 0, 40 [SEP] 2, TissueBox, -3.828, 0.541, 1.477, 0, 90, 0, 25 [SEP] 3, TissueBox, -0.294, 0.040, 4.769, 0, 0, 0, 24 [SEP] 4, Cloth, -3.470, 0.185, 3.547, 0, 347.395, 0, 23 [SEP] 5, SoapBar, -1.008, 0.963, 4.734, 0, 0, 0, 30 [SEP] 6, SoapBar, -3.144, 0.676, 3.944, 0, 270, 0, 25 [SEP] 7, Candle, -3.597, 0.550, 0.373, 0, 90, 0, 40 [SEP] 8, Candle, -0.194, 0.048, 5.006, 0, 0, 0, 24 [SEP] 9, HandTowel, -2.094, 1.442, 5.107, 0, 0, 0, 41 [SEP] 10, ToiletPaper, -3.268, 0.673, 3.944, 0, 270, 0, 25 [SEP] 11, Candle, -3.540, 0.550, 0.925, 0, 90, 0, 40 [SEP] 12, SoapBottle, -3.770, 0.546, 0.557, 0, 90, 0, 40 [SEP] 13, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 42 [SEP] 14, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 38 [SEP] 15, SoapBar, -0.255, 1.044, 3.354, 0, 270, 0, 44 [SEP] 16, ToiletPaper, -3.885, 0.538, 0.741, 0, 90, 0, 40 [SEP] 17, TissueBox, -1.095, 0.964, 4.800, 0, 0, 0, 30 [SEP] 18, Cloth, -3.701, 0.185, 2.428, 0, 0, 0, 23 [SEP] 19, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 43 [SEP] 20, SprayBottle, -3.828, 0.542, 0.373, 0, 90, 0, 40 [SEP] 21, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 22, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 23, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0,  [SEP] 24, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0,  [SEP] 25, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0,  [SEP] 26, Faucet, -3.475, 0.711, 3.811, 0, 0, 0,  [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0,  [SEP] 28, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0,  [SEP] 29, Faucet, -1.524, 1.047, 5.096, 0, 180, 0,  [SEP] 30, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0,  [SEP] 31, Mirror, -0.975, 1.577, 5.145, 0, 0, 0,  [SEP] 32, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0,  [SEP] 33, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0,  [SEP] 34, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0,  [SEP] 35, Window, -1.993, 1.888, 0.144, 0, 0, 0,  [SEP] 36, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0,  [SEP] 37, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0,  [SEP] 38, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0,  [SEP] 39, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0,  [SEP] 40, Shelf, -3.713, 0.531, 0.951, 0, 90, 0,  [SEP] 41, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0,  [SEP] 42, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0,  [SEP] 43, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0,  [SEP] 44, Toilet, -0.517, -0.000, 3.220, 0, 0, 0,  [SEP] 45, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0,  [SEP] 46, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0,  [SEP] 47, Sink, -0.579, 0.926, 4.874, 0, 180, 0,  [SEP] 48, Sink, -1.524, 0.926, 4.874, 0, 180, 0,  [SEP] 49, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0,  [SEP] 50, Faucet, -0.583, 1.047, 5.096, 0, 180, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: walk toward the toilet. walk around to the left side of the toilet and face the sink | STEP 2: open the cabinet and retrieve the box of tissues | STEP 3: turn around and walk to the far side of the toilet | STEP 4: place the box of tissues on the back side of the toilet | END


Input: Move the tissue box 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, -2.25, 0.900, 3.0, 0, 90, 0,  [SEP] 1, TissueBox, -3.770, 0.541, 1.109, 0, 90, 0, 40 [SEP] 2, TissueBox, -3.828, 0.541, 1.477, 0, 90, 0, 25 [SEP] 3, TissueBox, -0.294, 0.040, 4.769, 0, 0, 0, 24 [SEP] 4, Cloth, -3.470, 0.185, 3.547, 0, 347.395, 0, 23 [SEP] 5, SoapBar, -1.008, 0.963, 4.734, 0, 0, 0, 30 [SEP] 6, SoapBar, -3.144, 0.676, 3.944, 0, 270, 0, 25 [SEP] 7, Candle, -3.597, 0.550, 0.373, 0, 90, 0, 40 [SEP] 8, Candle, -0.194, 0.048, 5.006, 0, 0, 0, 24 [SEP] 9, HandTowel, -2.094, 1.442, 5.107, 0, 0, 0, 41 [SEP] 10, ToiletPaper, -3.268, 0.673, 3.944, 0, 270, 0, 25 [SEP] 11, Candle, -3.540, 0.550, 0.925, 0, 90, 0, 40 [SEP] 12, SoapBottle, -3.770, 0.546, 0.557, 0, 90, 0, 40 [SEP] 13, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 42 [SEP] 14, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 38 [SEP] 15, SoapBar, -0.255, 1.044, 3.354, 0, 270, 0, 44 [SEP] 16, ToiletPaper, -3.885, 0.538, 0.741, 0, 90, 0, 40 [SEP] 17, TissueBox, -1.095, 0.964, 4.800, 0, 0, 0, 30 [SEP] 18, Cloth, -3.701, 0.185, 2.428, 0, 0, 0, 23 [SEP] 19, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 43 [SEP] 20, SprayBottle, -3.828, 0.542, 0.373, 0, 90, 0, 40 [SEP] 21, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 22, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 23, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0,  [SEP] 24, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0,  [SEP] 25, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0,  [SEP] 26, Faucet, -3.475, 0.711, 3.811, 0, 0, 0,  [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0,  [SEP] 28, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0,  [SEP] 29, Faucet, -1.524, 1.047, 5.096, 0, 180, 0,  [SEP] 30, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0,  [SEP] 31, Mirror, -0.975, 1.577, 5.145, 0, 0, 0,  [SEP] 32, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0,  [SEP] 33, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0,  [SEP] 34, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0,  [SEP] 35, Window, -1.993, 1.888, 0.144, 0, 0, 0,  [SEP] 36, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0,  [SEP] 37, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0,  [SEP] 38, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0,  [SEP] 39, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0,  [SEP] 40, Shelf, -3.713, 0.531, 0.951, 0, 90, 0,  [SEP] 41, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0,  [SEP] 42, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0,  [SEP] 43, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0,  [SEP] 44, Toilet, -0.517, -0.000, 3.220, 0, 0, 0,  [SEP] 45, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0,  [SEP] 46, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0,  [SEP] 47, Sink, -0.579, 0.926, 4.874, 0, 180, 0,  [SEP] 48, Sink, -1.524, 0.926, 4.874, 0, 180, 0,  [SEP] 49, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0,  [SEP] 50, Faucet, -0.583, 1.047, 5.096, 0, 180, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Move to the right side of the sink cupboard closest to the wall | STEP 2: Open the cupboard to remove the tissue box then shut the door | STEP 3: Carry the tissue box to the back of the toilet | STEP 4: Place the tissue box on the back of the toilet | END


Input: Take out the green candle and put it on the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.25, 0, 180, 0,  [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 25 [SEP] 2, Cloth, -0.404, 0.033, 1.040, 0, 0, 0, 26 [SEP] 3, Candle, -3.034, 0.110, -0.173, 0, 0, 0, 23 [SEP] 4, HandTowel, -3.321, 1.464, 0.762, 0, 270, 0, 32 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -3.016, 0.883, 0.019, 0, 90, 0, 22 [SEP] 8, ToiletPaper, -3.072, 0.046, 0.869, 0, 0, 0, 29 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -2.965, 1.870, 1.624, 0, 0, 0, 19 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -3.035, 0.110, -0.654, 0, 0, 0, 18 [SEP] 14, Cloth, -2.969, 0.109, 0.387, 0, 0, 0, 17 [SEP] 15, SprayBottle, -3.193, 1.049, 1.329, 0, 90, 0, 35 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn right at the white door and turn right at the metal sink. Look above the toilet at the white cabinet above it. | STEP 2: Take out the green candle in the white cabinet. | STEP 3: Look back down to the top of the toilet. | STEP 4: Put the green candle next to the purple spray bottle on the toilet. | END


Input: Placing a clean mug on the coffeemaker.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.869, -3.5, 0, 180, 0,  [SEP] 1, DishSponge, 0.672, 0.772, -0.735, 0, 270, 0, 68 [SEP] 2, DishSponge, 0.858, 1.463, -0.084, 0, 0, 0, 56 [SEP] 3, ButterKnife, -1.056, 0.900, 1.187, 0, 270, 0, 71 [SEP] 4, Spatula, 0.720, 0.775, -0.252, 0, 90, 0, 44 [SEP] 5, Spatula, 0.574, 0.774, -0.252, 0, 90, 0, 44 [SEP] 6, Spoon, 0.950, 0.884, -0.176, 0, 0, 0, 45 [SEP] 7, Spoon, 0.721, 0.665, 0.569, 0, 180, 0, 50 [SEP] 8, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 9, Egg, 0.601, 0.701, 0.387, 0, 0, 0, 50 [SEP] 10, Egg, -2.002, 0.836, -3.607, 0, 0, 0, 67 [SEP] 11, Cup, -0.051, 0.899, 0.758, 0, 270, 0, 71 [SEP] 12, Cup, 0.661, 0.664, 0.569, 0, 0, 0, 50 [SEP] 13, Plate, 0.732, 0.019, -0.119, 0, 0, 0, 55 [SEP] 14, Tomato, -1.260, 0.100, -3.611, 0, 270, 0, 60 [SEP] 15, Tomato, 0.746, 1.423, -2.113, 0, 270, 0, 65 [SEP] 16, SoapBottle, 0.781, 0.663, 0.326, 0, 0, 0, 50 [SEP] 17, PepperShaker, 0.961, 0.661, 0.387, 0, 0, 0, 50 [SEP] 18, Bread, 0.149, 0.944, 1.101, 0, 270, 0, 71 [SEP] 19, Lettuce, 0.708, 1.461, -1.880, 0, 270, 0, 65 [SEP] 20, Mug, 0.949, 1.458, -0.331, 0, 90, 0, 56 [SEP] 21, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 58 [SEP] 22, Apple, 0.841, 0.826, -0.845, 0, 270, 0, 68 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, -1.719, 0.705, -1.091, 0, 0, 0, 81 [SEP] 25, Fork, 0.757, 0.773, -0.625, 0, 270, 0, 68 [SEP] 26, SoapBottle, 0.803, 0.882, 0.098, 0, 0, 0, 45 [SEP] 27, Apple, -1.556, 0.750, -3.445, 0, 0, 0, 72 [SEP] 28, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 29, Egg, 1.055, 0.920, -0.913, 0, 0, 0, 45 [SEP] 30, Spatula, -0.252, 0.915, 0.929, 0, 180, 0, 71 [SEP] 31, Potato, -2.054, 0.832, -3.705, 0, 0, 0, 67 [SEP] 32, Cup, 0.785, 0.663, -1.958, 0, 270, 0, 65 [SEP] 33, SaltShaker, 0.898, 0.012, -0.315, 0, 0, 0, 55 [SEP] 34, PepperShaker, 0.582, 0.879, -0.314, 0, 0, 0, 45 [SEP] 35, ButterKnife, 0.655, 0.883, 0.029, 0, 0, 0, 45 [SEP] 36, DishSponge, 0.950, 0.883, -0.039, 0, 0, 0, 45 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, 0.841, 0.751, 0.508, 0, 0, 0, 50 [SEP] 39, Tomato, 0.669, 0.514, -2.035, 0, 270, 0, 65 [SEP] 40, Spoon, -1.719, 0.702, -1.524, 0, 0, 0, 81 [SEP] 41, Knife, -0.051, 0.923, 1.015, 0, 270, 0, 71 [SEP] 42, Mug, 0.621, 0.010, -0.898, 0, 0, 0, 48 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Turn around to the left and walk to the coffee maker.  | STEP 2: Grab the mug from the coffeemaker. | STEP 3: Turn to the left and walk to the sink. | STEP 4: Place the mug into the sink and rinse it with water. Remove the mug from the sink.  | STEP 5: Turn to the right and walk back to the coffeemaker.  | STEP 6: Place the mug on the coffeemaker.  | END


Input: Put a spray bottle in the garbage. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 2.5, 0, 180, 0,  [SEP] 1, Cloth, -4.309, 0.207, 2.074, 0, 270, 0, 35 [SEP] 2, Cloth, -2.192, 0.831, 1.862, 0, 0, 0, 20 [SEP] 3, Candle, -0.956, 1.053, 4.263, 0, 270, 0, 40 [SEP] 4, Candle, -3.028, 0.278, 1.780, 0, 0, 0, 25 [SEP] 5, SprayBottle, -1.109, 1.045, 4.460, 0, 270, 0, 40 [SEP] 6, SprayBottle, -1.109, 1.045, 4.263, 0, 270, 0, 40 [SEP] 7, SprayBottle, -1.018, 1.045, 4.263, 0, 270, 0, 40 [SEP] 8, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 32 [SEP] 9, Candle, -1.211, 0.278, 2.039, 0, 0, 0, 22 [SEP] 10, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 37 [SEP] 11, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 12, SoapBar, -1.043, 0.118, 3.640, 0, 90, 0, 39 [SEP] 13, ToiletPaper, -2.282, 0.823, 2.074, 0, 0, 0, 20 [SEP] 14, Cloth, -2.168, 0.274, 1.883, 0, 0, 0, 29 [SEP] 15, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 41 [SEP] 16, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 33 [SEP] 17, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 18, SoapBottle, -2.378, 0.807, 1.517, 0, 330.000, 0, 20 [SEP] 19, SprayBottle, -1.230, 0.827, 2.148, 0, 0, 0, 20 [SEP] 20, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0,  [SEP] 21, Drawer, -1.307, 0.606, 1.890, 0, 0, 0,  [SEP] 22, Drawer, -1.307, 0.337, 1.890, 0, 0, 0,  [SEP] 23, Faucet, -4.646, 0.448, 1.689, 0, 0, 0,  [SEP] 24, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0,  [SEP] 25, Drawer, -3.029, 0.337, 1.890, 0, 0, 0,  [SEP] 26, Drawer, -2.169, 0.606, 1.890, 0, 0, 0,  [SEP] 27, Drawer, -3.029, 0.606, 1.890, 0, 0, 0,  [SEP] 28, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0,  [SEP] 29, Drawer, -2.169, 0.337, 1.890, 0, 0, 0,  [SEP] 30, Mirror, -2.177, 1.856, 1.390, 0, 0, 0,  [SEP] 31, Sink, -1.421, 0.837, 1.776, 0, 0, 0,  [SEP] 32, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0,  [SEP] 33, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0,  [SEP] 34, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0,  [SEP] 35, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0,  [SEP] 36, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0,  [SEP] 37, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0,  [SEP] 38, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0,  [SEP] 39, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0,  [SEP] 40, Toilet, -1.340, -0.000, 4.456, 0, 0, 0,  [SEP] 41, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0,  [SEP] 42, Faucet, -1.421, 0.954, 1.507, 0, 0, 0,  [SEP] 43, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0,  [SEP] 44, Faucet, -2.944, 0.954, 1.507, 0, 0, 0,  [SEP] 45, Sink, -2.943, 0.837, 1.776, 0, 0, 0,  [SEP] 46, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the toilet then turn to your right and walk to the toilet brush. | STEP 2: Pick up the spray bottle closest to you on the back of the toilet. | STEP 3: Take a step to your right. | STEP 4: Put the spray bottle in the garbage. | END


Input: Put a pan with a piece of lettuce in it into the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.25, 0, 180, 0,  [SEP] 1, Potato, 2.158, 0.901, -0.188, 0, 270, 0, 67 [SEP] 2, WineBottle, -0.042, 0.791, 1.217, 0, 0, 0, 73 [SEP] 3, ButterKnife, -0.349, 0.791, 0.545, 0, 0, 0, 73 [SEP] 4, Spatula, -0.282, 0.952, 2.618, 0, 0, 0, 46 [SEP] 5, Spoon, 1.884, 0.746, 2.197, 0, 90, 0, 61 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 73 [SEP] 7, Egg, 2.279, 1.363, -0.007, 0, 270, 0, 67 [SEP] 8, Cup, -0.425, 0.789, 0.713, 0, 0, 0, 73 [SEP] 9, Knife, -0.196, 0.816, 1.386, 0, 0, 0, 73 [SEP] 10, Knife, 1.850, 0.771, 1.922, 0, 90, 0, 61 [SEP] 11, Tomato, 0.033, 0.837, 1.049, 0, 0, 0, 73 [SEP] 12, Tomato, 2.231, 1.565, -0.188, 0, 270, 0, 67 [SEP] 13, Bowl, -0.328, 1.032, 2.068, 0, 90, 0, 71 [SEP] 14, PepperShaker, -0.041, 0.932, 2.425, 0, 0, 0, 46 [SEP] 15, Egg, 2.056, 1.363, -0.279, 0, 270, 0, 67 [SEP] 16, Lettuce, -0.053, 0.999, 2.827, 0, 0, 0, 46 [SEP] 17, Fork, -0.119, 0.791, 0.545, 0, 180, 0, 73 [SEP] 18, SoapBottle, -0.004, 0.082, 1.993, 0, 0, 0, 40 [SEP] 19, Ladle, 1.997, 0.982, 2.162, 0, 0, 0, 46 [SEP] 20, Ladle, 1.923, 0.126, 0.442, 0, 0, 0, 43 [SEP] 21, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 73 [SEP] 22, SaltShaker, 2.002, 0.077, 2.199, 0, 0, 0, 42 [SEP] 23, Potato, 2.225, 0.978, 0.806, 0, 0, 0, 57 [SEP] 24, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 41 [SEP] 25, WineBottle, -0.078, 0.082, 2.265, 0, 0, 0, 40 [SEP] 26, Spatula, 1.906, 0.760, 0.446, 0, 90, 0, 55 [SEP] 27, Knife, -0.196, 0.816, 0.377, 0, 180, 0, 73 [SEP] 28, Tomato, -0.272, 0.983, 2.451, 0, 0, 0, 46 [SEP] 29, Apple, -0.272, 0.840, 1.049, 0, 0, 0, 73 [SEP] 30, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 57 [SEP] 31, Pot, 1.863, 0.935, 1.106, 0, 0, 0, 60 [SEP] 32, PepperShaker, 1.830, 1.498, 2.730, 0, 0, 0, 47 [SEP] 33, Cup, 1.276, 0.793, 2.695, 0, 0, 0, 70 [SEP] 34, DishSponge, 0.174, 0.937, 2.688, 0, 0, 0, 46 [SEP] 35, Plate, 2.206, 1.505, 2.425, 0, 0, 0, 39 [SEP] 36, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 55 [SEP] 37, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 72 [SEP] 38, Bowl, 0.174, 0.934, 2.827, 0, 0, 0, 46 [SEP] 39, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 40, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 41, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 42, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 43, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 44, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 45, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 46, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 47, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 48, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 49, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 50, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 52, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 53, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 54, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 55, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 56, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 57, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 58, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 59, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 60, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 61, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 62, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 63, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 64, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 65, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 66, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 67, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 68, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 69, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 70, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 71, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 72, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 73, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 74, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 75, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 76, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Go to the counter with the toaster on it. | STEP 2: Pick up the butter knife in front of the toaster. | STEP 3: Turn and go to the counter to the left of the sink. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn and go to the refrigerator. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the counter to the left of the sink. | STEP 8: Pick up a piece of lettuce. | STEP 9: Go to the stove across the room. | STEP 10: Put the lettuce in the pan on the back left burner. | STEP 11: Pick up the pan with the lettuce on it. | STEP 12: Turn right and go across the room to the fridge. | STEP 13: Put the pan with lettuce in it into the fridge. | END