Input: Move the dog statue from the shelf to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.25, 0, 90, 0,  [SEP] 1, Watch, -1.012, 0.552, -0.106, 0, 270, 0, 30 [SEP] 2, Watch, 1.754, 0.760, 0.420, 0, 90, 0, 37 [SEP] 3, Newspaper, -0.841, 0.038, -0.544, 0, 90, 0, 25 [SEP] 4, Newspaper, 1.849, 0.869, 0.431, 0, 90, 0, 36 [SEP] 5, CreditCard, -0.411, 0.551, -0.106, 0, 270, 0, 30 [SEP] 6, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 7, KeyChain, 1.285, 0.279, -0.512, 0, 0, 0, 38 [SEP] 8, Watch, -0.453, 0.040, -0.512, 0, 90, 0, 31 [SEP] 9, Newspaper, 1.766, 0.868, 0.114, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.077, 0.293, -1.624, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.643, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk toward the fireplace, then look up at the shelf. | STEP 2: Pick up the dog statue from the shelf. | STEP 3: Turn around and look down. | STEP 4: Place the dog statue on the coffee table. | END


Input: Slice both bread, take a slice of each put them on the small round table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 106 [SEP] 2, DishSponge, -0.125, 0.770, 1.198, 0, 0, 0, 52 [SEP] 3, DishSponge, 1.831, 0.770, 1.122, 0, 0, 0, 82 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 5, Kettle, 1.559, 1.656, -0.732, 0, 180, 0, 69 [SEP] 6, ButterKnife, -0.887, 0.820, -1.255, 0, 0, 0, 106 [SEP] 7, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 82 [SEP] 8, Pot, 1.173, 0.118, -0.458, 0, 180, 0, 55 [SEP] 9, Fork, 2.481, 0.772, 1.122, 0, 90, 0, 63 [SEP] 10, Fork, 1.626, 0.771, -0.422, 0, 270, 0, 77 [SEP] 11, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 47 [SEP] 12, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 106 [SEP] 13, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 14, SoapBottle, 0.446, 1.660, -0.697, 0, 180, 0, 86 [SEP] 15, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 16, Tomato, 1.649, 0.942, -0.345, 0, 0, 0, 47 [SEP] 17, Bowl, 2.777, 1.561, -0.578, 0, 0, 0, 102 [SEP] 18, Bowl, 1.872, 0.112, -0.421, 0, 180, 0, 93 [SEP] 19, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 82 [SEP] 20, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 58 [SEP] 21, Mug, 0.363, 1.779, 1.520, 0, 270, 0, 105 [SEP] 22, Mug, 1.880, 1.650, 1.390, 0, 0, 0, 59 [SEP] 23, Apple, -1.991, 0.492, 1.417, 0, 270, 0, 100 [SEP] 24, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, 1.155, 0.912, 1.129, 0, 0, 0, 82 [SEP] 27, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 47 [SEP] 28, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 47 [SEP] 29, Egg, -0.766, 0.858, -1.155, 0, 90, 0, 106 [SEP] 30, Kettle, 2.188, 1.655, 1.432, 0, 0, 0, 71 [SEP] 31, Tomato, 2.221, 0.942, 1.383, 0, 0, 0, 82 [SEP] 32, Cup, 0.123, 0.763, -0.762, 0, 0, 0, 104 [SEP] 33, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 104 [SEP] 34, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 106 [SEP] 35, Pan, 2.715, 1.288, -0.709, 0, 0, 0, 102 [SEP] 36, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 82 [SEP] 37, SaltShaker, 2.198, 0.111, -0.538, 0, 180, 0, 88 [SEP] 38, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 104 [SEP] 39, Potato, 2.962, 1.053, -0.578, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 106 [SEP] 41, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 42, Bowl, 2.223, 0.112, 1.156, 0, 0, 0, 83 [SEP] 43, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 106 [SEP] 44, Spoon, -0.621, 0.822, -1.360, 0, 90, 0, 106 [SEP] 45, Mug, 2.962, 0.720, -0.473, 0, 0, 0, 102 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table  | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table | STEP 15: Put the knife on the table | STEP 16: Walk towards the counter | STEP 17: Grab a slice of bread | STEP 18: Walk with the slice of bread towards the small round table | STEP 19: Put the slice of bread on the table | END


Input: slice 2 pieces of bread put them on the grey table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 106 [SEP] 2, DishSponge, -0.125, 0.770, 1.198, 0, 0, 0, 52 [SEP] 3, DishSponge, 1.831, 0.770, 1.122, 0, 0, 0, 82 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 5, Kettle, 1.559, 1.656, -0.732, 0, 180, 0, 69 [SEP] 6, ButterKnife, -0.887, 0.820, -1.255, 0, 0, 0, 106 [SEP] 7, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 82 [SEP] 8, Pot, 1.173, 0.118, -0.458, 0, 180, 0, 55 [SEP] 9, Fork, 2.481, 0.772, 1.122, 0, 90, 0, 63 [SEP] 10, Fork, 1.626, 0.771, -0.422, 0, 270, 0, 77 [SEP] 11, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 47 [SEP] 12, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 106 [SEP] 13, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 14, SoapBottle, 0.446, 1.660, -0.697, 0, 180, 0, 86 [SEP] 15, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 16, Tomato, 1.649, 0.942, -0.345, 0, 0, 0, 47 [SEP] 17, Bowl, 2.777, 1.561, -0.578, 0, 0, 0, 102 [SEP] 18, Bowl, 1.872, 0.112, -0.421, 0, 180, 0, 93 [SEP] 19, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 82 [SEP] 20, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 58 [SEP] 21, Mug, 0.363, 1.779, 1.520, 0, 270, 0, 105 [SEP] 22, Mug, 1.880, 1.650, 1.390, 0, 0, 0, 59 [SEP] 23, Apple, -1.991, 0.492, 1.417, 0, 270, 0, 100 [SEP] 24, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, 1.155, 0.912, 1.129, 0, 0, 0, 82 [SEP] 27, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 47 [SEP] 28, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 47 [SEP] 29, Egg, -0.766, 0.858, -1.155, 0, 90, 0, 106 [SEP] 30, Kettle, 2.188, 1.655, 1.432, 0, 0, 0, 71 [SEP] 31, Tomato, 2.221, 0.942, 1.383, 0, 0, 0, 82 [SEP] 32, Cup, 0.123, 0.763, -0.762, 0, 0, 0, 104 [SEP] 33, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 104 [SEP] 34, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 106 [SEP] 35, Pan, 2.715, 1.288, -0.709, 0, 0, 0, 102 [SEP] 36, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 82 [SEP] 37, SaltShaker, 2.198, 0.111, -0.538, 0, 180, 0, 88 [SEP] 38, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 104 [SEP] 39, Potato, 2.962, 1.053, -0.578, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 106 [SEP] 41, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 42, Bowl, 2.223, 0.112, 1.156, 0, 0, 0, 83 [SEP] 43, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 106 [SEP] 44, Spoon, -0.621, 0.822, -1.360, 0, 90, 0, 106 [SEP] 45, Mug, 2.962, 0.720, -0.473, 0, 0, 0, 102 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter  | STEP 3: turn to the right | STEP 4: slice the loaf of bread  | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread  | STEP 14: turn to the  right and across the room | STEP 15: face the grey table leave the knife on top the table | STEP 16: turn to the left and across the room | STEP 17: pick up a slice of bread | STEP 18: turn to the right | STEP 19: face the grey table leave the slice of bread on top of the table | END


Input: Put a cold slice of potato in a bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.75, 0, 0, 0,  [SEP] 1, ButterKnife, -0.836, 0.820, -1.400, 0, 0, 0, 98 [SEP] 2, Fork, 1.626, 0.771, -0.460, 0, 270, 0, 69 [SEP] 3, Fork, -0.990, 0.821, -1.183, 0, 90, 0, 98 [SEP] 4, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 74 [SEP] 5, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 49 [SEP] 6, Cup, 0.466, 1.782, 1.488, 0, 180, 0, 97 [SEP] 7, Cup, 2.900, 1.016, -0.709, 0, 0, 0, 94 [SEP] 8, Egg, 1.155, 0.949, 1.214, 0, 0, 0, 74 [SEP] 9, Egg, 0.123, 0.803, -0.707, 0, 0, 0, 96 [SEP] 10, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 98 [SEP] 11, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 98 [SEP] 12, PepperShaker, 2.488, 0.908, 1.044, 0, 0, 0, 74 [SEP] 13, Bread, 2.838, 1.346, -0.709, 0, 0, 0, 94 [SEP] 14, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 98 [SEP] 15, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 74 [SEP] 16, SoapBottle, -0.766, 0.826, -1.155, 0, 90, 0, 98 [SEP] 17, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 74 [SEP] 18, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 98 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 74 [SEP] 21, Egg, -0.766, 0.858, -1.257, 0, 90, 0, 98 [SEP] 22, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 23, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 98 [SEP] 24, Cup, 2.161, 0.112, -0.458, 0, 180, 0, 80 [SEP] 25, Spatula, -0.055, 0.926, 1.383, 0, 90, 0, 50 [SEP] 26, Apple, 2.715, 0.794, -0.504, 0, 0, 0, 94 [SEP] 27, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 28, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 50 [SEP] 29, SaltShaker, 1.688, 0.908, 1.468, 0, 0, 0, 74 [SEP] 30, Knife, 2.156, 0.944, -0.515, 0, 0, 0, 39 [SEP] 31, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 96 [SEP] 32, PepperShaker, 1.155, 0.908, 1.129, 0, 0, 0, 74 [SEP] 33, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 39 [SEP] 34, Bowl, 2.653, 1.286, -0.578, 0, 0, 0, 94 [SEP] 35, DishSponge, -0.055, 0.911, 1.129, 0, 0, 0, 50 [SEP] 36, Spoon, 0.193, 0.766, -0.541, 0, 270, 0, 96 [SEP] 37, Mug, 2.777, 1.014, -0.775, 0, 0, 0, 94 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 8: Take a slice of potato from the sink. | STEP 9: Turn left, go straight then turn right to face the fridge. | STEP 10: Put the potato on the top shelf of the fridge. Close then open the fridge. Take the potato from the fridge. | STEP 11: Turn right, go straight to the blue bin in the corner across the room. | STEP 12: Put the potato in the blue bin. | END


Input: Warm up a cup of water in the microwave and put the cup on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.25, 0, 0, 0,  [SEP] 1, Potato, -0.260, 1.100, -1.505, 0, 0, 0, 44 [SEP] 2, DishSponge, 0.936, 1.053, 0.281, 0, 90, 0, 42 [SEP] 3, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 4, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 5, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 46 [SEP] 6, Egg, -1.342, 1.543, 2.242, 0, 90, 0, 59 [SEP] 7, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 44 [SEP] 8, Plate, 1.589, 1.032, -1.411, 0, 0, 0, 50 [SEP] 9, Plate, -1.027, 0.215, -1.410, 0, 0, 0, 52 [SEP] 10, Tomato, -1.349, 1.764, 2.242, 0, 90, 0, 59 [SEP] 11, Bowl, -1.095, 0.962, 1.885, 0, 90, 0, 59 [SEP] 12, Bowl, 1.188, 1.563, -1.689, 0, 0, 0, 48 [SEP] 13, SaltShaker, 1.741, 0.199, -1.480, 0, 0, 0, 54 [SEP] 14, PepperShaker, 1.015, 1.038, 0.676, 0, 0, 0, 46 [SEP] 15, Lettuce, 1.347, 1.103, 0.632, 0, 0, 0, 46 [SEP] 16, Apple, 1.854, 0.166, 2.442, 0, 270, 0, 60 [SEP] 17, Apple, -1.431, 1.271, 2.153, 0, 90, 0, 59 [SEP] 18, SoapBottle, 1.247, 0.200, -1.195, 0, 0, 0, 55 [SEP] 19, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 46 [SEP] 20, Potato, -0.346, 1.100, -1.289, 0, 0, 0, 44 [SEP] 21, Fork, 0.848, 1.043, 0.589, 0, 0, 0, 46 [SEP] 22, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 23, Pan, 0.446, 1.043, 0.522, 0, 180, 0, 46 [SEP] 24, Tomato, -1.423, 1.764, 1.885, 0, 90, 0, 59 [SEP] 25, SaltShaker, -1.339, 0.197, -1.555, 0, 0, 0, 52 [SEP] 26, Egg, 1.155, 1.101, -1.828, 0, 0, 0, 44 [SEP] 27, Cup, -1.366, 1.228, 2.331, 0, 90, 0, 59 [SEP] 28, Spatula, 0.906, 1.061, -1.181, 0, 0, 0, 44 [SEP] 29, Knife, 0.892, 1.079, 0.181, 0, 90, 0, 42 [SEP] 30, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 42 [SEP] 31, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 46 [SEP] 32, PepperShaker, 1.894, 0.199, -1.553, 0, 0, 0, 54 [SEP] 33, DishSponge, -0.580, 0.203, -1.553, 0, 0, 0, 53 [SEP] 34, Plate, -1.184, 2.041, -1.409, 0, 0, 0, 51 [SEP] 35, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 44 [SEP] 36, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 46 [SEP] 37, Pot, 0.065, 1.044, 0.522, 0, 0, 0, 46 [SEP] 38, Mug, 1.238, 1.041, -1.181, 0, 0, 0, 44 [SEP] 39, Bowl, -0.548, 1.563, -1.619, 0, 0, 0, 49 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk towards the wall. Go to the counter to the right.  | STEP 2: Pick up the white cup on the counter. | STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left. | STEP 4: Put the cup into the microwave. Take the cup out of the microwave. | STEP 5: Turn left and face the counter on the right side. | STEP 6: Put the cup on the counter to the right side of the loaf of bread. | END


Input: Put a heated mug on the counter, left of the bread.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.25, 0, 0, 0,  [SEP] 1, Potato, -0.260, 1.100, -1.505, 0, 0, 0, 44 [SEP] 2, DishSponge, 0.936, 1.053, 0.281, 0, 90, 0, 42 [SEP] 3, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 4, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 5, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 46 [SEP] 6, Egg, -1.342, 1.543, 2.242, 0, 90, 0, 59 [SEP] 7, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 44 [SEP] 8, Plate, 1.589, 1.032, -1.411, 0, 0, 0, 50 [SEP] 9, Plate, -1.027, 0.215, -1.410, 0, 0, 0, 52 [SEP] 10, Tomato, -1.349, 1.764, 2.242, 0, 90, 0, 59 [SEP] 11, Bowl, -1.095, 0.962, 1.885, 0, 90, 0, 59 [SEP] 12, Bowl, 1.188, 1.563, -1.689, 0, 0, 0, 48 [SEP] 13, SaltShaker, 1.741, 0.199, -1.480, 0, 0, 0, 54 [SEP] 14, PepperShaker, 1.015, 1.038, 0.676, 0, 0, 0, 46 [SEP] 15, Lettuce, 1.347, 1.103, 0.632, 0, 0, 0, 46 [SEP] 16, Apple, 1.854, 0.166, 2.442, 0, 270, 0, 60 [SEP] 17, Apple, -1.431, 1.271, 2.153, 0, 90, 0, 59 [SEP] 18, SoapBottle, 1.247, 0.200, -1.195, 0, 0, 0, 55 [SEP] 19, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 46 [SEP] 20, Potato, -0.346, 1.100, -1.289, 0, 0, 0, 44 [SEP] 21, Fork, 0.848, 1.043, 0.589, 0, 0, 0, 46 [SEP] 22, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 23, Pan, 0.446, 1.043, 0.522, 0, 180, 0, 46 [SEP] 24, Tomato, -1.423, 1.764, 1.885, 0, 90, 0, 59 [SEP] 25, SaltShaker, -1.339, 0.197, -1.555, 0, 0, 0, 52 [SEP] 26, Egg, 1.155, 1.101, -1.828, 0, 0, 0, 44 [SEP] 27, Cup, -1.366, 1.228, 2.331, 0, 90, 0, 59 [SEP] 28, Spatula, 0.906, 1.061, -1.181, 0, 0, 0, 44 [SEP] 29, Knife, 0.892, 1.079, 0.181, 0, 90, 0, 42 [SEP] 30, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 42 [SEP] 31, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 46 [SEP] 32, PepperShaker, 1.894, 0.199, -1.553, 0, 0, 0, 54 [SEP] 33, DishSponge, -0.580, 0.203, -1.553, 0, 0, 0, 53 [SEP] 34, Plate, -1.184, 2.041, -1.409, 0, 0, 0, 51 [SEP] 35, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 44 [SEP] 36, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 46 [SEP] 37, Pot, 0.065, 1.044, 0.522, 0, 0, 0, 46 [SEP] 38, Mug, 1.238, 1.041, -1.181, 0, 0, 0, 44 [SEP] 39, Bowl, -0.548, 1.563, -1.619, 0, 0, 0, 49 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to face the counter on the right. | STEP 2: Pick up the white mug on the counter.  | STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high. | STEP 4: Heat the mug in the microwave.  | STEP 5: Take the heated mug to the left, to the counter right of the stove. | STEP 6: Put the mug on counter, right of the bread.  | END


Input: Pick up the pen from the desk and turn the lamp on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -1.5, 0, 180, 0,  [SEP] 1, Mug, -0.507, 0.541, -3.694, 0, 0, 0, 32 [SEP] 2, Mug, -0.774, 0.541, -3.713, 0, 0, 0, 32 [SEP] 3, CellPhone, -3.582, 0.225, -3.884, 0, 0, 0, 45 [SEP] 4, CellPhone, -3.760, 0.981, -3.472, 0, 0, 0, 41 [SEP] 5, Pencil, -3.693, 0.812, -3.184, 0, 0, 0, 48 [SEP] 6, Pencil, -1.270, 0.803, -4.137, 0, 0, 0, 38 [SEP] 7, CreditCard, -0.274, 0.349, -3.844, 0, 0, 0, 32 [SEP] 8, KeyChain, -3.466, 0.982, -4.276, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.524, 0.045, -3.371, 0, 0, 0, 40 [SEP] 10, Book, -0.862, 0.804, -3.920, 0, 0, 0, 38 [SEP] 11, CellPhone, -0.655, 0.188, -3.844, 0, 0, 0, 30 [SEP] 12, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 23 [SEP] 13, CreditCard, -1.270, 0.803, -3.703, 0, 0, 0, 38 [SEP] 14, AlarmClock, -1.474, 0.803, -3.920, 0, 0, 0, 38 [SEP] 15, KeyChain, -0.657, 0.800, -4.354, 0, 0, 0, 38 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -0.240, 0.546, -3.694, 0, 0, 0, 32 [SEP] 19, Pillow, -2.559, 0.722, -1.506, 0, 0, 0, 23 [SEP] 20, CD, -1.854, 0.062, -3.925, 0, 279.990, 0, 27 [SEP] 21, Pen, -3.687, 0.986, -4.276, 0, 0, 0, 41 [SEP] 22, Mug, -1.474, 0.798, -4.137, 0, 90, 0, 38 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Head straight to the white table, turn right and walk to the brown desk. | STEP 2: Pick up the pen from the brown desk. | STEP 3: Turn around and walk to the white table with the lamp on it. | STEP 4: Turn the lamp on next to the coffee cup. | END


Input: Put the cold tomato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 42 [SEP] 2, Potato, 2.488, 0.946, 1.129, 0, 0, 0, 74 [SEP] 3, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 50 [SEP] 4, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 98 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 6, Pot, 2.777, 1.292, -0.775, 0, 0, 0, 94 [SEP] 7, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 73 [SEP] 8, Cup, 1.688, 0.909, 1.044, 0, 0, 0, 74 [SEP] 9, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 92 [SEP] 10, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 39 [SEP] 11, SoapBottle, 2.188, 0.120, 1.119, 0, 0, 0, 75 [SEP] 12, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 39 [SEP] 13, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 39 [SEP] 14, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 74 [SEP] 15, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 94 [SEP] 16, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 98 [SEP] 17, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 18, Fork, 2.124, 0.772, 1.122, 0, 90, 0, 70 [SEP] 19, Pot, 2.221, 0.915, 1.299, 0, 0, 0, 74 [SEP] 20, Bread, -0.198, 0.969, 1.383, 0, 0, 0, 50 [SEP] 21, Egg, -0.694, 0.858, -1.257, 0, 90, 0, 98 [SEP] 22, Kettle, 0.825, 1.656, -0.732, 0, 180, 0, 49 [SEP] 23, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 98 [SEP] 24, Cup, 1.955, 0.909, 1.468, 0, 0, 0, 74 [SEP] 25, Spatula, -0.007, 0.926, 1.044, 0, 90, 0, 50 [SEP] 26, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 92 [SEP] 27, Pan, 2.838, 1.018, -0.578, 0, 0, 0, 94 [SEP] 28, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 74 [SEP] 29, SaltShaker, 2.124, 0.111, -0.458, 0, 180, 0, 80 [SEP] 30, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 74 [SEP] 31, Potato, 0.570, 1.819, 1.391, 0, 180, 0, 97 [SEP] 32, PepperShaker, 1.842, 1.651, 1.585, 0, 0, 0, 51 [SEP] 33, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 74 [SEP] 34, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 98 [SEP] 35, DishSponge, 1.524, 1.654, 1.470, 0, 0, 0, 62 [SEP] 36, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 98 [SEP] 37, Mug, 1.098, 0.109, -0.458, 0, 180, 0, 47 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn to your right, walk straight towards the window then turn left going to the table | STEP 2: Pick up the tomato on the table | STEP 3: Turn around to your left then right head to the fridge on your right | STEP 4: Open the fridge put in and out the tomato then close the fridge | STEP 5: Turn to your right then walk straight then face to your left at the sink | STEP 6: Put the tomato in the sink | END


Input: Examine an alarm clock by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.909, -3.25, 0, 270, 0,  [SEP] 1, CellPhone, -3.524, 0.044, -3.278, 0, 0, 0, 37 [SEP] 2, Pen, -0.685, 0.548, -3.694, 0, 0, 0, 29 [SEP] 3, CreditCard, -0.731, 0.030, -3.779, 0, 0, 0, 30 [SEP] 4, KeyChain, -0.418, 0.543, -3.749, 0, 0, 0, 29 [SEP] 5, Book, -3.694, 0.419, -3.885, 0, 0, 0, 41 [SEP] 6, Book, -2.770, 0.620, -0.643, 0, 0, 0, 20 [SEP] 7, Book, -3.402, 0.620, -1.218, 0, 0, 0, 20 [SEP] 8, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 35 [SEP] 9, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 35 [SEP] 10, CreditCard, -0.596, 0.542, -3.694, 0, 0, 0, 29 [SEP] 11, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 35 [SEP] 12, KeyChain, -3.760, 0.980, -4.075, 0, 0, 0, 38 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -0.240, 0.546, -3.657, 0, 0, 0, 29 [SEP] 16, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 20 [SEP] 17, CD, -3.466, 0.979, -3.271, 0, 0, 0, 38 [SEP] 18, Pen, -3.760, 0.986, -3.271, 0, 0, 0, 38 [SEP] 19, Mug, -3.466, 0.977, -3.472, 0, 0, 0, 38 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk forward to the desk. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Walk in front of the lamp at the edge of the desk. | STEP 4: Turn on the lamp. | END


Input: Heat an egg and put it on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, -0.5, 0, 270, 0,  [SEP] 1, Potato, 1.181, 1.096, 0.632, 0, 0, 0, 49 [SEP] 2, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 48 [SEP] 3, Kettle, 1.741, 0.205, -1.262, 0, 0, 0, 57 [SEP] 4, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 49 [SEP] 5, Spatula, 1.347, 1.058, 0.763, 0, 0, 0, 49 [SEP] 6, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 44 [SEP] 7, Egg, 0.936, 1.109, 0.331, 0, 90, 0, 45 [SEP] 8, Egg, -1.235, 1.282, 2.153, 0, 90, 0, 62 [SEP] 9, Cup, -0.775, 1.047, -1.289, 0, 0, 0, 47 [SEP] 10, Knife, 0.239, 1.072, -1.118, 0, 0, 0, 47 [SEP] 11, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 49 [SEP] 12, SoapBottle, -0.398, 1.565, -1.396, 0, 0, 0, 52 [SEP] 13, SoapBottle, -0.670, 0.204, -1.553, 0, 0, 0, 56 [SEP] 14, Bowl, -1.339, 0.201, -1.555, 0, 0, 0, 55 [SEP] 15, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 16, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 47 [SEP] 17, Mug, 1.897, 1.014, -1.557, 0, 0, 0, 53 [SEP] 18, Mug, -1.169, 1.223, 1.974, 0, 90, 0, 62 [SEP] 19, Apple, 1.241, 0.936, 0.304, 0, 90, 0, 44 [SEP] 20, Apple, 0.717, 1.097, 0.080, 0, 90, 0, 45 [SEP] 21, SoapBottle, 0.848, 1.054, 0.281, 0, 90, 0, 45 [SEP] 22, Apple, -1.047, 1.759, -1.331, 0, 0, 0, 61 [SEP] 23, Potato, -1.047, 1.769, -1.238, 0, 270, 0, 61 [SEP] 24, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 49 [SEP] 25, Kettle, 1.512, 1.020, -1.484, 0, 0, 0, 53 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.381, 1.540, 2.153, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.657, 1.041, -1.118, 0, 0, 0, 47 [SEP] 29, Egg, -1.157, 1.018, 1.974, 0, 90, 0, 62 [SEP] 30, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 53 [SEP] 31, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 49 [SEP] 32, Knife, -0.432, 1.072, -1.289, 0, 0, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 1.155, 1.046, -1.181, 0, 0, 0, 47 [SEP] 35, PepperShaker, -1.106, 2.023, -1.555, 0, 0, 0, 54 [SEP] 36, DishSponge, 0.712, 0.199, -1.267, 0, 0, 0, 58 [SEP] 37, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 54 [SEP] 38, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 1.072, 1.048, -1.397, 0, 0, 0, 47 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -1.339, 2.023, -1.264, 0, 0, 0, 54 [SEP] 42, Bowl, 0.065, 1.042, 0.738, 0, 0, 0, 49 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Walk to the kitchen sink on your left. | STEP 2: Grab an egg from the sink. | STEP 3: Walk to the microwave on your right. | STEP 4: Put the egg in the microwave, then take it out. | STEP 5: Go to the kitchen counter to the left of the microwave. | STEP 6: Place the egg on the counter. | END


Input: cook and egg and put it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, -0.5, 0, 270, 0,  [SEP] 1, Potato, 1.181, 1.096, 0.632, 0, 0, 0, 49 [SEP] 2, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 48 [SEP] 3, Kettle, 1.741, 0.205, -1.262, 0, 0, 0, 57 [SEP] 4, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 49 [SEP] 5, Spatula, 1.347, 1.058, 0.763, 0, 0, 0, 49 [SEP] 6, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 44 [SEP] 7, Egg, 0.936, 1.109, 0.331, 0, 90, 0, 45 [SEP] 8, Egg, -1.235, 1.282, 2.153, 0, 90, 0, 62 [SEP] 9, Cup, -0.775, 1.047, -1.289, 0, 0, 0, 47 [SEP] 10, Knife, 0.239, 1.072, -1.118, 0, 0, 0, 47 [SEP] 11, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 49 [SEP] 12, SoapBottle, -0.398, 1.565, -1.396, 0, 0, 0, 52 [SEP] 13, SoapBottle, -0.670, 0.204, -1.553, 0, 0, 0, 56 [SEP] 14, Bowl, -1.339, 0.201, -1.555, 0, 0, 0, 55 [SEP] 15, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 16, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 47 [SEP] 17, Mug, 1.897, 1.014, -1.557, 0, 0, 0, 53 [SEP] 18, Mug, -1.169, 1.223, 1.974, 0, 90, 0, 62 [SEP] 19, Apple, 1.241, 0.936, 0.304, 0, 90, 0, 44 [SEP] 20, Apple, 0.717, 1.097, 0.080, 0, 90, 0, 45 [SEP] 21, SoapBottle, 0.848, 1.054, 0.281, 0, 90, 0, 45 [SEP] 22, Apple, -1.047, 1.759, -1.331, 0, 0, 0, 61 [SEP] 23, Potato, -1.047, 1.769, -1.238, 0, 270, 0, 61 [SEP] 24, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 49 [SEP] 25, Kettle, 1.512, 1.020, -1.484, 0, 0, 0, 53 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.381, 1.540, 2.153, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.657, 1.041, -1.118, 0, 0, 0, 47 [SEP] 29, Egg, -1.157, 1.018, 1.974, 0, 90, 0, 62 [SEP] 30, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 53 [SEP] 31, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 49 [SEP] 32, Knife, -0.432, 1.072, -1.289, 0, 0, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 1.155, 1.046, -1.181, 0, 0, 0, 47 [SEP] 35, PepperShaker, -1.106, 2.023, -1.555, 0, 0, 0, 54 [SEP] 36, DishSponge, 0.712, 0.199, -1.267, 0, 0, 0, 58 [SEP] 37, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 54 [SEP] 38, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 1.072, 1.048, -1.397, 0, 0, 0, 47 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -1.339, 2.023, -1.264, 0, 0, 0, 54 [SEP] 42, Bowl, 0.065, 1.042, 0.738, 0, 0, 0, 49 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: go to the sink | STEP 2: pick u the egg from the sink | STEP 3: take the egg to the microwave | STEP 4: warm in the microwave | STEP 5: take the cooked egg to the counter where the bread is | STEP 6: put the egg on the counter | END


Input: Put the spray bottle from the cabinet on the left edge of the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.5, 0, 90, 0,  [SEP] 1, Candle, -1.350, 0.994, 3.842, 0, 0, 0, 25 [SEP] 2, Candle, -1.259, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, SoapBottle, -1.500, 0.067, 2.391, 0, 0, 0, 20 [SEP] 4, SoapBottle, 0.329, 0.892, 1.618, 0, 0, 0, 31 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, 0.329, 0.893, 1.776, 0, 0, 0, 31 [SEP] 8, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 20 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.481, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.379, 0.068, 3.327, 0, 0, 0, 24 [SEP] 12, SoapBottle, -1.547, 0.993, 3.041, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.350, 0.991, 3.933, 0, 0, 0, 25 [SEP] 14, SprayBottle, -1.322, 0.069, 3.642, 0, 0, 0, 26 [SEP] 15, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 26 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the sink. | STEP 2: Open the cabinet under the sink on the right and pick up the spray bottle. | STEP 3: Go to the left sink of the counter. | STEP 4: Put the spray bottle on the left edge of the counter. | END


Input: Put a cooked slice of potato in the recycling bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 2, Kettle, 1.688, 0.912, 1.129, 0, 0, 0, 80 [SEP] 3, Kettle, 2.156, 0.912, -0.684, 0, 0, 0, 45 [SEP] 4, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 80 [SEP] 5, Fork, 1.799, 0.772, 1.198, 0, 270, 0, 78 [SEP] 6, Fork, -0.983, 0.821, -1.257, 0, 90, 0, 104 [SEP] 7, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 8, Egg, 2.653, 1.056, -0.709, 0, 0, 0, 100 [SEP] 9, Egg, 2.777, 1.056, -0.578, 0, 0, 0, 100 [SEP] 10, Knife, 1.141, 0.944, -0.515, 0, 0, 0, 45 [SEP] 11, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 80 [SEP] 12, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 98 [SEP] 13, Bowl, 2.653, 1.286, -0.644, 0, 0, 0, 100 [SEP] 14, Bowl, 2.487, 1.653, 1.468, 0, 0, 0, 70 [SEP] 15, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 77 [SEP] 16, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 100 [SEP] 17, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Mug, 2.591, 0.720, -0.535, 0, 90, 0, 100 [SEP] 20, Mug, 0.123, 0.760, -0.762, 0, 270, 0, 102 [SEP] 21, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 103 [SEP] 22, SoapBottle, 2.907, 0.120, 1.156, 0, 0, 0, 77 [SEP] 23, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.785, 0.821, -1.473, 0, 0, 0, 104 [SEP] 25, Pot, 1.688, 0.915, 1.383, 0, 0, 0, 80 [SEP] 26, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 27, Egg, -0.017, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 1.155, 0.912, 1.214, 0, 0, 0, 80 [SEP] 29, Tomato, -0.694, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 2.153, 0.112, 1.081, 0, 0, 0, 81 [SEP] 31, Spatula, -0.198, 0.926, 1.383, 0, 90, 0, 56 [SEP] 32, Apple, 2.838, 0.794, -0.535, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 56 [SEP] 35, SaltShaker, 0.349, 0.908, -0.302, 0, 0, 0, 45 [SEP] 36, Knife, 1.155, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 102 [SEP] 38, PepperShaker, -0.049, 0.111, 1.276, 0, 0, 0, 73 [SEP] 39, ButterKnife, -0.621, 0.820, -1.206, 0, 90, 0, 104 [SEP] 40, Bowl, 2.208, 1.653, -0.762, 0, 180, 0, 66 [SEP] 41, DishSponge, 0.193, 0.765, -0.541, 0, 0, 0, 102 [SEP] 42, Spoon, 2.837, 0.773, 1.160, 0, 0, 0, 89 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of potato in the sink. | STEP 9: Turn around and head to the microwave above the stove. | STEP 10: Cook the slice of potato in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin. | STEP 12: Put the slice of potato in the recycling bin. | END


Input: To heat a potato slice plus place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 2, Kettle, 1.688, 0.912, 1.129, 0, 0, 0, 80 [SEP] 3, Kettle, 2.156, 0.912, -0.684, 0, 0, 0, 45 [SEP] 4, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 80 [SEP] 5, Fork, 1.799, 0.772, 1.198, 0, 270, 0, 78 [SEP] 6, Fork, -0.983, 0.821, -1.257, 0, 90, 0, 104 [SEP] 7, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 8, Egg, 2.653, 1.056, -0.709, 0, 0, 0, 100 [SEP] 9, Egg, 2.777, 1.056, -0.578, 0, 0, 0, 100 [SEP] 10, Knife, 1.141, 0.944, -0.515, 0, 0, 0, 45 [SEP] 11, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 80 [SEP] 12, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 98 [SEP] 13, Bowl, 2.653, 1.286, -0.644, 0, 0, 0, 100 [SEP] 14, Bowl, 2.487, 1.653, 1.468, 0, 0, 0, 70 [SEP] 15, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 77 [SEP] 16, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 100 [SEP] 17, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Mug, 2.591, 0.720, -0.535, 0, 90, 0, 100 [SEP] 20, Mug, 0.123, 0.760, -0.762, 0, 270, 0, 102 [SEP] 21, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 103 [SEP] 22, SoapBottle, 2.907, 0.120, 1.156, 0, 0, 0, 77 [SEP] 23, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.785, 0.821, -1.473, 0, 0, 0, 104 [SEP] 25, Pot, 1.688, 0.915, 1.383, 0, 0, 0, 80 [SEP] 26, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 27, Egg, -0.017, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 1.155, 0.912, 1.214, 0, 0, 0, 80 [SEP] 29, Tomato, -0.694, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 2.153, 0.112, 1.081, 0, 0, 0, 81 [SEP] 31, Spatula, -0.198, 0.926, 1.383, 0, 90, 0, 56 [SEP] 32, Apple, 2.838, 0.794, -0.535, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 56 [SEP] 35, SaltShaker, 0.349, 0.908, -0.302, 0, 0, 0, 45 [SEP] 36, Knife, 1.155, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 102 [SEP] 38, PepperShaker, -0.049, 0.111, 1.276, 0, 0, 0, 73 [SEP] 39, ButterKnife, -0.621, 0.820, -1.206, 0, 90, 0, 104 [SEP] 40, Bowl, 2.208, 1.653, -0.762, 0, 180, 0, 66 [SEP] 41, DishSponge, 0.193, 0.765, -0.541, 0, 0, 0, 102 [SEP] 42, Spoon, 2.837, 0.773, 1.160, 0, 0, 0, 89 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and step forward to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn left and walk forward to face the trash can. | STEP 12: Place the potato slice in the trash can. | END


Input: Take the mug and pen to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.25, 0, 90, 0,  [SEP] 1, CellPhone, -3.751, 0.614, -3.369, 0, 0, 0, 41 [SEP] 2, Pencil, -1.869, 0.065, -3.873, 0, 9.990, 0, 26 [SEP] 3, KeyChain, -3.806, 0.046, -2.997, 0, 180, 0, 39 [SEP] 4, Book, -0.453, 0.800, -3.811, 0, 0, 0, 37 [SEP] 5, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 22 [SEP] 6, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 22 [SEP] 7, Laptop, -3.402, 0.618, -1.218, 0, 0, 0, 22 [SEP] 8, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -1.270, 0.804, -4.137, 0, 0, 0, 37 [SEP] 10, CellPhone, -1.270, 0.800, -3.703, 0, 0, 0, 37 [SEP] 11, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -3.908, 0.981, -3.673, 0, 0, 0, 40 [SEP] 13, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 37 [SEP] 14, KeyChain, -3.539, 0.982, -3.874, 0, 0, 0, 40 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.862, 0.807, -4.137, 0, 0, 0, 37 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.249, 0.799, -3.703, 0, 0, 0, 37 [SEP] 20, Pen, -3.539, 0.985, -4.276, 0, 0, 0, 40 [SEP] 21, Mug, -0.862, 0.801, -4.246, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and take the pen to the desk. | STEP 4: Put the pen in the mug on the desk. | STEP 5: Pick up the mug with the pen inside. | STEP 6: Turn right and walk to the dresser. | STEP 7: Set the mug on the dresser. | END


Input: Put a clean bar of soap in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 1.0, 0, 90, 0,  [SEP] 1, TissueBox, -2.146, 1.047, -0.736, 0, 0, 0, 33 [SEP] 2, TissueBox, -1.308, 0.289, 2.097, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.334, 0.609, 1.533, 0, 0, 0, 20 [SEP] 4, SoapBar, 0.289, 0.043, 0.611, 0, 0, 0, 27 [SEP] 5, Candle, -2.277, 1.088, -0.736, 0, 0, 0, 33 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -2.343, 1.088, -0.705, 0, 0, 0, 33 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -0.148, 0.609, -0.428, 0, 315, 0, 20 [SEP] 11, ToiletPaper, -1.308, 1.066, 2.097, 0, 0, 0, 28 [SEP] 12, SoapBottle, -0.653, 1.775, 2.157, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.635, 0.289, 2.157, 0, 0, 0, 24 [SEP] 14, Cloth, -0.653, 0.293, 2.127, 0, 0, 0, 24 [SEP] 15, ToiletPaper, -0.653, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.015, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub. | STEP 3: Turn around and turn to the left to face the right side of the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Turn to the left to face the tub. | STEP 6: Put the soap in the tub. | END


Input: Read the book next to the light of the desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -1.25, 0, 90, 0,  [SEP] 1, Mug, -1.270, 0.798, -4.354, 0, 0, 0, 43 [SEP] 2, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 46 [SEP] 3, CD, -0.657, 0.803, -3.703, 0, 0, 0, 43 [SEP] 4, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 43 [SEP] 5, Pen, -1.474, 0.805, -3.703, 0, 0, 0, 43 [SEP] 6, Pen, -0.862, 0.809, -3.920, 0, 180, 0, 43 [SEP] 7, Pencil, -0.862, 0.803, -4.029, 0, 0, 0, 43 [SEP] 8, Pencil, -0.774, 0.546, -3.694, 0, 0, 0, 37 [SEP] 9, KeyChain, -0.329, 0.543, -3.713, 0, 0, 0, 37 [SEP] 10, KeyChain, -3.806, 0.810, -4.164, 0, 90, 0, 44 [SEP] 11, Book, -3.613, 0.620, -0.931, 0, 0, 0, 28 [SEP] 12, Pillow, -3.191, 0.722, -1.506, 0, 0, 0, 28 [SEP] 13, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 43 [SEP] 14, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 46 [SEP] 15, Book, -3.613, 0.980, -3.070, 0, 0, 0, 46 [SEP] 16, CellPhone, -3.694, 0.614, -3.369, 0, 0, 0, 47 [SEP] 17, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 43 [SEP] 18, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 43 [SEP] 19, AlarmClock, -0.657, 0.803, -4.246, 0, 0, 0, 43 [SEP] 20, KeyChain, -0.507, 0.543, -3.694, 0, 0, 0, 37 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.422, -3.462, 0, 0, 0, 54 [SEP] 24, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 28 [SEP] 25, CD, -0.657, 0.799, -3.811, 0, 0, 0, 43 [SEP] 26, Pen, -3.750, 0.814, -3.371, 0, 0, 0, 53 [SEP] 27, Mug, -3.834, 0.979, -4.276, 0, 0, 0, 46 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn right towards the desk and then turn right towards the dresser. | STEP 2: Pick up the book on the dresser. | STEP 3: Turn around and head towards the lamp on the desk. | STEP 4: Turn on the lamp. | END


Input: Examine a textbook by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -1.25, 0, 90, 0,  [SEP] 1, Mug, -1.270, 0.798, -4.354, 0, 0, 0, 43 [SEP] 2, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 46 [SEP] 3, CD, -0.657, 0.803, -3.703, 0, 0, 0, 43 [SEP] 4, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 43 [SEP] 5, Pen, -1.474, 0.805, -3.703, 0, 0, 0, 43 [SEP] 6, Pen, -0.862, 0.809, -3.920, 0, 180, 0, 43 [SEP] 7, Pencil, -0.862, 0.803, -4.029, 0, 0, 0, 43 [SEP] 8, Pencil, -0.774, 0.546, -3.694, 0, 0, 0, 37 [SEP] 9, KeyChain, -0.329, 0.543, -3.713, 0, 0, 0, 37 [SEP] 10, KeyChain, -3.806, 0.810, -4.164, 0, 90, 0, 44 [SEP] 11, Book, -3.613, 0.620, -0.931, 0, 0, 0, 28 [SEP] 12, Pillow, -3.191, 0.722, -1.506, 0, 0, 0, 28 [SEP] 13, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 43 [SEP] 14, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 46 [SEP] 15, Book, -3.613, 0.980, -3.070, 0, 0, 0, 46 [SEP] 16, CellPhone, -3.694, 0.614, -3.369, 0, 0, 0, 47 [SEP] 17, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 43 [SEP] 18, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 43 [SEP] 19, AlarmClock, -0.657, 0.803, -4.246, 0, 0, 0, 43 [SEP] 20, KeyChain, -0.507, 0.543, -3.694, 0, 0, 0, 37 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.422, -3.462, 0, 0, 0, 54 [SEP] 24, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 28 [SEP] 25, CD, -0.657, 0.799, -3.811, 0, 0, 0, 43 [SEP] 26, Pen, -3.750, 0.814, -3.371, 0, 0, 0, 53 [SEP] 27, Mug, -3.834, 0.979, -4.276, 0, 0, 0, 46 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the dresser that is against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn around and walk to the front of the lamp on the desk. | STEP 4: Turn on the lamp. | END


Input: Put a glass with a spoon in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.25, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, 2.653, 0.761, -0.535, 0, 0, 0, 96 [SEP] 2, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 94 [SEP] 3, DishSponge, 0.634, 0.911, -0.430, 0, 0, 0, 41 [SEP] 4, ButterKnife, -0.694, 0.820, -1.257, 0, 90, 0, 100 [SEP] 5, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 76 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 7, Spatula, -0.007, 0.926, 1.214, 0, 90, 0, 52 [SEP] 8, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 41 [SEP] 9, Cup, 2.156, 0.909, -0.684, 0, 0, 0, 41 [SEP] 10, Cup, -0.198, 0.909, 1.044, 0, 0, 0, 52 [SEP] 11, Egg, -0.621, 0.858, -1.206, 0, 90, 0, 100 [SEP] 12, Egg, 0.466, 1.822, 1.488, 0, 180, 0, 99 [SEP] 13, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 100 [SEP] 14, PepperShaker, 2.906, 1.650, 1.546, 0, 0, 0, 66 [SEP] 15, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 76 [SEP] 16, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 76 [SEP] 18, SoapBottle, -0.090, 1.660, 1.470, 0, 0, 0, 67 [SEP] 19, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 41 [SEP] 20, Fork, -0.103, 0.912, 1.129, 0, 0, 0, 52 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 41 [SEP] 23, Egg, -0.990, 0.858, -1.328, 0, 0, 0, 100 [SEP] 24, Kettle, 1.558, 0.116, -0.458, 0, 180, 0, 87 [SEP] 25, Tomato, 2.653, 1.320, -0.709, 0, 0, 0, 96 [SEP] 26, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 100 [SEP] 27, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 100 [SEP] 28, Apple, 2.838, 1.632, -0.644, 0, 0, 0, 96 [SEP] 29, Pan, 1.155, 0.911, 1.383, 0, 0, 0, 76 [SEP] 30, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 52 [SEP] 31, SaltShaker, 0.825, 1.651, -0.888, 0, 180, 0, 51 [SEP] 32, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 100 [SEP] 33, Potato, 2.653, 1.598, -0.447, 0, 0, 0, 96 [SEP] 34, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 41 [SEP] 35, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 76 [SEP] 36, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 96 [SEP] 37, DishSponge, 1.395, 0.911, -0.345, 0, 0, 0, 41 [SEP] 38, Spoon, -0.785, 0.822, -1.328, 0, 180, 0, 100 [SEP] 39, Mug, 0.053, 0.760, -0.707, 0, 180, 0, 98 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn left walk across the room, then hang a left and walk up to the round table. | STEP 2: Pick up the glass with the spoon in it that is on the round table. | STEP 3: Turn around and begin walking across the room, the turn right and walk over to the sink. | STEP 4: Place the glass with the spoon inside of it into the sink basin. | END


Input: Putting away dirty glass and spoon 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, 3.25, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, 2.653, 0.761, -0.535, 0, 0, 0, 96 [SEP] 2, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 94 [SEP] 3, DishSponge, 0.634, 0.911, -0.430, 0, 0, 0, 41 [SEP] 4, ButterKnife, -0.694, 0.820, -1.257, 0, 90, 0, 100 [SEP] 5, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 76 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 7, Spatula, -0.007, 0.926, 1.214, 0, 90, 0, 52 [SEP] 8, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 41 [SEP] 9, Cup, 2.156, 0.909, -0.684, 0, 0, 0, 41 [SEP] 10, Cup, -0.198, 0.909, 1.044, 0, 0, 0, 52 [SEP] 11, Egg, -0.621, 0.858, -1.206, 0, 90, 0, 100 [SEP] 12, Egg, 0.466, 1.822, 1.488, 0, 180, 0, 99 [SEP] 13, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 100 [SEP] 14, PepperShaker, 2.906, 1.650, 1.546, 0, 0, 0, 66 [SEP] 15, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 76 [SEP] 16, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 76 [SEP] 18, SoapBottle, -0.090, 1.660, 1.470, 0, 0, 0, 67 [SEP] 19, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 41 [SEP] 20, Fork, -0.103, 0.912, 1.129, 0, 0, 0, 52 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 41 [SEP] 23, Egg, -0.990, 0.858, -1.328, 0, 0, 0, 100 [SEP] 24, Kettle, 1.558, 0.116, -0.458, 0, 180, 0, 87 [SEP] 25, Tomato, 2.653, 1.320, -0.709, 0, 0, 0, 96 [SEP] 26, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 100 [SEP] 27, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 100 [SEP] 28, Apple, 2.838, 1.632, -0.644, 0, 0, 0, 96 [SEP] 29, Pan, 1.155, 0.911, 1.383, 0, 0, 0, 76 [SEP] 30, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 52 [SEP] 31, SaltShaker, 0.825, 1.651, -0.888, 0, 180, 0, 51 [SEP] 32, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 100 [SEP] 33, Potato, 2.653, 1.598, -0.447, 0, 0, 0, 96 [SEP] 34, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 41 [SEP] 35, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 76 [SEP] 36, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 96 [SEP] 37, DishSponge, 1.395, 0.911, -0.345, 0, 0, 0, 41 [SEP] 38, Spoon, -0.785, 0.822, -1.328, 0, 180, 0, 100 [SEP] 39, Mug, 0.053, 0.760, -0.707, 0, 180, 0, 98 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table | STEP 2: Pick up the clear cup with the spoon inside | STEP 3: Turn around walk straight then turn right and right again to face the kitchen sink | STEP 4: Place the glass and spoon in the sink | END


Input: move the tea pot from the shelf to the coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 6.5, 0, 180, 0,  [SEP] 1, Bowl, -3.265, 0.454, 7.183, 0, 90, 0, 51 [SEP] 2, Newspaper, -5.442, 0.532, 6.721, 0, 135, 0, 60 [SEP] 3, Newspaper, -0.535, 0.792, 2.252, 0, 270, 0, 44 [SEP] 4, Watch, -2.283, 0.533, 3.752, 0, 270, 0, 59 [SEP] 5, KeyChain, -5.882, 0.880, 4.349, 0, 0, 0, 52 [SEP] 6, KeyChain, -0.433, 0.794, 5.600, 0, 270, 0, 43 [SEP] 7, RemoteControl, -2.422, 0.536, 4.480, 0, 270, 0, 59 [SEP] 8, RemoteControl, -3.265, 0.149, 7.327, 0, 90, 0, 53 [SEP] 9, Box, -0.868, 0.603, 3.306, 0, 0, 0, 42 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -2.870, 1.280, 7.298, 0, 90, 0, 58 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -0.535, 0.792, 5.726, 0, 270, 0, 43 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 52 [SEP] 17, CreditCard, -2.352, 0.533, 3.607, 0, 270, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -5.253, 0.534, 6.986, 0, 135, 0, 60 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.640, 1.281, 7.298, 0, 90, 0, 58 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.998, 0.455, 4.745, 0, 0, 0, 54 [SEP] 26, Watch, -5.368, 0.533, 6.871, 0, 45, 0, 60 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -3.265, 0.156, 7.122, 0, 90, 0, 53 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: turn around, walk to the brown shelves | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn left, take a few steps, turn left,  walk forward, turn left to face the coffee table | STEP 4: put the tea pot on the coffee table | END