Input: Inspect a book with a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 90, 0,  [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Move to the dresser behind you | STEP 2: pick up a book from the dresser | STEP 3: turn around to the desk | STEP 4: turn on the light | END


Input: Examine a pillow with the light of the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.0, 0, 180, 0,  [SEP] 1, Mug, -3.687, 0.977, -4.276, 0, 90, 0, 47 [SEP] 2, Mug, -1.270, 0.801, -4.354, 0, 0, 0, 44 [SEP] 3, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 44 [SEP] 4, Pen, -3.694, 0.424, -3.277, 0, 0, 0, 55 [SEP] 5, Pencil, -1.878, 0.065, -3.920, 0, 9.990, 0, 33 [SEP] 6, Pencil, -1.270, 0.807, -4.246, 0, 0, 0, 44 [SEP] 7, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 44 [SEP] 8, KeyChain, -1.066, 0.800, -4.354, 0, 0, 0, 44 [SEP] 9, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 47 [SEP] 10, Book, -3.694, 0.226, -2.999, 0, 270, 0, 49 [SEP] 11, Book, -3.834, 0.981, -3.673, 0, 0, 0, 47 [SEP] 12, Pillow, -2.559, 0.722, -1.506, 0, 0, 0, 29 [SEP] 13, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 29 [SEP] 14, AlarmClock, -3.834, 0.979, -4.276, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 44 [SEP] 16, Book, -3.582, 0.226, -4.349, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.270, 0.800, -3.703, 0, 0, 0, 44 [SEP] 18, Laptop, -3.687, 0.977, -3.070, 0, 0, 0, 47 [SEP] 19, CreditCard, -0.507, 0.542, -3.676, 0, 0, 0, 38 [SEP] 20, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 47 [SEP] 21, KeyChain, -3.526, 0.227, -3.278, 0, 0, 0, 49 [SEP] 22, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 29 [SEP] 23, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 24, Pencil, -1.874, 0.065, -3.897, 0, 9.990, 0, 33 [SEP] 25, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 29 [SEP] 26, CD, -3.750, 0.225, -3.884, 0, 0, 0, 51 [SEP] 27, Pen, -3.613, 0.986, -3.874, 0, 0, 0, 47 [SEP] 28, Mug, -0.240, 0.541, -3.694, 0, 0, 0, 38 [SEP] 29, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 30, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 31, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 32, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 33, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 34, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 35, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 38, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 39, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 40, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 41, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 43, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 44, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 45, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 47, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 55, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the right side of the bed. | STEP 2: Pick up the left pillow on the bed. | STEP 3: Turn right and go to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END


Input: Pick up a pillow and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.0, 0, 180, 0,  [SEP] 1, Mug, -3.687, 0.977, -4.276, 0, 90, 0, 47 [SEP] 2, Mug, -1.270, 0.801, -4.354, 0, 0, 0, 44 [SEP] 3, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 44 [SEP] 4, Pen, -3.694, 0.424, -3.277, 0, 0, 0, 55 [SEP] 5, Pencil, -1.878, 0.065, -3.920, 0, 9.990, 0, 33 [SEP] 6, Pencil, -1.270, 0.807, -4.246, 0, 0, 0, 44 [SEP] 7, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 44 [SEP] 8, KeyChain, -1.066, 0.800, -4.354, 0, 0, 0, 44 [SEP] 9, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 47 [SEP] 10, Book, -3.694, 0.226, -2.999, 0, 270, 0, 49 [SEP] 11, Book, -3.834, 0.981, -3.673, 0, 0, 0, 47 [SEP] 12, Pillow, -2.559, 0.722, -1.506, 0, 0, 0, 29 [SEP] 13, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 29 [SEP] 14, AlarmClock, -3.834, 0.979, -4.276, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 44 [SEP] 16, Book, -3.582, 0.226, -4.349, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.270, 0.800, -3.703, 0, 0, 0, 44 [SEP] 18, Laptop, -3.687, 0.977, -3.070, 0, 0, 0, 47 [SEP] 19, CreditCard, -0.507, 0.542, -3.676, 0, 0, 0, 38 [SEP] 20, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 47 [SEP] 21, KeyChain, -3.526, 0.227, -3.278, 0, 0, 0, 49 [SEP] 22, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 29 [SEP] 23, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 24, Pencil, -1.874, 0.065, -3.897, 0, 9.990, 0, 33 [SEP] 25, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 29 [SEP] 26, CD, -3.750, 0.225, -3.884, 0, 0, 0, 51 [SEP] 27, Pen, -3.613, 0.986, -3.874, 0, 0, 0, 47 [SEP] 28, Mug, -0.240, 0.541, -3.694, 0, 0, 0, 38 [SEP] 29, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 30, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 31, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 32, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 33, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 34, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 35, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 38, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 39, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 40, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 41, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 43, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 44, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 45, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 47, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 55, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Turn left and then left again and the turn to face the bed. | STEP 2: Pick the pillow closest to the edge up from the bed. | STEP 3: Turn left and then turn to the left to face the lamp on the white table. | STEP 4: Turn the lamp on. | END


Input: Put a cleaned bar of soap on a shelf near the floor. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.25, 0, 180, 0,  [SEP] 1, TissueBox, -1.308, 0.289, 2.127, 0, 0, 0, 27 [SEP] 2, TissueBox, -0.980, 1.773, 2.157, 0, 0, 0, 29 [SEP] 3, Cloth, -0.653, 1.777, 2.127, 0, 0, 0, 29 [SEP] 4, Cloth, 0.124, 0.048, 1.067, 0, 0, 0, 30 [SEP] 5, Candle, -2.343, 1.088, -0.797, 0, 0, 0, 36 [SEP] 6, Candle, -1.949, 1.088, -0.827, 0, 0, 0, 36 [SEP] 7, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 34 [SEP] 8, SoapBottle, -0.206, 0.611, -0.485, 0, 315, 0, 23 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 10, Candle, -2.277, 1.088, -0.766, 0, 0, 0, 36 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -1.144, 0.288, 2.187, 0, 0, 0, 27 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -0.082, 0.611, 1.775, 0, 0, 0, 23 [SEP] 16, TissueBox, -1.308, 1.773, 2.157, 0, 0, 0, 29 [SEP] 17, Cloth, -0.817, 1.074, 2.157, 0, 0, 0, 31 [SEP] 18, ToiletPaper, -2.080, 1.043, -0.674, 0, 0, 0, 36 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -2.212, 1.048, -0.644, 0, 0, 0, 36 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Turn around and walk forward to the sink. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it back out. | STEP 5: Turn around and walk back across the room to the shelf near the floor. | STEP 6: Put the bar of soap on the shelf near the floor, to the right of the tissues. | END


Input: Cut an apple into three sections, place a section into a bowl. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container. | STEP 10: Place the apple part into the blue container. | STEP 11: Pick up the blue container from the upper cabinet. | STEP 12: Turn left, move to in front of the microwave. | STEP 13: Place the blue container into the microwave. | END


Input: Put a bowl holding butter knife, apple, inside the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table.  | STEP 3: Turn around and go to the counter that is on the left side of the stove.  | STEP 4: Cut the apple into three parts.  | STEP 5: Head to the right and stop in front of the counter with the lettuce on it.  | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it.  | STEP 8: Pick up a piece of the apple.  | STEP 9: Go back to the counter with the lettuce on it.  | STEP 10: Place the apple in the same blue bowl that you placed the butter knife in.  | STEP 11: Remove the bowl from the cupboard and shut the cupboard door.  | STEP 12: Take the bowl and head left to the microwave above the stove.  | STEP 13: Open the microwave and place the bowl inside.  | END


Input: Heat an apple slice in a bowl in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice. | STEP 9: Take the apple slice to the cabinet with the knife and bowl, | STEP 10: Put the apple slice in the bowl. | STEP 11: Remove the bowl from the cabinet | STEP 12: walk the bowl to the microwave above the stove. | STEP 13: Put the bowl in the microwave | END


Input: Put a bowl with a butter knife next to an apple slice into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Take the apple slice to the cabinet above the counter with the silver plate. | STEP 10: Put the apple in the bowl with the butter knife inside the cabinet. | STEP 11: Take the bowl out of the cabinet and close the cabinet. | STEP 12: Go to the microwave above the stove. | STEP 13: Put the bowl with the apple slice and butter knife in the microwave. | END


Input: Put two statues on 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, -2.0, 0, 0, 0,  [SEP] 1, Watch, -0.561, 0.552, -0.365, 0, 270, 0, 32 [SEP] 2, Newspaper, -0.561, 0.550, -0.192, 0, 0, 0, 32 [SEP] 3, Newspaper, 1.601, 0.276, -0.512, 0, 0, 0, 40 [SEP] 4, KeyChain, 1.891, 0.871, 0.326, 0, 90, 0, 38 [SEP] 5, KeyChain, -0.411, 0.553, -0.192, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.537, 0, 270, 0, 32 [SEP] 7, RemoteControl, 1.443, 0.310, -0.512, 0, 0, 0, 40 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, -0.260, 0.553, -0.278, 0, 270, 0, 32 [SEP] 10, Watch, 1.891, 0.870, 0.008, 0, 90, 0, 38 [SEP] 11, Newspaper, 1.724, 0.869, 0.114, 0, 90, 0, 38 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 1.364, 0.277, -0.665, 0, 0, 0, 40 [SEP] 14, RemoteControl, 1.807, 0.872, 0.643, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.537, 0, 270, 0, 38 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. | STEP 4: Put the statue on the coffee table. | STEP 5: Turn right and go to the end of the couch, turn right and go to the door, then turn right and look up at the statue on the shelf. | STEP 6: Pick up the statue from the shelf. | STEP 7: Turn right, then left to go around the couch, then right to face the coffee table. | STEP 8: Put the statue on the coffee table. | END


Input: take the watch from the coffee table, put it on the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 29 [SEP] 2, CreditCard, 1.522, 0.318, -0.359, 0, 0, 0, 37 [SEP] 3, RemoteControl, -0.411, 0.553, -0.278, 0, 270, 0, 29 [SEP] 4, RemoteControl, 1.808, 0.872, 0.114, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -1.133, 0.295, -1.697, 0, 0, 0, 31 [SEP] 7, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.411, 0.550, -0.192, 0, 0, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 29 [SEP] 11, RemoteControl, 1.807, 0.872, 0.643, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 35 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: head left to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: head left across the room | STEP 4: put the watch on the desk | END


Input: Move a watch from the table to the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 29 [SEP] 2, CreditCard, 1.522, 0.318, -0.359, 0, 0, 0, 37 [SEP] 3, RemoteControl, -0.411, 0.553, -0.278, 0, 270, 0, 29 [SEP] 4, RemoteControl, 1.808, 0.872, 0.114, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -1.133, 0.295, -1.697, 0, 0, 0, 31 [SEP] 7, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.411, 0.550, -0.192, 0, 0, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 29 [SEP] 11, RemoteControl, 1.807, 0.872, 0.643, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 35 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Walk to the coffee table in front of you. | STEP 2: Grab a watch from the table. | STEP 3: Walk to the drawer next to the sofa. | STEP 4: Place the watch in the drawer. | END


Input: get a spray bottle to put on the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 0.75, 0, 90, 0,  [SEP] 1, Candle, -0.270, 0.650, 1.638, 0, 45, 0, 17 [SEP] 2, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 28 [SEP] 3, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 26 [SEP] 4, Candle, -1.949, 1.088, -0.766, 0, 0, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 27 [SEP] 6, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 7, SoapBar, -1.400, 1.010, -0.339, 0, 227.756, 0, 18 [SEP] 8, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 20 [SEP] 9, SoapBottle, -1.128, 1.012, -0.305, 0, 0, 0, 18 [SEP] 10, TissueBox, -1.144, 1.773, 2.127, 0, 0, 0, 23 [SEP] 11, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.471, 1.066, 2.127, 0, 0, 0, 25 [SEP] 13, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 19 [SEP] 14, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 15, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 28 [SEP] 16, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 17, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 18, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 19, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 20, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 21, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 22, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 24, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 26, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 27, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 28, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 29, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 30, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 31, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 32, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 33, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 34, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 35, NorthWall, , , , , , ,  [SEP] 36, EastWall, , , , , , ,  [SEP] 37, SouthWall, , , , , , ,  [SEP] 38, WestWall, , , , , , ,

Output: STEP 1: walk forward, turn right, walk towards sink, | STEP 2: pick up the spray bottle that is in the trash | STEP 3: walk around the toilet, face the toilet | STEP 4: place the spray bottle on the back of the toilet | END


Input: get a spray bottle from trash to put on the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 0.75, 0, 90, 0,  [SEP] 1, Candle, -0.270, 0.650, 1.638, 0, 45, 0, 17 [SEP] 2, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 28 [SEP] 3, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 26 [SEP] 4, Candle, -1.949, 1.088, -0.766, 0, 0, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 27 [SEP] 6, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 7, SoapBar, -1.400, 1.010, -0.339, 0, 227.756, 0, 18 [SEP] 8, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 20 [SEP] 9, SoapBottle, -1.128, 1.012, -0.305, 0, 0, 0, 18 [SEP] 10, TissueBox, -1.144, 1.773, 2.127, 0, 0, 0, 23 [SEP] 11, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.471, 1.066, 2.127, 0, 0, 0, 25 [SEP] 13, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 19 [SEP] 14, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 15, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 28 [SEP] 16, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 17, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 18, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 19, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 20, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 21, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 22, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 24, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 26, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 27, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 28, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 29, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 30, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 31, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 32, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 33, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 34, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 35, NorthWall, , , , , , ,  [SEP] 36, EastWall, , , , , , ,  [SEP] 37, SouthWall, , , , , , ,  [SEP] 38, WestWall, , , , , , ,

Output: STEP 1: turn right, walk towards sink | STEP 2: pick up the spray bottle that is in the trash can | STEP 3: turn to the right, go past toilet, turn left, face the  wall | STEP 4: put spray bottle on the back of the toilet | END


Input: Put a washed bar of soap on the back of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 2.5, 0, 180, 0,  [SEP] 1, TissueBox, -1.322, 0.069, 2.807, 0, 0, 0, 23 [SEP] 2, SoapBar, -1.416, 0.994, 2.982, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.439, 0.067, 3.427, 0, 0, 0, 29 [SEP] 4, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 36 [SEP] 5, SprayBottle, -1.620, 0.068, 3.176, 0, 0, 0, 29 [SEP] 6, SprayBottle, -1.481, 0.995, 2.178, 0, 0, 0, 30 [SEP] 7, SoapBottle, -1.481, 0.993, 3.100, 0, 0, 0, 30 [SEP] 8, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 33 [SEP] 9, ToiletPaper, -1.560, 0.064, 2.391, 0, 0, 0, 25 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.547, 0.994, 3.812, 0, 0, 0, 30 [SEP] 13, ToiletPaper, -1.379, 0.064, 3.327, 0, 0, 0, 29 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, 0.374, 0.892, 1.618, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.441, 0.069, 3.693, 0, 0, 0, 31 [SEP] 17, SoapBottle, -1.620, 0.068, 2.757, 0, 0, 0, 25 [SEP] 18, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 38 [SEP] 19, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 36 [SEP] 20, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the right to the sink. | STEP 2: Pick the soap up from the counter top. | STEP 3: Put the soap in the sink, turn the water on, and rinse the soap. | STEP 4: Turn around and turn towards the toilet. | STEP 5: Set the soap down on the back of the toilet. | END


Input: Putting keys on a sofa 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, -1.0, 0, 180, 0,  [SEP] 1, Watch, 1.891, 0.871, 0.326, 0, 90, 0, 36 [SEP] 2, Watch, 1.730, 0.760, 0.134, 0, 90, 0, 37 [SEP] 3, Newspaper, -0.260, 0.550, -0.365, 0, 270, 0, 30 [SEP] 4, Newspaper, -0.411, 0.550, -0.537, 0, 270, 0, 30 [SEP] 5, KeyChain, 1.285, 0.324, -0.742, 0, 0, 0, 38 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.808, 0.872, 0.220, 0, 90, 0, 36 [SEP] 8, Watch, -0.712, 0.552, -0.623, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.807, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.260, 0.551, -0.537, 0, 270, 0, 30 [SEP] 12, RemoteControl, -0.411, 0.553, -0.192, 0, 270, 0, 30 [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 left and go to the right of the couch | STEP 2: Grab the keys off of the couch | STEP 3: Turn left and go to the sofa | STEP 4: Put the keys on the sofa | END


Input: Take the knife in the mug and set them on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.0, 0, 180, 0,  [SEP] 1, DishSponge, 1.597, 1.654, 1.470, 0, 0, 0, 64 [SEP] 2, DishSponge, -0.939, 0.820, -1.473, 0, 0, 0, 100 [SEP] 3, ButterKnife, 0.123, 0.765, -0.596, 0, 0, 0, 98 [SEP] 4, Spoon, 1.688, 0.912, 1.468, 0, 0, 0, 76 [SEP] 5, Spatula, 0.152, 0.926, -0.316, 0, 0, 0, 41 [SEP] 6, Cup, 2.591, 0.724, -0.535, 0, 0, 0, 96 [SEP] 7, Egg, 2.777, 0.762, -0.504, 0, 0, 0, 96 [SEP] 8, Knife, 0.634, 0.944, -0.430, 0, 0, 0, 41 [SEP] 9, SoapBottle, -1.056, 0.826, -1.308, 0, 90, 0, 100 [SEP] 10, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 94 [SEP] 11, Tomato, 2.900, 1.050, -0.447, 0, 0, 0, 96 [SEP] 12, SaltShaker, -0.151, 0.908, 1.044, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.141, 0.908, -0.515, 0, 0, 0, 41 [SEP] 14, PepperShaker, -0.294, 0.908, 1.299, 0, 0, 0, 52 [SEP] 15, PepperShaker, 1.595, 0.111, -0.538, 0, 180, 0, 58 [SEP] 16, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, 2.221, 0.917, 1.214, 0, 0, 0, 76 [SEP] 19, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, 1.174, 0.772, -0.498, 0, 90, 0, 60 [SEP] 21, Pot, 2.715, 1.567, -0.775, 0, 0, 0, 96 [SEP] 22, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 52 [SEP] 23, Egg, 2.777, 1.601, -0.512, 0, 0, 0, 96 [SEP] 24, Kettle, 0.678, 0.964, 1.082, 0, 0, 0, 44 [SEP] 25, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 98 [SEP] 26, Cup, 1.216, 1.653, 1.429, 0, 0, 0, 68 [SEP] 27, Spatula, -0.007, 0.926, 1.129, 0, 90, 0, 52 [SEP] 28, Apple, 1.141, 0.980, -0.345, 0, 0, 0, 41 [SEP] 29, Pan, 1.955, 0.911, 1.468, 0, 0, 0, 76 [SEP] 30, Lettuce, 1.155, 0.992, 1.129, 0, 0, 0, 76 [SEP] 31, SaltShaker, 2.488, 0.908, 1.214, 0, 0, 0, 76 [SEP] 32, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 100 [SEP] 33, Potato, 0.518, 1.819, 1.455, 0, 180, 0, 99 [SEP] 34, PepperShaker, 0.888, 0.908, -0.6, 0, 0, 0, 41 [SEP] 35, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 100 [SEP] 36, Bowl, 2.156, 0.909, -0.515, 0, 0, 0, 41 [SEP] 37, DishSponge, 0.193, 0.765, -0.762, 0, 0, 0, 98 [SEP] 38, Spoon, 1.836, 0.773, -0.422, 0, 180, 0, 55 [SEP] 39, Mug, 0.759, 2.148, 1.429, 0, 0, 0, 50 [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 around to the left and go to the round table. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left and go to the stove. | STEP 4: Put the knife in the mug inside the cupboard. | STEP 5: Take the mug and knife out of the cupboard. | STEP 6: Turn left and then turn left again and go to the round table. | STEP 7: Set the mug and knife on the table. | END


Input: put a hot potato on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Potato, 2.777, 0.761, -0.473, 0, 0, 0, 94 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 4, ButterKnife, -0.103, 0.911, 1.214, 0, 90, 0, 50 [SEP] 5, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 74 [SEP] 6, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 74 [SEP] 7, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 50 [SEP] 8, Plate, 2.777, 1.021, -0.644, 0, 0, 0, 94 [SEP] 9, Cup, 2.715, 0.723, -0.565, 0, 0, 0, 94 [SEP] 10, Cup, -0.939, 0.818, -1.328, 0, 0, 0, 98 [SEP] 11, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 96 [SEP] 12, Egg, -0.621, 0.858, -1.103, 0, 90, 0, 98 [SEP] 13, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 97 [SEP] 14, PepperShaker, -0.682, 0.817, -1.255, 0, 0, 0, 98 [SEP] 15, PepperShaker, -0.007, 0.908, 1.299, 0, 0, 0, 50 [SEP] 16, SoapBottle, 1.254, 1.661, 1.390, 0, 0, 0, 66 [SEP] 17, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 74 [SEP] 18, Fork, 2.512, 0.771, 1.122, 0, 90, 0, 55 [SEP] 19, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 74 [SEP] 20, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 39 [SEP] 21, Egg, -0.839, 0.858, -1.411, 0, 90, 0, 98 [SEP] 22, Kettle, 1.872, 1.655, -0.734, 0, 180, 0, 76 [SEP] 23, Tomato, 2.962, 0.756, -0.473, 0, 0, 0, 94 [SEP] 24, Cup, 3.381, 0.838, -0.514, 0, 0, 0, 94 [SEP] 25, Spatula, -0.839, 0.835, -1.155, 0, 0, 0, 98 [SEP] 26, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 74 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 50 [SEP] 30, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 96 [SEP] 31, Potato, -2.019, 0.458, 1.417, 0, 270, 0, 92 [SEP] 32, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 98 [SEP] 33, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 74 [SEP] 34, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 94 [SEP] 35, DishSponge, -0.836, 0.820, -1.038, 0, 0, 0, 98 [SEP] 36, Spoon, 2.303, 0.772, -0.460, 0, 270, 0, 52 [SEP] 37, Mug, 0.888, 0.906, -0.769, 0, 0, 0, 39 [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  and walk to the re cycle  bin in the corner | STEP 2:  take the potato out of the re cycle bin in the corner | STEP 3:  turn   and walk to the microwave | STEP 4:   put the potato into the microwave take the potato out of the microwave | STEP 5:  turn and  walk to the table | STEP 6:  put the potato on the table  to the left of the green book | END


Input: place microwaved potato on gray dining table 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, 0.0, 0, 90, 0,  [SEP] 1, Potato, 2.777, 0.761, -0.473, 0, 0, 0, 94 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 4, ButterKnife, -0.103, 0.911, 1.214, 0, 90, 0, 50 [SEP] 5, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 74 [SEP] 6, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 74 [SEP] 7, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 50 [SEP] 8, Plate, 2.777, 1.021, -0.644, 0, 0, 0, 94 [SEP] 9, Cup, 2.715, 0.723, -0.565, 0, 0, 0, 94 [SEP] 10, Cup, -0.939, 0.818, -1.328, 0, 0, 0, 98 [SEP] 11, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 96 [SEP] 12, Egg, -0.621, 0.858, -1.103, 0, 90, 0, 98 [SEP] 13, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 97 [SEP] 14, PepperShaker, -0.682, 0.817, -1.255, 0, 0, 0, 98 [SEP] 15, PepperShaker, -0.007, 0.908, 1.299, 0, 0, 0, 50 [SEP] 16, SoapBottle, 1.254, 1.661, 1.390, 0, 0, 0, 66 [SEP] 17, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 74 [SEP] 18, Fork, 2.512, 0.771, 1.122, 0, 90, 0, 55 [SEP] 19, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 74 [SEP] 20, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 39 [SEP] 21, Egg, -0.839, 0.858, -1.411, 0, 90, 0, 98 [SEP] 22, Kettle, 1.872, 1.655, -0.734, 0, 180, 0, 76 [SEP] 23, Tomato, 2.962, 0.756, -0.473, 0, 0, 0, 94 [SEP] 24, Cup, 3.381, 0.838, -0.514, 0, 0, 0, 94 [SEP] 25, Spatula, -0.839, 0.835, -1.155, 0, 0, 0, 98 [SEP] 26, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 74 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 50 [SEP] 30, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 96 [SEP] 31, Potato, -2.019, 0.458, 1.417, 0, 270, 0, 92 [SEP] 32, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 98 [SEP] 33, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 74 [SEP] 34, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 94 [SEP] 35, DishSponge, -0.836, 0.820, -1.038, 0, 0, 0, 98 [SEP] 36, Spoon, 2.303, 0.772, -0.460, 0, 270, 0, 52 [SEP] 37, Mug, 0.888, 0.906, -0.769, 0, 0, 0, 39 [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 to blue bin in the corner to the right | STEP 2: pick up potato from blue bin | STEP 3: turn right, go to microwave above stove to the left | STEP 4: put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick up potato from microwave, close microwave | STEP 5: turn around, go to round gray dining table | STEP 6: place potato to the left of green sponge on round gray table | END


Input: place two books on the bed 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, -0.5, 0, 90, 0,  [SEP] 1, Mug, -1.066, 0.801, -3.703, 0, 0, 0, 42 [SEP] 2, Mug, -0.685, 0.541, -3.694, 0, 0, 0, 36 [SEP] 3, CellPhone, -3.539, 0.979, -3.874, 0, 0, 0, 45 [SEP] 4, Pen, -3.750, 0.815, -4.070, 0, 0, 0, 43 [SEP] 5, Pencil, -3.539, 0.983, -4.075, 0, 0, 0, 45 [SEP] 6, Pencil, -3.613, 0.983, -3.271, 0, 0, 0, 45 [SEP] 7, CreditCard, -1.474, 0.803, -3.920, 0, 0, 0, 42 [SEP] 8, KeyChain, -3.760, 0.982, -3.070, 0, 0, 0, 45 [SEP] 9, Book, -3.693, 0.046, -3.883, 0, 0, 0, 50 [SEP] 10, Book, -3.613, 0.981, -4.276, 0, 0, 0, 45 [SEP] 11, Book, -3.613, 0.981, -3.070, 0, 0, 0, 45 [SEP] 12, AlarmClock, -0.249, 0.800, -3.703, 0, 0, 0, 42 [SEP] 13, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 42 [SEP] 14, Book, -3.834, 0.980, -3.673, 0, 0, 0, 45 [SEP] 15, CellPhone, -0.453, 0.800, -3.703, 0, 0, 0, 42 [SEP] 16, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 42 [SEP] 17, CreditCard, -3.908, 0.979, -4.276, 0, 0, 0, 45 [SEP] 18, AlarmClock, -3.539, 0.979, -3.673, 0, 0, 0, 45 [SEP] 19, KeyChain, -3.687, 0.980, -3.271, 0, 0, 0, 45 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -0.657, 0.803, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 27 [SEP] 24, CD, -0.329, 0.542, -3.713, 0, 0, 0, 36 [SEP] 25, Pen, -3.834, 0.986, -3.271, 0, 0, 0, 45 [SEP] 26, Mug, -3.687, 0.977, -3.673, 0, 90, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 54, NorthWall, , , , , , ,  [SEP] 55, EastWall, , , , , , ,  [SEP] 56, SouthWall, , , , , , ,  [SEP] 57, WestWall, , , , , , ,

Output: STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed | STEP 4: drop the book on the bed | STEP 5: turn around and head for the cupboard | STEP 6: pick up the book from the cupboard | STEP 7: turn right and head towards the bed | STEP 8: place the book on the bed | END


Input: Put a bowl on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.949, 1.0, 0, 270, 0,  [SEP] 1, Vase, -0.838, 0.789, 0.081, 0, 0, 0, 59 [SEP] 2, CellPhone, 3.512, 0.417, 1.341, 0, 0, 0, 64 [SEP] 3, CellPhone, 3.377, 0.723, 1.488, 0, 180, 0, 63 [SEP] 4, Pen, 2.234, 0.990, -1.774, 0, 270, 0, 38 [SEP] 5, Pencil, -0.904, 0.789, -0.548, 0, 0, 0, 59 [SEP] 6, Pencil, 2.519, 0.992, -1.862, 0, 270, 0, 38 [SEP] 7, KeyChain, -0.776, 0.175, -0.384, 0, 0, 0, 49 [SEP] 8, Book, 1.950, 0.985, -1.862, 0, 270, 0, 38 [SEP] 9, Book, 2.052, 0.610, -0.172, 0, 0, 0, 23 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 38 [SEP] 11, KeyChain, 3.222, 0.725, 1.443, 0, 90, 0, 63 [SEP] 12, CreditCard, -0.772, 0.785, -0.128, 0, 0, 0, 59 [SEP] 13, Pen, 3.455, 0.729, 1.397, 0, 270, 0, 63 [SEP] 14, Pencil, 2.519, 0.989, -2.125, 0, 270, 0, 38 [SEP] 15, Laptop, 2.545, 0.607, 0.790, 0, 0, 0, 23 [SEP] 16, Vase, 3.087, 0.993, -2.125, 0, 270, 0, 38 [SEP] 17, AlarmClock, 1.666, 0.989, -2.125, 0, 270, 0, 38 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 0.091, 0.476, 3.222, 0, 0, 0, 45 [SEP] 21, CD, 1.915, 0.183, -1.892, 0, 270, 0, 33 [SEP] 22, Vase, 3.072, 0.188, -1.721, 0, 270, 0, 37 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror. | STEP 2: Pick up the bowl that's in front of you. | STEP 3: Turn right and walk to the cabinet. | STEP 4: Put the bowl to the left of the cabinet's bottom shelf above the two drawers. | END


Input: Place a bowl on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.949, 1.0, 0, 270, 0,  [SEP] 1, Vase, -0.838, 0.789, 0.081, 0, 0, 0, 59 [SEP] 2, CellPhone, 3.512, 0.417, 1.341, 0, 0, 0, 64 [SEP] 3, CellPhone, 3.377, 0.723, 1.488, 0, 180, 0, 63 [SEP] 4, Pen, 2.234, 0.990, -1.774, 0, 270, 0, 38 [SEP] 5, Pencil, -0.904, 0.789, -0.548, 0, 0, 0, 59 [SEP] 6, Pencil, 2.519, 0.992, -1.862, 0, 270, 0, 38 [SEP] 7, KeyChain, -0.776, 0.175, -0.384, 0, 0, 0, 49 [SEP] 8, Book, 1.950, 0.985, -1.862, 0, 270, 0, 38 [SEP] 9, Book, 2.052, 0.610, -0.172, 0, 0, 0, 23 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 38 [SEP] 11, KeyChain, 3.222, 0.725, 1.443, 0, 90, 0, 63 [SEP] 12, CreditCard, -0.772, 0.785, -0.128, 0, 0, 0, 59 [SEP] 13, Pen, 3.455, 0.729, 1.397, 0, 270, 0, 63 [SEP] 14, Pencil, 2.519, 0.989, -2.125, 0, 270, 0, 38 [SEP] 15, Laptop, 2.545, 0.607, 0.790, 0, 0, 0, 23 [SEP] 16, Vase, 3.087, 0.993, -2.125, 0, 270, 0, 38 [SEP] 17, AlarmClock, 1.666, 0.989, -2.125, 0, 270, 0, 38 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 0.091, 0.476, 3.222, 0, 0, 0, 45 [SEP] 21, CD, 1.915, 0.183, -1.892, 0, 270, 0, 33 [SEP] 22, Vase, 3.072, 0.188, -1.721, 0, 270, 0, 37 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the black dresser on the right. | STEP 2: Pick up the black bowl from the right side of the dresser. | STEP 3: Turn right and walk to the wooden book case with shelves. | STEP 4: Put the bowl on the second shelf down from the top. | END


Input: drop two remotes on the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Watch, -0.561, 0.552, -0.623, 0, 270, 0, 29 [SEP] 2, Watch, -0.862, 0.552, -0.192, 0, 270, 0, 29 [SEP] 3, CreditCard, -0.582, 0.039, -0.480, 0, 90, 0, 24 [SEP] 4, RemoteControl, -0.922, 0.326, -1.917, 0, 0, 0, 31 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 270, 0, 31 [SEP] 6, KeyChain, -0.077, 0.295, -1.624, 0, 0, 0, 31 [SEP] 7, Watch, 1.849, 0.870, 0.220, 0, 90, 0, 35 [SEP] 8, Newspaper, -1.074, 0.315, -1.842, 0, 338.677, 0, 31 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, 1.730, 0.759, 0.420, 0, 90, 0, 36 [SEP] 11, RemoteControl, -0.411, 0.553, -0.192, 0, 270, 0, 29 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 35 [SEP] 14, Statue, 1.682, 0.880, 0.325, 0, 90, 0, 35 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair | STEP 4: drop the remote on the chair | STEP 5: turn around and head to the center table | STEP 6: pick up the remote from the table | STEP 7: turn around and head for the chair | STEP 8: drop the remote on the chair | END


Input: Place a cooked tomato into the blue bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Fork, 1.967, 0.772, -0.498, 0, 90, 0, 58 [SEP] 3, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 79 [SEP] 4, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 44 [SEP] 5, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 78 [SEP] 6, Cup, -0.939, 0.818, -1.473, 0, 0, 0, 103 [SEP] 7, Cup, 2.767, 0.112, 1.231, 0, 0, 0, 76 [SEP] 8, Egg, 3.421, 0.878, -0.485, 0, 0, 0, 99 [SEP] 9, SoapBottle, 2.221, 0.917, 1.214, 0, 0, 0, 79 [SEP] 10, SoapBottle, 1.688, 0.917, 1.129, 0, 0, 0, 79 [SEP] 11, Tomato, 2.900, 1.050, -0.578, 0, 0, 0, 99 [SEP] 12, Tomato, 2.221, 0.942, 1.468, 0, 0, 0, 79 [SEP] 13, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 55 [SEP] 14, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 103 [SEP] 15, SaltShaker, 0.918, 2.150, 1.468, 0, 0, 0, 78 [SEP] 16, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 79 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 79 [SEP] 19, Apple, 2.715, 1.357, -0.775, 0, 0, 0, 99 [SEP] 20, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 97 [SEP] 21, SoapBottle, 0.862, 1.661, -0.771, 0, 180, 0, 54 [SEP] 22, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 44 [SEP] 23, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 44 [SEP] 26, Egg, -0.621, 0.858, -1.360, 0, 90, 0, 103 [SEP] 27, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 28, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 97 [SEP] 29, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 103 [SEP] 30, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 103 [SEP] 31, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 99 [SEP] 32, Pan, 1.171, 1.654, -0.772, 0, 180, 0, 46 [SEP] 33, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 79 [SEP] 34, SaltShaker, 1.061, 0.110, -0.383, 0, 180, 0, 52 [SEP] 35, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 101 [SEP] 36, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 103 [SEP] 37, PepperShaker, 0.601, 2.150, 1.390, 0, 0, 0, 53 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 2.900, 1.561, -0.644, 0, 0, 0, 99 [SEP] 40, DishSponge, 1.484, 1.655, -0.849, 0, 180, 0, 66 [SEP] 41, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 88 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin. | STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove. | STEP 4: Look above the stove, place the tomato into the microwave, heat it for a moment, and then take out the tomato. | STEP 5: With the tomato in hand, make a left, walk straight, then face the door to your right. | STEP 6: Look to your left and place the cooked tomato inside the blue bin. | END