Input: place a clean spoon down on the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.931, -0.25, 0, 90, 0,  [SEP] 1, Potato, 0.516, 1.096, 0.676, 0, 0, 0, 47 [SEP] 2, DishSponge, 1.155, 1.046, -1.828, 0, 0, 0, 45 [SEP] 3, ButterKnife, 1.701, 1.043, 0.738, 0, 0, 0, 47 [SEP] 4, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 47 [SEP] 5, Kettle, -0.473, 1.566, -1.767, 0, 0, 0, 50 [SEP] 6, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 7, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 45 [SEP] 8, Plate, 1.072, 1.059, -1.289, 0, 0, 0, 45 [SEP] 9, Knife, 1.181, 1.069, 0.763, 0, 0, 0, 47 [SEP] 10, Bowl, 1.512, 0.203, -1.262, 0, 0, 0, 55 [SEP] 11, Bowl, 1.512, 0.203, -1.553, 0, 0, 0, 55 [SEP] 12, SaltShaker, -1.416, 0.197, -1.265, 0, 0, 0, 73 [SEP] 13, SaltShaker, -1.261, 2.023, -1.337, 0, 0, 0, 52 [SEP] 14, PepperShaker, 1.741, 0.199, -1.553, 0, 0, 0, 55 [SEP] 15, PepperShaker, -0.260, 1.041, -1.828, 0, 0, 0, 45 [SEP] 16, Lettuce, -1.103, 1.287, 1.885, 0, 90, 0, 60 [SEP] 17, Lettuce, 1.347, 1.103, 0.720, 0, 0, 0, 47 [SEP] 18, Mug, 0.936, 1.050, 0.331, 0, 90, 0, 43 [SEP] 19, SoapBottle, -0.699, 1.565, -1.396, 0, 0, 0, 50 [SEP] 20, Apple, -0.030, 1.086, 0.415, 0, 0, 0, 47 [SEP] 21, Potato, -1.047, 1.769, -1.269, 0, 270, 0, 59 [SEP] 22, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 47 [SEP] 23, Kettle, -0.670, 0.204, -1.337, 0, 0, 0, 54 [SEP] 24, Pan, 0.801, 0.199, -1.339, 0, 270, 0, 56 [SEP] 25, Tomato, 1.968, 1.094, 0.738, 0, 0, 0, 47 [SEP] 26, SaltShaker, 0.255, 1.038, 0.738, 0, 0, 0, 47 [SEP] 27, Egg, 0.805, 1.108, 0.381, 0, 90, 0, 43 [SEP] 28, Cup, -1.303, 1.489, 2.153, 0, 90, 0, 60 [SEP] 29, Spatula, 0.906, 1.061, -1.720, 0, 0, 0, 45 [SEP] 30, Knife, 0.848, 1.069, 0.676, 0, 0, 0, 47 [SEP] 31, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 43 [SEP] 32, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 47 [SEP] 33, PepperShaker, -0.222, 0.198, -1.553, 0, 0, 0, 54 [SEP] 34, DishSponge, 1.826, 0.122, 2.414, 0, 270, 0, 61 [SEP] 35, Plate, -0.689, 1.059, -1.289, 0, 0, 0, 45 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, -0.432, 1.048, -1.289, 0, 0, 0, 45 [SEP] 38, Pot, -1.349, 1.714, 1.885, 0, 180, 0, 60 [SEP] 39, Mug, -1.064, 0.959, 2.331, 0, 90, 0, 60 [SEP] 40, Bowl, -1.303, 1.488, 1.885, 0, 90, 0, 60 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, , , , , , , ,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: turn around and walk to the end of the kitchen counter on the left | STEP 2: grab the spoon off of the kitchen counter | STEP 3: turn left and walk over to the sink on the left side of the counter  | STEP 4: place the spoon in the right side sink, rinse it off, then take it back out | STEP 5: turn left and walk over to the end of the kitchen counter on the left | STEP 6: place the spoon down on the counter | END


Input: Examine a credit card by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.25, 0, 90, 0,  [SEP] 1, Watch, -2.492, 0.533, 3.856, 0, 180, 0, 57 [SEP] 2, CreditCard, -2.704, 0.533, 4.106, 0, 0, 0, 57 [SEP] 3, CreditCard, -6.139, 1.279, 3.662, 0, 0, 0, 54 [SEP] 4, CreditCard, -5.368, 0.533, 6.871, 0, 45, 0, 58 [SEP] 5, RemoteControl, -5.848, 0.149, 4.152, 0, 0, 0, 47 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -0.586, 0.794, 5.600, 0, 270, 0, 41 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -0.326, 0.788, 2.052, 0, 0, 0, 42 [SEP] 15, CreditCard, -0.868, 0.439, 4.524, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.738, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.960, 0.454, 4.547, 0, 0, 0, 52 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.923, 0.455, 4.152, 0, 0, 0, 47 [SEP] 24, Watch, -0.586, 0.793, 1.626, 0, 270, 0, 42 [SEP] 25, Statue, -3.265, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -2.422, 0.535, 4.335, 0, 0, 0, 57 [SEP] 27, Statue, -0.608, 0.835, 2.261, 73.940, 195.078, 285.304, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn right and walk forward to the left side of the shelves against on the wall on the right. | STEP 2: Pick up the red credit card from the top shelf. | STEP 3: Turn around and walk to the front of the floor lamp which is to the left of the garbage bin on the floor. | STEP 4: Turn on the lamp. | END


Input: Examine a credit card by the light of a lamp on the ground.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.25, 0, 90, 0,  [SEP] 1, Watch, -2.492, 0.533, 3.856, 0, 180, 0, 57 [SEP] 2, CreditCard, -2.704, 0.533, 4.106, 0, 0, 0, 57 [SEP] 3, CreditCard, -6.139, 1.279, 3.662, 0, 0, 0, 54 [SEP] 4, CreditCard, -5.368, 0.533, 6.871, 0, 45, 0, 58 [SEP] 5, RemoteControl, -5.848, 0.149, 4.152, 0, 0, 0, 47 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -0.586, 0.794, 5.600, 0, 270, 0, 41 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -0.326, 0.788, 2.052, 0, 0, 0, 42 [SEP] 15, CreditCard, -0.868, 0.439, 4.524, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.738, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.960, 0.454, 4.547, 0, 0, 0, 52 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.923, 0.455, 4.152, 0, 0, 0, 47 [SEP] 24, Watch, -0.586, 0.793, 1.626, 0, 270, 0, 42 [SEP] 25, Statue, -3.265, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -2.422, 0.535, 4.335, 0, 0, 0, 57 [SEP] 27, Statue, -0.608, 0.835, 2.261, 73.940, 195.078, 285.304, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn right, move past the black shelf on the right, turn around to face the left side of the shelf. | STEP 2: Pick up the red credit card on the shelf.  | STEP 3: Turn around, bring the credit card to the lamp on the ground next to the door.  | STEP 4: Turn on the lamp on the ground.  | END


Input: heat the tomato in the microwave, put the tomato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.75, 0, 270, 0,  [SEP] 1, Pan, 0.801, 0.199, -1.339, 0, 270, 0, 55 [SEP] 2, Potato, -1.234, 1.281, 1.796, 0, 90, 0, 59 [SEP] 3, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 59 [SEP] 4, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 46 [SEP] 5, ButterKnife, 0.823, 1.046, -1.397, 0, 0, 0, 44 [SEP] 6, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 7, Pot, 1.743, 1.021, -1.557, 0, 90, 0, 50 [SEP] 8, Fork, 0.906, 1.047, -1.181, 0, 0, 0, 44 [SEP] 9, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 44 [SEP] 10, Spoon, -0.517, 1.048, -1.289, 0, 270, 0, 44 [SEP] 11, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 44 [SEP] 12, Spatula, 0.980, 1.068, 0.131, 0, 90, 0, 42 [SEP] 13, Knife, -0.346, 1.072, -1.181, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.260, 1.047, -1.612, 0, 0, 0, 44 [SEP] 15, Bowl, 1.155, 1.045, -1.181, 0, 0, 0, 44 [SEP] 16, PepperShaker, 1.588, 0.199, -1.335, 0, 0, 0, 54 [SEP] 17, PepperShaker, 1.612, 1.038, 0.307, 0, 0, 0, 46 [SEP] 18, SoapBottle, 0.848, 1.044, 0.632, 0, 0, 0, 46 [SEP] 19, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 41 [SEP] 20, Potato, -1.034, 1.017, 2.331, 0, 180, 0, 59 [SEP] 21, Fork, 0.848, 1.054, 0.131, 0, 0, 0, 42 [SEP] 22, Kettle, 0.885, 1.566, -1.538, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, -0.775, 1.097, -1.181, 0, 0, 0, 44 [SEP] 25, SaltShaker, 0.446, 1.038, 0.738, 0, 0, 0, 46 [SEP] 26, Egg, -1.276, 1.768, 1.974, 0, 90, 0, 59 [SEP] 27, Cup, 1.894, 0.205, -1.335, 0, 0, 0, 54 [SEP] 28, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 44 [SEP] 29, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 46 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.848, 1.053, 0.181, 0, 90, 0, 42 [SEP] 32, PepperShaker, 0.351, 1.038, 0.630, 0, 0, 0, 46 [SEP] 33, DishSponge, 1.743, 1.019, -1.191, 0, 0, 0, 50 [SEP] 34, Plate, -1.339, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 46 [SEP] 36, Spoon, 1.701, 1.044, 0.630, 0, 0, 0, 46 [SEP] 37, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 38, Mug, -1.366, 1.223, 2.153, 0, 90, 0, 59 [SEP] 39, Bowl, 1.112, 1.563, -1.538, 0, 0, 0, 48 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little | STEP 4: heat the tomato with the microwave, take the tomato out | STEP 5: turn left, walk to the sink on the left | STEP 6: put the tomato in the sink | END


Input: Put a heated tomato inside the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.75, 0, 270, 0,  [SEP] 1, Pan, 0.801, 0.199, -1.339, 0, 270, 0, 55 [SEP] 2, Potato, -1.234, 1.281, 1.796, 0, 90, 0, 59 [SEP] 3, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 59 [SEP] 4, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 46 [SEP] 5, ButterKnife, 0.823, 1.046, -1.397, 0, 0, 0, 44 [SEP] 6, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 7, Pot, 1.743, 1.021, -1.557, 0, 90, 0, 50 [SEP] 8, Fork, 0.906, 1.047, -1.181, 0, 0, 0, 44 [SEP] 9, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 44 [SEP] 10, Spoon, -0.517, 1.048, -1.289, 0, 270, 0, 44 [SEP] 11, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 44 [SEP] 12, Spatula, 0.980, 1.068, 0.131, 0, 90, 0, 42 [SEP] 13, Knife, -0.346, 1.072, -1.181, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.260, 1.047, -1.612, 0, 0, 0, 44 [SEP] 15, Bowl, 1.155, 1.045, -1.181, 0, 0, 0, 44 [SEP] 16, PepperShaker, 1.588, 0.199, -1.335, 0, 0, 0, 54 [SEP] 17, PepperShaker, 1.612, 1.038, 0.307, 0, 0, 0, 46 [SEP] 18, SoapBottle, 0.848, 1.044, 0.632, 0, 0, 0, 46 [SEP] 19, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 41 [SEP] 20, Potato, -1.034, 1.017, 2.331, 0, 180, 0, 59 [SEP] 21, Fork, 0.848, 1.054, 0.131, 0, 0, 0, 42 [SEP] 22, Kettle, 0.885, 1.566, -1.538, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, -0.775, 1.097, -1.181, 0, 0, 0, 44 [SEP] 25, SaltShaker, 0.446, 1.038, 0.738, 0, 0, 0, 46 [SEP] 26, Egg, -1.276, 1.768, 1.974, 0, 90, 0, 59 [SEP] 27, Cup, 1.894, 0.205, -1.335, 0, 0, 0, 54 [SEP] 28, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 44 [SEP] 29, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 46 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.848, 1.053, 0.181, 0, 90, 0, 42 [SEP] 32, PepperShaker, 0.351, 1.038, 0.630, 0, 0, 0, 46 [SEP] 33, DishSponge, 1.743, 1.019, -1.191, 0, 0, 0, 50 [SEP] 34, Plate, -1.339, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 46 [SEP] 36, Spoon, 1.701, 1.044, 0.630, 0, 0, 0, 46 [SEP] 37, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 38, Mug, -1.366, 1.223, 2.153, 0, 90, 0, 59 [SEP] 39, Bowl, 1.112, 1.563, -1.538, 0, 0, 0, 48 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up tomato from the counter | STEP 3: Move to the microwave to the right | STEP 4: Heat tomato with the microwave | STEP 5: Move to the sink to the left of you | STEP 6: Put tomato inside the sink | END


Input: Put keys on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.0, 0, 0, 0,  [SEP] 1, Newspaper, -0.077, 0.327, -1.624, 0, 0, 0, 32 [SEP] 2, KeyChain, 1.807, 0.872, 0.643, 0, 90, 0, 36 [SEP] 3, KeyChain, 1.443, 0.309, -0.588, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.288, 0.325, -1.990, 0, 0, 0, 32 [SEP] 5, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.364, 0.326, -0.818, 0, 90, 0, 38 [SEP] 8, Watch, 1.933, 0.870, 0.537, 0, 90, 0, 36 [SEP] 9, Newspaper, 1.808, 0.869, 0.114, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.766, 0.869, 0.537, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.453, 0.358, -0.544, 0, 90, 0, 29 [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, 1.724, 0.880, 0.325, 0, 90, 0, 36 [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: Go right and then turn to the left to face the side of the brown chair. | STEP 2: Pick the keys in the middle of the chair up. | STEP 3: Go left and then turn to the left to face the couch | STEP 4: Put the keys down on the right side of the couch. | END


Input: Take two cells phones from the end table, put them 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, -2.25, 0.949, 4.75, 0, 90, 0,  [SEP] 1, CellPhone, 3.222, 0.723, 1.443, 0, 180, 0, 60 [SEP] 2, CellPhone, -0.444, 1.108, 3.143, 0, 180, 0, 43 [SEP] 3, CellPhone, -0.163, 1.108, 3.171, 0, 180, 0, 43 [SEP] 4, CreditCard, -0.848, 0.174, -0.384, 0, 0, 0, 46 [SEP] 5, Book, 1.888, 0.610, -0.172, 0, 0, 0, 20 [SEP] 6, AlarmClock, -0.160, 0.785, 3.171, 0, 180, 0, 42 [SEP] 7, Book, 2.710, 0.610, -0.172, 0, 0, 0, 20 [SEP] 8, KeyChain, -1.037, 0.785, -0.128, 0, 0, 0, 56 [SEP] 9, CreditCard, -0.444, 1.107, 3.226, 0, 180, 0, 43 [SEP] 10, Pen, 0.024, 0.789, 3.115, 0, 180, 0, 42 [SEP] 11, Pencil, -0.848, 0.384, -0.702, 0, 0, 0, 55 [SEP] 12, Laptop, 2.381, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, -1.037, 0.790, -0.548, 0, 0, 0, 56 [SEP] 14, AlarmClock, 2.803, 0.986, -1.862, 0, 270, 0, 35 [SEP] 15, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, 3.377, 0.723, 1.352, 0, 180, 0, 60 [SEP] 18, CD, 3.132, 0.183, -2.005, 0, 270, 0, 34 [SEP] 19, Vase, 1.332, 0.184, -1.950, 0, 270, 0, 32 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed. | STEP 4: Put the cell phone on the bed. | STEP 5: Turn right and walk around the bed to the end table on the other side with one cell phone on it. | STEP 6: Take the cell phone from the end table. | STEP 7: Turn around and walk to the other side of the bed. | STEP 8: Put the cell phone on the bed next to the other cell phone. | END


Input: Put two blue phones 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, 3.5, 0.949, 0.75, 0, 180, 0,  [SEP] 1, Vase, -0.772, 0.789, 0.501, 0, 0, 0, 58 [SEP] 2, CellPhone, -0.838, 0.784, 0.081, 0, 0, 0, 58 [SEP] 3, Pen, 2.519, 0.990, -1.862, 0, 270, 0, 37 [SEP] 4, Pencil, -0.848, 0.384, 0.529, 0, 0, 0, 56 [SEP] 5, Pencil, 3.455, 0.727, 1.397, 0, 180, 0, 62 [SEP] 6, CreditCard, -0.970, 0.783, -0.338, 0, 0, 0, 58 [SEP] 7, Book, -0.904, 0.785, -0.128, 0, 0, 0, 58 [SEP] 8, Book, 2.492, 0.180, -1.896, 0, 270, 0, 39 [SEP] 9, Book, 1.454, 0.180, -1.896, 0, 270, 0, 34 [SEP] 10, KeyChain, -0.253, 0.785, 3.115, 0, 180, 0, 44 [SEP] 11, CreditCard, 3.455, 0.723, 1.262, 0, 180, 0, 62 [SEP] 12, Pen, -0.772, 0.789, -0.338, 0, 0, 0, 58 [SEP] 13, Pencil, -0.069, 1.112, 3.115, 0, 180, 0, 45 [SEP] 14, Laptop, 2.803, 0.983, -2.037, 0, 270, 0, 37 [SEP] 15, Vase, -0.838, 0.789, 0.291, 0, 0, 0, 58 [SEP] 16, AlarmClock, 2.234, 0.986, -1.774, 0, 270, 0, 37 [SEP] 17, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 22 [SEP] 18, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 22 [SEP] 19, CellPhone, -0.772, 0.785, -0.758, 0, 0, 0, 58 [SEP] 20, CD, -0.776, 0.173, 0.074, 0, 0, 0, 55 [SEP] 21, Vase, -1.037, 0.788, -0.548, 0, 0, 0, 58 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you | STEP 4: Place the phone on the bed | STEP 5: Move to the dresser to the behind you | STEP 6: Pick up a phone from the dresser | STEP 7: Move to the bed behind you | STEP 8: Place the phone on the bed | END


Input: Put a candle on the toilet tank lid.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 2.0, 0, 90, 0,  [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 25 [SEP] 2, Cloth, -1.308, 1.777, 2.127, 0, 0, 0, 25 [SEP] 3, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 27 [SEP] 4, SoapBottle, -1.949, 1.049, -0.674, 0, 0, 0, 32 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -0.980, 1.111, 2.067, 0, 0, 0, 27 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.206, 0.609, -0.485, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.144, 0.285, 2.097, 0, 0, 0, 23 [SEP] 11, SoapBottle, -2.146, 1.049, -0.797, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.980, 1.773, 2.127, 0, 0, 0, 25 [SEP] 13, Cloth, 0.289, 0.048, 0.156, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -2.015, 1.048, -0.644, 0, 180, 0, 32 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Head to the shelf on the left with the candle. | STEP 2: Pick up the candle on the shelf.  | STEP 3: Turn around and bring the candle to the toilet. | STEP 4: Put the candle on the toilet tank lid.  | END


Input: slice 2 pieces of potato putting them inside the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.931, -0.5, 0, 180, 0,  [SEP] 1, Pan, 1.743, 1.019, -1.484, 0, 90, 0, 52 [SEP] 2, Pan, 1.514, 1.043, 0.676, 0, 90, 0, 48 [SEP] 3, Potato, -1.103, 1.281, 2.153, 0, 90, 0, 61 [SEP] 4, Potato, 1.238, 1.100, -1.181, 0, 0, 0, 46 [SEP] 5, Potato, -1.047, 1.769, -1.300, 0, 270, 0, 60 [SEP] 6, Kettle, 0.160, 1.044, 0.307, 0, 0, 0, 48 [SEP] 7, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 8, Spoon, 1.155, 1.048, -1.289, 0, 0, 0, 46 [SEP] 9, Spoon, 0.892, 1.054, 0.281, 0, 180, 0, 44 [SEP] 10, Spatula, 0.160, 1.058, 0.738, 0, 0, 0, 48 [SEP] 11, Egg, 1.271, 0.947, 0.158, 0, 90, 0, 43 [SEP] 12, Cup, -1.268, 1.948, 1.974, 0, 90, 0, 61 [SEP] 13, Cup, -1.276, 1.713, 2.063, 0, 90, 0, 61 [SEP] 14, Plate, -0.699, 1.577, -1.767, 0, 0, 0, 51 [SEP] 15, Plate, -1.105, 0.215, -1.482, 0, 0, 0, 54 [SEP] 16, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 61 [SEP] 17, SaltShaker, 1.188, 1.560, -1.538, 0, 0, 0, 50 [SEP] 18, Mug, 0.848, 1.038, 0.632, 0, 0, 0, 48 [SEP] 19, Apple, 1.181, 0.936, 0.158, 0, 90, 0, 43 [SEP] 20, SoapBottle, -0.548, 1.565, -1.396, 0, 0, 0, 51 [SEP] 21, Apple, -1.431, 1.271, 2.331, 0, 90, 0, 61 [SEP] 22, Potato, -0.030, 1.096, 0.199, 0, 0, 0, 48 [SEP] 23, Fork, 1.181, 1.043, 0.632, 0, 0, 0, 48 [SEP] 24, Kettle, -0.398, 1.566, -1.545, 0, 0, 0, 51 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.342, 1.540, 1.885, 0, 90, 0, 61 [SEP] 27, SaltShaker, 0.712, 0.194, -1.484, 0, 0, 0, 57 [SEP] 28, Egg, -1.431, 1.282, 2.063, 0, 90, 0, 61 [SEP] 29, Cup, -1.064, 0.964, 2.153, 0, 90, 0, 61 [SEP] 30, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 46 [SEP] 31, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 46 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 1.347, 1.043, 0.632, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.473, 1.560, -1.841, 0, 0, 0, 51 [SEP] 35, DishSponge, -0.689, 1.046, -1.181, 0, 0, 0, 46 [SEP] 36, Plate, -1.106, 2.041, -1.409, 0, 0, 0, 53 [SEP] 37, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.892, 1.054, 0.231, 0, 180, 0, 44 [SEP] 39, Pot, 1.588, 0.206, -1.553, 0, 270, 0, 56 [SEP] 40, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 41, Bowl, 0.885, 1.563, -1.614, 0, 0, 0, 50 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right | STEP 12: pick up a slice of potato | STEP 13: turn around to the right again | STEP 14: face the counter area pick up a slice of potato | STEP 15: turn to the right leave the slice inside the sink | END


Input: place a clean glass inside of the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Potato, 2.962, 1.598, -0.512, 0, 0, 0, 103 [SEP] 2, DishSponge, 1.422, 0.911, 1.553, 0, 0, 0, 83 [SEP] 3, DishSponge, 2.543, 0.770, 1.236, 0, 0, 0, 64 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 5, Kettle, 1.155, 0.912, 1.129, 0, 0, 0, 83 [SEP] 6, Spoon, 1.893, 0.772, 1.160, 0, 0, 0, 81 [SEP] 7, Fork, 1.831, 0.772, 1.198, 0, 270, 0, 81 [SEP] 8, Fork, 0.888, 0.912, -0.515, 0, 0, 0, 48 [SEP] 9, Spatula, -0.887, 0.835, -1.255, 0, 270, 0, 107 [SEP] 10, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 105 [SEP] 11, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 58 [SEP] 12, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 48 [SEP] 13, Egg, -0.621, 0.858, -1.308, 0, 90, 0, 107 [SEP] 14, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 15, Knife, -0.839, 0.853, -1.257, 0, 90, 0, 107 [SEP] 16, SoapBottle, 1.955, 0.917, 1.468, 0, 0, 0, 83 [SEP] 17, Tomato, 2.156, 0.942, -0.769, 0, 0, 0, 48 [SEP] 18, Tomato, -1.056, 0.852, -1.411, 0, 90, 0, 107 [SEP] 19, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 103 [SEP] 20, Bowl, 2.715, 1.017, -0.644, 0, 0, 0, 103 [SEP] 21, Lettuce, -0.103, 0.992, 1.129, 0, 90, 0, 59 [SEP] 22, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 83 [SEP] 23, Apple, -0.103, 0.980, 1.383, 0, 0, 0, 59 [SEP] 24, Apple, 0.518, 1.853, 1.455, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 83 [SEP] 27, Fork, 1.955, 0.912, 1.214, 0, 0, 0, 83 [SEP] 28, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 83 [SEP] 29, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 83 [SEP] 30, Egg, 2.653, 0.764, -0.565, 0, 0, 0, 103 [SEP] 31, Kettle, -0.123, 0.116, 1.196, 0, 0, 0, 76 [SEP] 32, Tomato, 2.653, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 1.155, 0.909, 1.383, 0, 0, 0, 83 [SEP] 34, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 107 [SEP] 35, Apple, -1.962, 0.492, 1.332, 0, 270, 0, 101 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 83 [SEP] 38, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 83 [SEP] 39, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 107 [SEP] 40, Potato, 0.634, 0.946, -0.684, 0, 0, 0, 48 [SEP] 41, PepperShaker, 2.118, 0.110, 1.081, 0, 0, 0, 84 [SEP] 42, ButterKnife, 0.888, 0.911, -0.769, 0, 0, 0, 48 [SEP] 43, Bowl, 2.838, 0.723, -0.504, 0, 0, 0, 103 [SEP] 44, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 59 [SEP] 45, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 105 [SEP] 46, Mug, 2.900, 1.283, -0.775, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: turn left to face the kitchen counter | STEP 2: grab the glass cup off of the kitchen counter | STEP 3: turn around and walk over to the kitchen sink on your right | STEP 4: place the glass inside of the kitchen sink and clean it off | STEP 5: turn around and walk over to the right side of the room where the fridge is | STEP 6: place the glass inside of the fridge | END


Input: Move the tissue box to the back end of the toilet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.903, 1.25, 0, 270, 0,  [SEP] 1, TissueBox, -1.144, 0.289, 2.157, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.635, 0.289, 2.157, 0, 0, 0, 28 [SEP] 3, Cloth, 0.289, 0.048, 0.839, 0, 0, 0, 31 [SEP] 4, Cloth, 0.371, 0.048, 0.384, 0, 0, 0, 31 [SEP] 5, SoapBar, 0.041, 0.043, 1.067, 0, 0, 0, 31 [SEP] 6, SoapBar, 0.453, 0.043, 0.839, 0, 0, 0, 31 [SEP] 7, Candle, -0.653, 0.330, 2.067, 0, 0, 0, 28 [SEP] 8, Candle, -2.343, 1.088, -0.674, 0, 0, 0, 37 [SEP] 9, SprayBottle, -2.146, 1.048, -0.644, 0, 0, 0, 37 [SEP] 10, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 33 [SEP] 11, Candle, -2.015, 1.088, -0.766, 0, 0, 0, 37 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, 0.206, 0.043, 0.156, 0, 0, 0, 31 [SEP] 15, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 27 [SEP] 16, SoapBottle, -1.471, 1.775, 2.127, 0, 0, 0, 30 [SEP] 17, TissueBox, -1.144, 1.773, 2.097, 0, 0, 0, 30 [SEP] 18, Cloth, 0.206, 0.048, 1.067, 0, 0, 0, 31 [SEP] 19, ToiletPaper, -2.212, 1.043, -0.797, 0, 0, 0, 37 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -1.308, 1.071, 2.067, 0, 0, 0, 32 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn around completely and turn right and face the white shelves | STEP 2: Pick up the tissue box from the shelf.  | STEP 3: Turn to the left and then turn again to face the toilet. | STEP 4: Place the tissue box on the back end of the toilet. | END


Input: Look at a laptop by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 3.25, 0, 0, 0,  [SEP] 1, Bowl, -2.474, 0.881, 7.173, 0, 90, 0, 48 [SEP] 2, Newspaper, -0.868, 0.365, 3.306, 0, 0, 0, 40 [SEP] 3, Watch, -6.002, 0.146, 4.547, 0, 0, 0, 47 [SEP] 4, Watch, -2.411, 1.280, 7.108, 0, 90, 0, 56 [SEP] 5, KeyChain, -0.687, 0.794, 2.252, 0, 270, 0, 42 [SEP] 6, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.821, 0.534, 6.418, 0, 135, 0, 58 [SEP] 10, Vase, -0.535, 0.802, 6.357, 0, 270, 0, 41 [SEP] 11, Newspaper, -2.492, 0.532, 3.752, 0, 270, 0, 57 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -2.672, 0.147, 7.122, 0, 90, 0, 51 [SEP] 15, CreditCard, -2.277, 0.879, 7.173, 0, 90, 0, 49 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.421, 3.002, 0, 180, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.484, 0.795, 1.626, 0, 270, 0, 42 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.710, 0.369, 3.306, 0, 0, 0, 40 [SEP] 24, Watch, -2.422, 0.533, 4.335, 0, 270, 0, 57 [SEP] 25, Statue, -5.885, 1.287, 3.891, 0, 0, 0, 54 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -5.573, 0.543, 6.516, 0, 45, 0, 58 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn right and walk past the coffee table, then walk left to the side by the couch. Then turn to look at the coffee table. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn right and walk to the table at the end of the couch. | STEP 4: Turn on the lamp on the table. | END


Input: Move a phone from the dresser to the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.949, 0.25, 0, 90, 0,  [SEP] 1, Vase, 2.803, 0.990, -1.774, 0, 270, 0, 35 [SEP] 2, CD, -0.163, 1.107, 3.171, 0, 180, 0, 43 [SEP] 3, CD, 1.855, 0.183, -1.835, 0, 270, 0, 30 [SEP] 4, CellPhone, -0.160, 0.784, 3.171, 0, 180, 0, 42 [SEP] 5, CellPhone, 1.950, 0.988, -2.212, 0, 270, 0, 35 [SEP] 6, Book, 2.545, 0.610, -0.172, 0, 0, 0, 20 [SEP] 7, Book, -0.904, 0.785, -0.548, 0, 0, 0, 56 [SEP] 8, KeyChain, -0.069, 1.109, 3.143, 0, 180, 0, 43 [SEP] 9, CreditCard, -0.885, 0.174, 0.074, 0, 0, 0, 49 [SEP] 10, Pen, -1.037, 0.789, -0.548, 0, 0, 0, 56 [SEP] 11, Pencil, 1.666, 0.992, -1.862, 0, 270, 0, 35 [SEP] 12, Laptop, 2.217, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, 2.235, 0.993, -2.037, 0, 270, 0, 35 [SEP] 14, AlarmClock, 2.803, 0.989, -2.037, 0, 270, 0, 35 [SEP] 15, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, -0.350, 1.108, 3.198, 0, 180, 0, 43 [SEP] 18, CD, 0.116, 0.783, 3.198, 0, 180, 0, 42 [SEP] 19, Vase, -1.037, 0.788, 0.291, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Move to the right side of the large black dresser | STEP 2: Pick up the phone that is in a blue case sitting on top of the dresser | STEP 3: Carry the phone to the left side of the bed | STEP 4: Place the phone in front of the orange pillow that is on top of the bed | END


Input: Put the cell phone 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, 0.0, 0.949, 0.25, 0, 90, 0,  [SEP] 1, Vase, 2.803, 0.990, -1.774, 0, 270, 0, 35 [SEP] 2, CD, -0.163, 1.107, 3.171, 0, 180, 0, 43 [SEP] 3, CD, 1.855, 0.183, -1.835, 0, 270, 0, 30 [SEP] 4, CellPhone, -0.160, 0.784, 3.171, 0, 180, 0, 42 [SEP] 5, CellPhone, 1.950, 0.988, -2.212, 0, 270, 0, 35 [SEP] 6, Book, 2.545, 0.610, -0.172, 0, 0, 0, 20 [SEP] 7, Book, -0.904, 0.785, -0.548, 0, 0, 0, 56 [SEP] 8, KeyChain, -0.069, 1.109, 3.143, 0, 180, 0, 43 [SEP] 9, CreditCard, -0.885, 0.174, 0.074, 0, 0, 0, 49 [SEP] 10, Pen, -1.037, 0.789, -0.548, 0, 0, 0, 56 [SEP] 11, Pencil, 1.666, 0.992, -1.862, 0, 270, 0, 35 [SEP] 12, Laptop, 2.217, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, 2.235, 0.993, -2.037, 0, 270, 0, 35 [SEP] 14, AlarmClock, 2.803, 0.989, -2.037, 0, 270, 0, 35 [SEP] 15, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, -0.350, 1.108, 3.198, 0, 180, 0, 43 [SEP] 18, CD, 0.116, 0.783, 3.198, 0, 180, 0, 42 [SEP] 19, Vase, -1.037, 0.788, 0.291, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Go to the dresser, across from the bed. | STEP 2: Pick up the cell phone from the dresser, to the left of the pencil. | STEP 3: Turn around, then go left, move forward, then turn right, move forward, then turn right to face the bed. | STEP 4: Place the cell phone on the bed , to the right of the nearest pillow. | END


Input: move phone from dresser to the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.949, 0.25, 0, 90, 0,  [SEP] 1, Vase, 2.803, 0.990, -1.774, 0, 270, 0, 35 [SEP] 2, CD, -0.163, 1.107, 3.171, 0, 180, 0, 43 [SEP] 3, CD, 1.855, 0.183, -1.835, 0, 270, 0, 30 [SEP] 4, CellPhone, -0.160, 0.784, 3.171, 0, 180, 0, 42 [SEP] 5, CellPhone, 1.950, 0.988, -2.212, 0, 270, 0, 35 [SEP] 6, Book, 2.545, 0.610, -0.172, 0, 0, 0, 20 [SEP] 7, Book, -0.904, 0.785, -0.548, 0, 0, 0, 56 [SEP] 8, KeyChain, -0.069, 1.109, 3.143, 0, 180, 0, 43 [SEP] 9, CreditCard, -0.885, 0.174, 0.074, 0, 0, 0, 49 [SEP] 10, Pen, -1.037, 0.789, -0.548, 0, 0, 0, 56 [SEP] 11, Pencil, 1.666, 0.992, -1.862, 0, 270, 0, 35 [SEP] 12, Laptop, 2.217, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, 2.235, 0.993, -2.037, 0, 270, 0, 35 [SEP] 14, AlarmClock, 2.803, 0.989, -2.037, 0, 270, 0, 35 [SEP] 15, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, -0.350, 1.108, 3.198, 0, 180, 0, 43 [SEP] 18, CD, 0.116, 0.783, 3.198, 0, 180, 0, 42 [SEP] 19, Vase, -1.037, 0.788, 0.291, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: turn around, walk forward, turn right at bed, walk forward, turn right to face bed | STEP 4: put phone on to the bed | END


Input: Put a knife and chilled tomato slice in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 104 [SEP] 2, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 106 [SEP] 3, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 100 [SEP] 4, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 82 [SEP] 5, ButterKnife, -0.836, 0.820, -1.255, 0, 0, 0, 106 [SEP] 6, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 47 [SEP] 7, Pot, 0.707, 2.157, 1.468, 0, 0, 0, 56 [SEP] 8, Pot, 2.715, 1.567, -0.709, 0, 0, 0, 102 [SEP] 9, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 104 [SEP] 10, Spoon, -0.911, 0.822, -1.360, 0, 90, 0, 106 [SEP] 11, Fork, 1.862, 0.772, 1.198, 0, 270, 0, 80 [SEP] 12, Fork, 2.156, 0.912, -0.430, 0, 0, 0, 47 [SEP] 13, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 74 [SEP] 14, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 82 [SEP] 15, Cup, 2.906, 1.652, 1.546, 0, 0, 0, 48 [SEP] 16, Cup, 0.888, 0.909, -0.854, 0, 0, 0, 47 [SEP] 17, SoapBottle, 1.559, 1.661, -0.732, 0, 180, 0, 69 [SEP] 18, Tomato, -0.246, 0.942, 1.214, 0, 0, 0, 58 [SEP] 19, SaltShaker, -0.887, 0.817, -1.400, 0, 0, 0, 106 [SEP] 20, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 106 [SEP] 21, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 82 [SEP] 22, Mug, 0.570, 1.779, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, -0.694, 0.889, -1.360, 0, 90, 0, 106 [SEP] 24, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 106 [SEP] 25, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 26, Fork, 1.688, 0.912, 1.383, 0, 0, 0, 82 [SEP] 27, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 82 [SEP] 29, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 105 [SEP] 30, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 100 [SEP] 32, Cup, 1.688, 0.909, 1.553, 0, 0, 0, 82 [SEP] 33, Spatula, 2.156, 0.926, -0.684, 0, 0, 0, 47 [SEP] 34, Apple, 1.688, 0.980, 1.129, 0, 0, 0, 82 [SEP] 35, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 36, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 82 [SEP] 37, SaltShaker, 1.141, 0.908, -0.854, 0, 0, 0, 47 [SEP] 38, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 104 [SEP] 39, Potato, -0.766, 0.855, -1.155, 0, 90, 0, 106 [SEP] 40, PepperShaker, -0.007, 0.908, 1.044, 0, 0, 0, 58 [SEP] 41, ButterKnife, -0.198, 0.911, 1.468, 0, 0, 0, 58 [SEP] 42, Bowl, 2.777, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.103, 0.911, 1.299, 0, 0, 0, 58 [SEP] 44, Spoon, -0.694, 0.822, -1.206, 0, 90, 0, 106 [SEP] 45, Mug, -0.087, 0.760, -0.541, 0, 0, 0, 104 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin | STEP 8: Pick up a tomato slice from the bin | STEP 9: Walk to the refrigerator | STEP 10: Chill the tomato slice in the fridge | STEP 11: Walk to the microwave | STEP 12: Put the tomato slice in the microwave | END


Input: slice a tomato put it 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, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 104 [SEP] 2, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 106 [SEP] 3, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 100 [SEP] 4, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 82 [SEP] 5, ButterKnife, -0.836, 0.820, -1.255, 0, 0, 0, 106 [SEP] 6, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 47 [SEP] 7, Pot, 0.707, 2.157, 1.468, 0, 0, 0, 56 [SEP] 8, Pot, 2.715, 1.567, -0.709, 0, 0, 0, 102 [SEP] 9, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 104 [SEP] 10, Spoon, -0.911, 0.822, -1.360, 0, 90, 0, 106 [SEP] 11, Fork, 1.862, 0.772, 1.198, 0, 270, 0, 80 [SEP] 12, Fork, 2.156, 0.912, -0.430, 0, 0, 0, 47 [SEP] 13, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 74 [SEP] 14, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 82 [SEP] 15, Cup, 2.906, 1.652, 1.546, 0, 0, 0, 48 [SEP] 16, Cup, 0.888, 0.909, -0.854, 0, 0, 0, 47 [SEP] 17, SoapBottle, 1.559, 1.661, -0.732, 0, 180, 0, 69 [SEP] 18, Tomato, -0.246, 0.942, 1.214, 0, 0, 0, 58 [SEP] 19, SaltShaker, -0.887, 0.817, -1.400, 0, 0, 0, 106 [SEP] 20, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 106 [SEP] 21, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 82 [SEP] 22, Mug, 0.570, 1.779, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, -0.694, 0.889, -1.360, 0, 90, 0, 106 [SEP] 24, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 106 [SEP] 25, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 26, Fork, 1.688, 0.912, 1.383, 0, 0, 0, 82 [SEP] 27, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 82 [SEP] 29, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 105 [SEP] 30, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 100 [SEP] 32, Cup, 1.688, 0.909, 1.553, 0, 0, 0, 82 [SEP] 33, Spatula, 2.156, 0.926, -0.684, 0, 0, 0, 47 [SEP] 34, Apple, 1.688, 0.980, 1.129, 0, 0, 0, 82 [SEP] 35, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 36, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 82 [SEP] 37, SaltShaker, 1.141, 0.908, -0.854, 0, 0, 0, 47 [SEP] 38, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 104 [SEP] 39, Potato, -0.766, 0.855, -1.155, 0, 90, 0, 106 [SEP] 40, PepperShaker, -0.007, 0.908, 1.044, 0, 0, 0, 58 [SEP] 41, ButterKnife, -0.198, 0.911, 1.468, 0, 0, 0, 58 [SEP] 42, Bowl, 2.777, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.103, 0.911, 1.299, 0, 0, 0, 58 [SEP] 44, Spoon, -0.694, 0.822, -1.206, 0, 90, 0, 106 [SEP] 45, Mug, -0.087, 0.760, -0.541, 0, 0, 0, 104 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave  | STEP 7: turn to the left go right | STEP 8: towards the blue container | STEP 9: pick up a slice of tomato | STEP 10: turn to the right forward go right face the refrigerator put the slice in the refrigerator  | STEP 11: get it back out from the refrigerator turn to the right towards the microwave | STEP 12: open the microwave door put the slice of tomato inside the microwave | END


Input: To put a lettuce slice in a bowl plus move them to the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.25, 0.900, 0.5, 0, 0, 0,  [SEP] 1, DishSponge, -0.017, 0.765, -0.651, 0, 0, 0, 99 [SEP] 2, DishSponge, 1.208, 1.654, -0.849, 0, 180, 0, 64 [SEP] 3, Spoon, 0.193, 0.766, -0.651, 0, 0, 0, 99 [SEP] 4, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 86 [SEP] 5, Fork, 1.208, 0.771, -0.498, 0, 90, 0, 61 [SEP] 6, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 42 [SEP] 7, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 77 [SEP] 8, Egg, 2.900, 1.601, -0.578, 0, 0, 0, 97 [SEP] 9, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 101 [SEP] 10, Knife, 2.754, 0.944, 1.214, 0, 270, 0, 77 [SEP] 11, SoapBottle, -2.019, 0.429, 1.459, 0, 270, 0, 95 [SEP] 12, Tomato, 3.381, 0.871, -0.543, 0, 0, 0, 97 [SEP] 13, Tomato, 2.591, 1.594, -0.775, 0, 0, 0, 97 [SEP] 14, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 77 [SEP] 15, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 53 [SEP] 16, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 101 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 77 [SEP] 18, Apple, 2.777, 1.087, -0.709, 0, 0, 0, 97 [SEP] 19, SoapBottle, 0.750, 1.661, -0.693, 0, 180, 0, 52 [SEP] 20, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 77 [SEP] 21, Fork, 0.053, 0.766, -0.596, 0, 0, 0, 99 [SEP] 22, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.715, 0.764, -0.442, 0, 0, 0, 97 [SEP] 25, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 26, Tomato, 1.155, 0.942, 1.214, 0, 0, 0, 77 [SEP] 27, Cup, 0.363, 1.782, 1.488, 0, 180, 0, 100 [SEP] 28, Spatula, -0.682, 0.835, -1.255, 0, 90, 0, 101 [SEP] 29, Apple, 2.777, 1.632, -0.578, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 77 [SEP] 32, SaltShaker, 1.524, 1.650, 1.585, 0, 0, 0, 65 [SEP] 33, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 77 [SEP] 34, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 77 [SEP] 35, PepperShaker, 2.488, 0.908, 1.044, 0, 0, 0, 77 [SEP] 36, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 77 [SEP] 37, Bowl, 0.231, 2.154, 1.428, 0, 0, 0, 76 [SEP] 38, DishSponge, -0.939, 0.820, -1.255, 0, 0, 0, 101 [SEP] 39, Spoon, -0.734, 0.822, -1.255, 0, 0, 0, 101 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left and look up to face the cabinet above the microwave. | STEP 10: Place the lettuce slice in the bowl above the microwave. | STEP 11: Pick up the bowl with the lettuce slice in it in the cabinet above the microwave. | STEP 12: Turn right and walk across the room and turn right to face the fridge. | STEP 13: Place the bowl with the lettuce slice in it in the fridge. | END


Input: Put a warm egg 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, -1.5, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Potato, 2.962, 1.053, -0.644, 0, 0, 0, 101 [SEP] 2, Potato, 2.156, 0.946, -0.6, 0, 0, 0, 46 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 4, Fork, 1.934, 0.771, -0.422, 0, 270, 0, 60 [SEP] 5, Spatula, 0.349, 0.926, -0.316, 0, 0, 0, 46 [SEP] 6, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 46 [SEP] 7, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 81 [SEP] 8, Egg, -2.019, 0.461, 1.417, 0, 270, 0, 99 [SEP] 9, Egg, 0.349, 0.949, -0.316, 0, 0, 0, 46 [SEP] 10, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 105 [SEP] 11, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 12, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 13, Tomato, -0.694, 0.852, -1.206, 0, 90, 0, 105 [SEP] 14, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 81 [SEP] 15, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 101 [SEP] 16, SaltShaker, -0.734, 0.817, -1.473, 0, 0, 0, 105 [SEP] 17, PepperShaker, 1.141, 0.908, -0.515, 0, 0, 0, 46 [SEP] 18, PepperShaker, 1.176, 0.111, 1.037, 0, 0, 0, 75 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 105 [SEP] 21, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 22, Apple, -0.198, 0.980, 1.383, 0, 0, 0, 57 [SEP] 23, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 105 [SEP] 24, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 80 [SEP] 25, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 81 [SEP] 26, Pot, 2.777, 1.292, -0.709, 0, 0, 0, 101 [SEP] 27, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 57 [SEP] 28, Egg, -1.991, 0.461, 1.247, 0, 270, 0, 99 [SEP] 29, Kettle, 1.862, 0.116, 1.117, 0, 0, 0, 75 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, 1.955, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.785, 0.835, -1.328, 0, 90, 0, 105 [SEP] 33, Apple, 0.570, 1.853, 1.423, 0, 180, 0, 104 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.053, 1.650, 1.470, 0, 0, 0, 72 [SEP] 37, Knife, -0.103, 0.944, 1.129, 0, 90, 0, 57 [SEP] 38, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.139, 0.111, 1.117, 0, 0, 0, 75 [SEP] 40, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 105 [SEP] 41, Bowl, 2.488, 0.909, 1.299, 0, 0, 0, 81 [SEP] 42, DishSponge, -1.056, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, 1.155, 0.912, 1.383, 0, 90, 0, 81 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink. | STEP 2: Pick up the egg between the plate and the sink, on the counter.  | STEP 3: Turn around and go to the microwave above the stove.  | STEP 4: Place the egg in the microwave, heat it up, then remove the egg from the microwave.  | STEP 5: Turn to your left and walk past the stove, and out of the kitchen, then turn to your right and go to the table at the end of the room.  | STEP 6: Place the egg on the table between the butter knife and the sponge.  | END


Input: Put a heated egg on a table. 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, 180, 0,  [SEP] 1, Potato, 2.962, 1.053, -0.644, 0, 0, 0, 101 [SEP] 2, Potato, 2.156, 0.946, -0.6, 0, 0, 0, 46 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 4, Fork, 1.934, 0.771, -0.422, 0, 270, 0, 60 [SEP] 5, Spatula, 0.349, 0.926, -0.316, 0, 0, 0, 46 [SEP] 6, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 46 [SEP] 7, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 81 [SEP] 8, Egg, -2.019, 0.461, 1.417, 0, 270, 0, 99 [SEP] 9, Egg, 0.349, 0.949, -0.316, 0, 0, 0, 46 [SEP] 10, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 105 [SEP] 11, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 12, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 13, Tomato, -0.694, 0.852, -1.206, 0, 90, 0, 105 [SEP] 14, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 81 [SEP] 15, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 101 [SEP] 16, SaltShaker, -0.734, 0.817, -1.473, 0, 0, 0, 105 [SEP] 17, PepperShaker, 1.141, 0.908, -0.515, 0, 0, 0, 46 [SEP] 18, PepperShaker, 1.176, 0.111, 1.037, 0, 0, 0, 75 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 105 [SEP] 21, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 22, Apple, -0.198, 0.980, 1.383, 0, 0, 0, 57 [SEP] 23, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 105 [SEP] 24, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 80 [SEP] 25, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 81 [SEP] 26, Pot, 2.777, 1.292, -0.709, 0, 0, 0, 101 [SEP] 27, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 57 [SEP] 28, Egg, -1.991, 0.461, 1.247, 0, 270, 0, 99 [SEP] 29, Kettle, 1.862, 0.116, 1.117, 0, 0, 0, 75 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, 1.955, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.785, 0.835, -1.328, 0, 90, 0, 105 [SEP] 33, Apple, 0.570, 1.853, 1.423, 0, 180, 0, 104 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.053, 1.650, 1.470, 0, 0, 0, 72 [SEP] 37, Knife, -0.103, 0.944, 1.129, 0, 90, 0, 57 [SEP] 38, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.139, 0.111, 1.117, 0, 0, 0, 75 [SEP] 40, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 105 [SEP] 41, Bowl, 2.488, 0.909, 1.299, 0, 0, 0, 81 [SEP] 42, DishSponge, -1.056, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, 1.155, 0.912, 1.383, 0, 90, 0, 81 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Go to the left and stand in front of the sink. | STEP 2: Pick the egg up from the left of the sink. | STEP 3: Turn around and face the microwave that is above the stove. | STEP 4: Put the egg in the microwave and shut the door and then open the door and take the egg out again. | STEP 5: Go left and then left again to stand in front of the small, round, gray table. | STEP 6: Put the egg on the table. | END


Input: Move two soap dispenser to the white shelves.  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, 270, 0,  [SEP] 1, Cloth, 0.124, 0.048, 1.295, 0, 0, 0, 27 [SEP] 2, SprayBottle, -2.212, 1.048, -0.644, 0, 180, 0, 33 [SEP] 3, SprayBottle, -1.308, 0.289, 2.097, 0, 0, 0, 24 [SEP] 4, SoapBottle, -2.343, 1.049, -0.797, 0, 0, 0, 33 [SEP] 5, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 31 [SEP] 6, SoapBottle, -2.146, 1.049, -0.674, 0, 0, 0, 33 [SEP] 7, Candle, -2.212, 1.088, -0.797, 0, 0, 0, 33 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -0.859, 1.010, -0.350, 0, 306.598, 0, 21 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -1.949, 1.049, -0.705, 0, 0, 0, 33 [SEP] 13, TissueBox, -1.308, 1.773, 2.127, 0, 0, 0, 26 [SEP] 14, Cloth, 0.206, 0.048, -0.071, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.471, 1.066, 2.097, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -0.817, 1.774, 2.067, 0, 0, 0, 26 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Walk forward and turn left to face a bin,  | STEP 2: Pick up the soap dispenser from the bin.  | STEP 3: Turn around completely and walk to the white shelves. | STEP 4: Place the soap dispenser on the shelf. | STEP 5: Turn around completely and walk back to the bin.  | STEP 6: Pick up the other soap dispenser from the bin.  | STEP 7: Turn around completely and walk to the white shelves. | STEP 8: Place the soap dispenser on the shelf. | END