Input: Put a kettle of water on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Pan, 1.688, 0.911, 1.468, 0, 0, 0, 78 [SEP] 2, Pan, 2.488, 0.911, 1.468, 0, 0, 0, 78 [SEP] 3, DishSponge, 1.893, 0.771, 1.122, 0, 0, 0, 78 [SEP] 4, Kettle, 2.838, 1.655, 1.470, 0, 0, 0, 44 [SEP] 5, Kettle, 1.872, 1.655, -0.772, 0, 180, 0, 80 [SEP] 6, Spoon, -0.103, 0.912, 1.129, 0, 0, 0, 54 [SEP] 7, Spoon, -1.056, 0.822, -1.308, 0, 90, 0, 102 [SEP] 8, Spatula, -0.839, 0.835, -1.411, 0, 180, 0, 102 [SEP] 9, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 78 [SEP] 10, Egg, 0.466, 1.822, 1.520, 0, 180, 0, 101 [SEP] 11, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 54 [SEP] 12, SoapBottle, 1.216, 1.661, 1.546, 0, 0, 0, 70 [SEP] 13, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 102 [SEP] 14, SaltShaker, -0.766, 0.817, -1.206, 0, 90, 0, 102 [SEP] 15, PepperShaker, 1.216, 1.651, 1.429, 0, 0, 0, 70 [SEP] 16, PepperShaker, -0.983, 0.817, -1.411, 0, 90, 0, 102 [SEP] 17, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 98 [SEP] 18, Apple, 2.156, 0.980, -0.769, 0, 0, 0, 43 [SEP] 19, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 102 [SEP] 20, SoapBottle, 1.141, 0.917, -0.854, 0, 0, 0, 43 [SEP] 21, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 43 [SEP] 22, Fork, -0.836, 0.821, -1.110, 0, 0, 0, 102 [SEP] 23, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 58 [SEP] 24, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 78 [SEP] 25, Egg, -2.048, 0.461, 1.375, 0, 270, 0, 96 [SEP] 26, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 27, Tomato, -0.198, 0.942, 1.468, 0, 0, 0, 54 [SEP] 28, Cup, -0.939, 0.818, -1.110, 0, 0, 0, 102 [SEP] 29, Spatula, 1.688, 0.926, 1.044, 0, 0, 0, 78 [SEP] 30, Apple, -0.151, 0.980, 1.299, 0, 0, 0, 54 [SEP] 31, Pan, 2.838, 1.018, -0.578, 0, 0, 0, 98 [SEP] 32, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 43 [SEP] 33, SaltShaker, 1.287, 0.111, 1.276, 0, 0, 0, 50 [SEP] 34, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 78 [SEP] 35, Potato, 0.634, 0.946, -0.854, 0, 0, 0, 43 [SEP] 36, PepperShaker, 2.488, 0.908, 1.299, 0, 0, 0, 78 [SEP] 37, ButterKnife, -0.983, 0.820, -1.308, 0, 90, 0, 102 [SEP] 38, Bowl, 2.242, 1.653, -0.725, 0, 180, 0, 64 [SEP] 39, DishSponge, 2.512, 0.771, 1.236, 0, 0, 0, 59 [SEP] 40, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 78 [SEP] 41, Mug, 0.759, 2.148, 1.545, 0, 0, 0, 52 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the stove then turn left when you get to it to face it. | STEP 2: Pick up the kettle that's in front of you on the back right burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the kettle with water then shut off the tap. | STEP 5: Turn left and walk to the coffee maker then turn right to face it. | STEP 6: Put the kettle on the edge of the counter to the right of the coffee maker. | END


Input: Place two pencils on top of the brown drawer set under the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -2.25, 0, 180, 0,  [SEP] 1, Mug, -1.270, 0.798, -3.703, 0, 0, 0, 40 [SEP] 2, Mug, -3.539, 0.979, -4.075, 0, 180, 0, 43 [SEP] 3, CD, -3.470, 0.614, -3.885, 0, 0, 0, 49 [SEP] 4, Pencil, -3.750, 0.048, -4.351, 0, 0, 0, 48 [SEP] 5, Pencil, -1.066, 0.807, -3.920, 0, 0, 0, 40 [SEP] 6, Pencil, -1.066, 0.803, -3.811, 0, 0, 0, 40 [SEP] 7, CreditCard, -0.657, 0.800, -4.246, 0, 0, 0, 40 [SEP] 8, KeyChain, -3.760, 0.980, -4.276, 0, 0, 0, 43 [SEP] 9, Pillow, -3.402, 0.722, -0.931, 0, 0, 0, 25 [SEP] 10, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 25 [SEP] 11, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 40 [SEP] 12, Book, -3.834, 0.980, -3.271, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.687, 0.981, -3.070, 0, 0, 0, 43 [SEP] 14, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 25 [SEP] 15, CreditCard, -0.329, 0.542, -3.731, 0, 0, 0, 34 [SEP] 16, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 43 [SEP] 17, KeyChain, -3.526, 0.420, -3.793, 0, 0, 0, 46 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 29 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -0.596, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 40 [SEP] 24, Mug, -1.474, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk. | STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right. | STEP 5: Turn right for one step and turn left facing the table.  | STEP 6: Pick up the pencil closest to the front. | STEP 7: Turn around for one step, turn right then stop in front of the white desk. | STEP 8: Put the pencil above the pencil on the brown drawers to the right of the CD, with the lead facing up. | END


Input: Move two newspapers to the brown chair.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Watch, 1.682, 0.871, 0.537, 0, 90, 0, 38 [SEP] 2, Watch, -0.712, 0.552, -0.623, 0, 270, 0, 32 [SEP] 3, Newspaper, 1.766, 0.868, 0.114, 0, 90, 0, 38 [SEP] 4, KeyChain, -0.841, 0.038, -0.120, 0, 270, 0, 28 [SEP] 5, KeyChain, -0.582, 0.359, -0.480, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.582, 0.039, -0.120, 0, 270, 0, 28 [SEP] 7, CreditCard, 1.285, 0.277, -0.512, 0, 0, 0, 40 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 40 [SEP] 10, Watch, -0.323, 0.038, -0.120, 0, 270, 0, Floor|+00.00| [SEP] 11, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 32 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.323, 0.357, -0.512, 0, 90, 0, 31 [SEP] 14, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Walk to the table to the left of the chair.  | STEP 2: Pick up the newspaper from the table.  | STEP 3: Walk over to the front of the chair to the right of the table.  | STEP 4: Put the paper down on the chair.  | STEP 5: Walk over to the couch and turn to face the coffee table.  | STEP 6: Pick up the newspaper from the coffee table.  | STEP 7: Walk back over to the brown chair.  | STEP 8: Put the newspaper down on the chair to the right of the first newspaper.  | END


Input: put all the news paper at the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Watch, 1.682, 0.871, 0.537, 0, 90, 0, 38 [SEP] 2, Watch, -0.712, 0.552, -0.623, 0, 270, 0, 32 [SEP] 3, Newspaper, 1.766, 0.868, 0.114, 0, 90, 0, 38 [SEP] 4, KeyChain, -0.841, 0.038, -0.120, 0, 270, 0, 28 [SEP] 5, KeyChain, -0.582, 0.359, -0.480, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.582, 0.039, -0.120, 0, 270, 0, 28 [SEP] 7, CreditCard, 1.285, 0.277, -0.512, 0, 0, 0, 40 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 40 [SEP] 10, Watch, -0.323, 0.038, -0.120, 0, 270, 0, Floor|+00.00| [SEP] 11, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 32 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.323, 0.357, -0.512, 0, 90, 0, 31 [SEP] 14, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch | STEP 4: put the news paper to the couch | STEP 5: Look around and face the center table | STEP 6: at the table, pick up the news paper. | STEP 7: Head towards the couch  with the first newspaper | STEP 8: put the newspaper at the couch beside the first one. | END


Input: Put two potatoes in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.25, 0, 90, 0,  [SEP] 1, Pan, -1.261, 0.202, -1.338, 0, 0, 0, 63 [SEP] 2, Potato, 0.065, 1.096, 0.091, 0, 0, 0, 57 [SEP] 3, Potato, -0.775, 1.100, -1.181, 0, 0, 0, 55 [SEP] 4, Potato, -1.126, 1.017, 2.242, 0, 90, 0, 70 [SEP] 5, DishSponge, -0.517, 1.046, -1.505, 0, 0, 0, 55 [SEP] 6, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 57 [SEP] 7, Kettle, 1.112, 1.566, -1.689, 0, 0, 0, 59 [SEP] 8, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 58 [SEP] 9, Pot, -1.261, 2.029, -1.264, 0, 270, 0, 62 [SEP] 10, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 53 [SEP] 11, Spoon, 0.936, 1.054, 0.331, 0, 270, 0, 53 [SEP] 12, Cup, 1.036, 1.565, -1.388, 0, 0, 0, 59 [SEP] 13, Plate, -1.349, 1.726, 1.885, 0, 90, 0, 70 [SEP] 14, Plate, 0.989, 1.059, -1.289, 0, 0, 0, 55 [SEP] 15, Knife, 0.848, 1.069, 0.676, 0, 0, 0, 57 [SEP] 16, Knife, -0.346, 1.072, -1.720, 0, 90, 0, 55 [SEP] 17, Tomato, 0.065, 1.094, 0.415, 0, 0, 0, 57 [SEP] 18, Tomato, -1.169, 1.279, 2.063, 0, 90, 0, 70 [SEP] 19, SoapBottle, -1.105, 0.203, -1.193, 0, 90, 0, 63 [SEP] 20, SoapBottle, 1.826, 0.123, 2.358, 0, 270, 0, 71 [SEP] 21, Bowl, 1.820, 1.018, -1.337, 0, 0, 0, 61 [SEP] 22, Bowl, -1.366, 1.227, 1.974, 0, 90, 0, 70 [SEP] 23, PepperShaker, 1.263, 1.560, -1.614, 0, 0, 0, 59 [SEP] 24, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 70 [SEP] 25, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 73 [SEP] 26, Mug, -1.268, 1.943, 2.063, 0, 90, 0, 70 [SEP] 27, Apple, 0.160, 1.086, 0.307, 0, 0, 0, 57 [SEP] 28, Apple, 1.347, 1.086, 0.763, 0, 0, 0, 57 [SEP] 29, SoapBottle, 0.892, 1.054, 0.181, 0, 90, 0, 53 [SEP] 30, Apple, 0.848, 1.097, 0.381, 0, 90, 0, 53 [SEP] 31, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 57 [SEP] 32, Fork, 0.516, 1.033, 0.545, 0, 0, 0, 57 [SEP] 33, Kettle, 1.820, 1.020, -1.557, 0, 0, 0, 61 [SEP] 34, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 55 [SEP] 35, Tomato, -1.051, 0.758, 1.885, 0, 90, 0, 70 [SEP] 36, SaltShaker, 1.879, 1.038, 0.091, 0, 0, 0, 57 [SEP] 37, Egg, -1.103, 1.282, 2.153, 0, 90, 0, 70 [SEP] 38, Cup, -1.381, 1.489, 2.331, 0, 90, 0, 70 [SEP] 39, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 55 [SEP] 40, Knife, 1.790, 1.069, 0.738, 0, 0, 0, 57 [SEP] 41, Lettuce, 1.181, 1.103, 0.632, 0, 0, 0, 57 [SEP] 42, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 57 [SEP] 43, PepperShaker, -0.580, 0.198, -1.193, 0, 0, 0, 64 [SEP] 44, DishSponge, 1.436, 0.204, -1.408, 0, 0, 0, 65 [SEP] 45, Plate, -0.398, 1.577, -1.545, 0, 0, 0, 60 [SEP] 46, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 57 [SEP] 47, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 57 [SEP] 48, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 51 [SEP] 49, Mug, -1.169, 1.223, 1.885, 0, 90, 0, 70 [SEP] 50, Bowl, 1.512, 1.018, -1.337, 0, 0, 0, 61 [SEP] 51, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 52, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 53, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 54, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 55, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 56, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 57, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 58, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 59, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 60, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 61, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 63, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 64, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 65, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 66, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 67, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 68, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 69, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 70, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 71, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 72, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 73, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 74, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 75, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 76, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 77, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 78, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 79, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 80, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 81, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 82, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right. | STEP 4: Put potato in the microwave. | STEP 5: Turn left, go forward, then turn left to face the kitchen island. | STEP 6: Pick up the left most potato on the kitchen island, in front the spoon. | STEP 7: Turn left, go forward, then turn left to return to the microwave. | STEP 8: Put the potato in the microwave, to the left of the other potato. | END


Input: Heat an apple and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.75, 0, 180, 0,  [SEP] 1, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 55 [SEP] 2, DishSponge, 0.446, 1.042, 0.738, 0, 0, 0, 46 [SEP] 3, Kettle, 1.817, 0.205, -1.553, 0, 0, 0, 54 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 5, Fork, 1.347, 1.043, 0.807, 0, 0, 0, 46 [SEP] 6, Spoon, 0.657, 1.048, -1.107, 0, 0, 0, 44 [SEP] 7, Spoon, 1.015, 1.044, 0.720, 0, 0, 0, 46 [SEP] 8, Egg, 1.882, 0.177, 2.414, 0, 270, 0, 60 [SEP] 9, Plate, -1.342, 1.502, 1.885, 0, 90, 0, 59 [SEP] 10, Plate, -1.106, 2.041, -1.264, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.897, 1.020, -1.191, 0, 90, 0, 50 [SEP] 12, SoapBottle, -0.699, 1.565, -1.545, 0, 0, 0, 49 [SEP] 13, Bowl, 1.741, 0.203, -1.262, 0, 0, 0, 54 [SEP] 14, Bowl, 1.158, 0.198, -1.484, 0, 0, 0, 55 [SEP] 15, SaltShaker, 0.979, 0.194, -1.628, 0, 0, 0, 55 [SEP] 16, PepperShaker, 1.743, 1.014, -1.191, 0, 0, 0, 50 [SEP] 17, PepperShaker, -0.323, 1.560, -1.619, 0, 0, 0, 49 [SEP] 18, SoapBottle, 1.589, 1.020, -1.337, 0, 0, 0, 50 [SEP] 19, Apple, 0.761, 1.097, 0.231, 0, 90, 0, 42 [SEP] 20, Potato, -1.145, 1.769, -1.269, 0, 0, 0, 58 [SEP] 21, Fork, -0.775, 1.047, -1.828, 0, 90, 0, 44 [SEP] 22, Kettle, 1.036, 1.566, -1.764, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, 0.761, 1.104, 0.131, 0, 90, 0, 42 [SEP] 25, SaltShaker, 0.446, 1.038, 0.630, 0, 0, 0, 46 [SEP] 26, Egg, -1.157, 1.018, 1.796, 0, 90, 0, 59 [SEP] 27, Cup, -0.580, 0.203, -1.193, 0, 0, 0, 53 [SEP] 28, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 46 [SEP] 29, Knife, 0.805, 1.080, 0.331, 0, 180, 0, 42 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.160, 1.043, 0.630, 0, 0, 0, 46 [SEP] 32, PepperShaker, -0.346, 1.041, -1.828, 0, 0, 0, 44 [SEP] 33, DishSponge, 0.936, 1.053, 0.381, 0, 90, 0, 42 [SEP] 34, Plate, -1.105, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 46 [SEP] 36, Spoon, 0.160, 1.044, 0.522, 0, 0, 0, 46 [SEP] 37, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 38, Mug, 0.936, 1.048, 0.231, 0, 90, 0, 42 [SEP] 39, Bowl, -1.339, 0.201, -1.338, 0, 0, 0, 52 [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 to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Carry the apple and turn to the left, then face the microwave on the left. | STEP 4: Open the microwave and place the apple inside. Shut the door then open it and take the apple out. Shut the door. | STEP 5: Carry the apple and turn to the left and go to the sink. | STEP 6: Place the apple in the sink. | END


Input: Place a heated apple in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.75, 0, 180, 0,  [SEP] 1, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 55 [SEP] 2, DishSponge, 0.446, 1.042, 0.738, 0, 0, 0, 46 [SEP] 3, Kettle, 1.817, 0.205, -1.553, 0, 0, 0, 54 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 5, Fork, 1.347, 1.043, 0.807, 0, 0, 0, 46 [SEP] 6, Spoon, 0.657, 1.048, -1.107, 0, 0, 0, 44 [SEP] 7, Spoon, 1.015, 1.044, 0.720, 0, 0, 0, 46 [SEP] 8, Egg, 1.882, 0.177, 2.414, 0, 270, 0, 60 [SEP] 9, Plate, -1.342, 1.502, 1.885, 0, 90, 0, 59 [SEP] 10, Plate, -1.106, 2.041, -1.264, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.897, 1.020, -1.191, 0, 90, 0, 50 [SEP] 12, SoapBottle, -0.699, 1.565, -1.545, 0, 0, 0, 49 [SEP] 13, Bowl, 1.741, 0.203, -1.262, 0, 0, 0, 54 [SEP] 14, Bowl, 1.158, 0.198, -1.484, 0, 0, 0, 55 [SEP] 15, SaltShaker, 0.979, 0.194, -1.628, 0, 0, 0, 55 [SEP] 16, PepperShaker, 1.743, 1.014, -1.191, 0, 0, 0, 50 [SEP] 17, PepperShaker, -0.323, 1.560, -1.619, 0, 0, 0, 49 [SEP] 18, SoapBottle, 1.589, 1.020, -1.337, 0, 0, 0, 50 [SEP] 19, Apple, 0.761, 1.097, 0.231, 0, 90, 0, 42 [SEP] 20, Potato, -1.145, 1.769, -1.269, 0, 0, 0, 58 [SEP] 21, Fork, -0.775, 1.047, -1.828, 0, 90, 0, 44 [SEP] 22, Kettle, 1.036, 1.566, -1.764, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, 0.761, 1.104, 0.131, 0, 90, 0, 42 [SEP] 25, SaltShaker, 0.446, 1.038, 0.630, 0, 0, 0, 46 [SEP] 26, Egg, -1.157, 1.018, 1.796, 0, 90, 0, 59 [SEP] 27, Cup, -0.580, 0.203, -1.193, 0, 0, 0, 53 [SEP] 28, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 46 [SEP] 29, Knife, 0.805, 1.080, 0.331, 0, 180, 0, 42 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.160, 1.043, 0.630, 0, 0, 0, 46 [SEP] 32, PepperShaker, -0.346, 1.041, -1.828, 0, 0, 0, 44 [SEP] 33, DishSponge, 0.936, 1.053, 0.381, 0, 90, 0, 42 [SEP] 34, Plate, -1.105, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 46 [SEP] 36, Spoon, 0.160, 1.044, 0.522, 0, 0, 0, 46 [SEP] 37, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 38, Mug, 0.936, 1.048, 0.231, 0, 90, 0, 42 [SEP] 39, Bowl, -1.339, 0.201, -1.338, 0, 0, 0, 52 [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: Go to the center kitchen console | STEP 2: Pick up the apple in the center kitchen | STEP 3: Go to the microwave | STEP 4: Heat the apple in the microwave | STEP 5: Go to the sink in the center kitchen console | STEP 6: Place the apple in the sink | END


Input: move the newspaper from the sofa to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.25, 0, 90, 0,  [SEP] 1, Newspaper, -0.789, 0.431, 3.306, 0, 0, 0, 39 [SEP] 2, CreditCard, -0.687, 0.793, 5.726, 0, 270, 0, 40 [SEP] 3, CreditCard, -5.885, 1.279, 4.349, 0, 0, 0, 53 [SEP] 4, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 50 [SEP] 5, RemoteControl, -3.557, 1.282, 7.361, 0, 90, 0, 55 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -2.672, 0.147, 7.122, 0, 90, 0, 50 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.947, 0.365, 4.524, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.424, 0.534, 6.815, 0, 45, 0, 57 [SEP] 14, CreditCard, -0.868, 0.439, 3.915, 0, 0, 0, 39 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -6.002, 0.147, 4.942, 0, 0, 0, 46 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -2.422, 0.535, 3.752, 0, 270, 0, 56 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -2.491, 0.533, 4.335, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.474, 0.156, 7.173, 0, 180, 0, 50 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: turn right, walk to the end of the sofa | STEP 2: grab the newspaper on the sofa | STEP 3: turn around, walk to the coffee table | STEP 4: put the newspaper on the table | END


Input: move newspaper from couch to coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.25, 0, 90, 0,  [SEP] 1, Newspaper, -0.789, 0.431, 3.306, 0, 0, 0, 39 [SEP] 2, CreditCard, -0.687, 0.793, 5.726, 0, 270, 0, 40 [SEP] 3, CreditCard, -5.885, 1.279, 4.349, 0, 0, 0, 53 [SEP] 4, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 50 [SEP] 5, RemoteControl, -3.557, 1.282, 7.361, 0, 90, 0, 55 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -2.672, 0.147, 7.122, 0, 90, 0, 50 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.947, 0.365, 4.524, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.424, 0.534, 6.815, 0, 45, 0, 57 [SEP] 14, CreditCard, -0.868, 0.439, 3.915, 0, 0, 0, 39 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -6.002, 0.147, 4.942, 0, 0, 0, 46 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -2.422, 0.535, 3.752, 0, 270, 0, 56 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -2.491, 0.533, 4.335, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.474, 0.156, 7.173, 0, 180, 0, 50 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: walk forward, turn right between couch and coffee table, walk forward, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn around, walk forward, turn right after the coffee table, turn right to face coffee table | STEP 4: put newspaper on to the coffee table | END


Input: Cook the tomato and throw it away. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 85 [SEP] 2, Potato, 2.653, 0.760, -0.473, 0, 0, 0, 105 [SEP] 3, Potato, 1.395, 0.946, -0.345, 0, 0, 0, 50 [SEP] 4, DishSponge, 1.490, 0.770, 1.122, 0, 0, 0, 68 [SEP] 5, Kettle, 2.488, 0.912, 1.129, 0, 0, 0, 85 [SEP] 6, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 85 [SEP] 7, Spoon, -0.839, 0.822, -1.308, 0, 270, 0, 109 [SEP] 8, Spoon, 0.888, 0.912, -0.345, 0, 0, 0, 50 [SEP] 9, Spatula, -0.887, 0.835, -1.400, 0, 180, 0, 109 [SEP] 10, Cup, -1.056, 0.818, -1.308, 0, 90, 0, 109 [SEP] 11, Cup, -0.103, 0.909, 1.214, 0, 0, 0, 61 [SEP] 12, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 85 [SEP] 13, Egg, 0.053, 0.803, -0.596, 0, 0, 0, 107 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 107 [SEP] 15, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 85 [SEP] 16, SoapBottle, -0.086, 0.120, 1.156, 0, 0, 0, 78 [SEP] 17, SoapBottle, -0.621, 0.826, -1.206, 0, 90, 0, 109 [SEP] 18, Tomato, 2.900, 0.758, -0.504, 0, 0, 0, 105 [SEP] 19, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 103 [SEP] 20, Tomato, -0.055, 0.942, 1.383, 0, 0, 0, 61 [SEP] 21, SaltShaker, 2.154, 1.650, 1.355, 0, 0, 0, 74 [SEP] 22, PepperShaker, -0.766, 0.817, -1.206, 0, 90, 0, 109 [SEP] 23, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 61 [SEP] 24, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 85 [SEP] 25, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 50 [SEP] 26, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 107 [SEP] 27, SoapBottle, 1.484, 1.661, -0.693, 0, 180, 0, 72 [SEP] 28, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 85 [SEP] 29, Fork, 2.173, 0.772, -0.498, 0, 90, 0, 63 [SEP] 30, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 31, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 105 [SEP] 32, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 107 [SEP] 33, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 34, Tomato, -0.682, 0.852, -1.328, 0, 0, 0, 109 [SEP] 35, Cup, -0.055, 0.909, 1.044, 0, 0, 0, 61 [SEP] 36, Spatula, 2.754, 0.926, 1.553, 0, 270, 0, 85 [SEP] 37, Apple, 2.221, 0.980, 1.383, 0, 0, 0, 85 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 50 [SEP] 40, SaltShaker, -0.939, 0.817, -1.255, 0, 0, 0, 109 [SEP] 41, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 50 [SEP] 42, Potato, 2.653, 1.323, -0.578, 0, 0, 0, 105 [SEP] 43, PepperShaker, -0.151, 0.908, 1.468, 0, 0, 0, 61 [SEP] 44, ButterKnife, 1.141, 0.911, -0.430, 0, 0, 0, 50 [SEP] 45, Bowl, 1.827, 0.112, 1.196, 0, 0, 0, 70 [SEP] 46, DishSponge, 1.102, 0.114, 1.196, 0, 0, 0, 79 [SEP] 47, Spoon, 1.967, 0.772, -0.460, 0, 270, 0, 64 [SEP] 48, Mug, 2.653, 1.558, -0.709, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 111, NorthWall, , , , , , ,  [SEP] 112, EastWall, , , , , , ,  [SEP] 113, SouthWall, , , , , , ,  [SEP] 114, WestWall, , , , , , ,

Output: STEP 1: Turn around, head towards the fridge and face the fridge. | STEP 2: Open the fridge and take the tomato out, then close the door. | STEP 3: Turn to the right and head towards the stove, then face the stove. | STEP 4: Look up at the microwave, place the tomato in the microwave, close the door, cook the tomato, and now take it out. | STEP 5: Turn to the left and head towards the recycle bin. | STEP 6: Place the tomato in the recycle bin. | END


Input: Put a knife in a pot from the stove to place on the circular table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.25, 0, 270, 0,  [SEP] 1, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 102 [SEP] 2, Potato, 3.341, 0.875, -0.514, 0, 0, 0, 99 [SEP] 3, DishSponge, -1.991, 0.423, 1.332, 0, 270, 0, 97 [SEP] 4, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 97 [SEP] 5, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 6, Pot, 2.837, 0.118, 1.156, 0, 0, 0, 76 [SEP] 7, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 8, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 103 [SEP] 9, Fork, 1.208, 0.771, -0.498, 0, 90, 0, 63 [SEP] 10, Fork, -0.103, 0.912, 1.214, 0, 90, 0, 55 [SEP] 11, Spatula, 1.422, 0.926, 1.553, 0, 270, 0, 79 [SEP] 12, Egg, 2.488, 0.949, 1.468, 0, 0, 0, 79 [SEP] 13, SoapBottle, 1.827, 0.120, 1.236, 0, 0, 0, 64 [SEP] 14, SoapBottle, 1.179, 1.661, 1.507, 0, 0, 0, 71 [SEP] 15, Bowl, 2.653, 1.561, -0.709, 0, 0, 0, 99 [SEP] 16, PepperShaker, 1.563, 0.110, 1.231, 0, 0, 0, 73 [SEP] 17, PepperShaker, -1.056, 0.817, -1.411, 0, 90, 0, 103 [SEP] 18, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 79 [SEP] 19, Mug, 1.955, 0.906, 1.383, 0, 0, 0, 79 [SEP] 20, Apple, 2.900, 0.795, -0.473, 0, 0, 0, 99 [SEP] 21, SoapBottle, -0.123, 0.120, 1.196, 0, 0, 0, 72 [SEP] 22, Plate, 2.715, 1.291, -0.709, 0, 0, 0, 99 [SEP] 23, Fork, 1.457, 0.771, -0.422, 0, 270, 0, 74 [SEP] 24, Pot, 2.838, 1.022, -0.578, 0, 0, 0, 99 [SEP] 25, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 44 [SEP] 26, Egg, 0.193, 0.803, -0.762, 0, 0, 0, 101 [SEP] 27, Kettle, -0.090, 1.655, 1.470, 0, 0, 0, 70 [SEP] 28, Tomato, -0.621, 0.852, -1.411, 0, 90, 0, 103 [SEP] 29, Cup, 0.750, 1.653, -0.771, 0, 180, 0, 54 [SEP] 30, Spatula, -0.734, 0.835, -1.400, 0, 90, 0, 103 [SEP] 31, Apple, 2.715, 0.794, -0.504, 0, 0, 0, 99 [SEP] 32, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 55 [SEP] 34, SaltShaker, 1.247, 0.110, -0.346, 0, 180, 0, 52 [SEP] 35, Knife, 2.221, 0.944, 1.129, 0, 0, 0, 79 [SEP] 36, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 102 [SEP] 37, PepperShaker, 1.487, 1.650, 1.355, 0, 0, 0, 67 [SEP] 38, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 55 [SEP] 39, Bowl, 2.242, 1.653, -0.725, 0, 180, 0, 65 [SEP] 40, DishSponge, 2.449, 1.655, 1.468, 0, 0, 0, 69 [SEP] 41, Spoon, 2.173, 0.773, -0.498, 0, 180, 0, 57 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk towards the stove. | STEP 4: Put the knife in the flattest circular pot on the stove. | STEP 5: Put up the pot with the knife from the stove. | STEP 6: Make a left to walk around the counter towards the circular table. | STEP 7: Put the pot with the knife on top of the table. | END


Input: Put the pen in the cup on the table, put them on the brown cabinet under 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, 0.909, -2.25, 0, 90, 0,  [SEP] 1, Mug, -1.066, 0.798, -3.811, 0, 0, 0, 41 [SEP] 2, Mug, -1.474, 0.798, -3.920, 0, 0, 0, 41 [SEP] 3, CD, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 4, CD, -0.453, 0.803, -4.137, 0, 0, 0, 41 [SEP] 5, Pen, -3.613, 0.985, -3.070, 0, 0, 0, 44 [SEP] 6, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 35 [SEP] 7, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 41 [SEP] 8, KeyChain, -3.526, 0.615, -3.184, 0, 0, 0, 45 [SEP] 9, KeyChain, -0.274, 0.349, -3.811, 0, 0, 0, 35 [SEP] 10, Book, -3.613, 0.620, -0.643, 0, 0, 0, 26 [SEP] 11, Book, -0.426, 0.189, -3.811, 0, 0, 0, 33 [SEP] 12, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 41 [SEP] 13, Book, -3.402, 0.620, -0.643, 0, 0, 0, 26 [SEP] 14, CellPhone, -2.348, 0.620, -1.506, 0, 0, 0, 26 [SEP] 15, Laptop, -3.191, 0.618, -1.218, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.539, 0.979, -4.276, 0, 0, 0, 44 [SEP] 17, AlarmClock, -0.657, 0.800, -3.811, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.329, 0.543, -3.749, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.908, 0.983, -3.874, 0, 0, 0, 44 [SEP] 22, Pillow, -2.981, 0.722, -1.793, 0, 0, 0, 26 [SEP] 23, CD, -1.827, 0.062, -3.905, 0, 279.990, 0, 30 [SEP] 24, Pen, -0.453, 0.809, -3.811, 0, 0, 0, 41 [SEP] 25, Mug, -3.834, 0.979, -3.673, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little | STEP 4: Put the pen in the cup in the middle of the table | STEP 5: Take the cup with pen | STEP 6: Turn around, and turn around | STEP 7: Put the cup with pen under the white table on the brown cabinet | END


Input: take the bowl from the cabinet to the fridge then back to the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 100 [SEP] 2, DishSponge, 1.216, 1.655, 1.429, 0, 0, 0, 70 [SEP] 3, DishSponge, 1.524, 0.771, -0.383, 0, 180, 0, 73 [SEP] 4, Kettle, 1.208, 1.655, -0.811, 0, 180, 0, 45 [SEP] 5, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 78 [SEP] 6, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 78 [SEP] 7, Cup, 2.900, 0.724, -0.504, 0, 0, 0, 98 [SEP] 8, Cup, 2.777, 1.286, -0.644, 0, 0, 0, 98 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 96 [SEP] 10, SoapBottle, -0.836, 0.826, -1.328, 0, 0, 0, 102 [SEP] 11, SoapBottle, 2.188, 0.120, 1.231, 0, 0, 0, 79 [SEP] 12, Tomato, 2.591, 1.050, -0.709, 0, 0, 0, 98 [SEP] 13, Tomato, -1.933, 0.455, 1.332, 0, 270, 0, 96 [SEP] 14, SaltShaker, 1.931, 0.111, 1.236, 0, 0, 0, 63 [SEP] 15, SaltShaker, 1.688, 0.908, 1.299, 0, 0, 0, 78 [SEP] 16, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 54 [SEP] 17, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 78 [SEP] 18, Apple, 0.634, 0.980, -0.430, 0, 0, 0, 43 [SEP] 19, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 101 [SEP] 20, SoapBottle, -0.836, 0.826, -1.473, 0, 0, 0, 102 [SEP] 21, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 83 [SEP] 22, Fork, 0.634, 0.912, -0.6, 0, 270, 0, 43 [SEP] 23, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 24, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 98 [SEP] 25, Egg, -1.056, 0.858, -1.360, 0, 90, 0, 102 [SEP] 26, Kettle, 2.221, 0.912, 1.468, 0, 0, 0, 78 [SEP] 27, Tomato, -0.621, 0.852, -1.103, 0, 90, 0, 102 [SEP] 28, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 101 [SEP] 29, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 78 [SEP] 30, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 78 [SEP] 33, SaltShaker, -0.734, 0.817, -1.183, 0, 0, 0, 102 [SEP] 34, Knife, -0.836, 0.853, -1.038, 0, 0, 0, 102 [SEP] 35, Potato, 2.591, 1.053, -0.840, 0, 0, 0, 98 [SEP] 36, PepperShaker, -0.240, 0.908, -0.330, 0, 0, 0, 43 [SEP] 37, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 102 [SEP] 38, Bowl, -0.164, 1.652, 1.470, 0, 0, 0, 69 [SEP] 39, DishSponge, 1.862, 0.770, 1.160, 0, 0, 0, 78 [SEP] 40, Spoon, 2.205, 0.772, -0.422, 0, 180, 0, 56 [SEP] 41, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 43 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: go to the upper left most cabinet | STEP 2: take the blue bowl from the cabinet | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: approach the cabinet on the bottom to the right of the fridge | STEP 6: put the bowl in the fridge | END


Input: Put a piece of heated apple in the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Potato, 1.155, 0.946, 1.299, 0, 180, 0, 84 [SEP] 2, Kettle, 1.213, 0.116, 1.117, 0, 0, 0, 56 [SEP] 3, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 84 [SEP] 4, Spoon, 1.174, 0.773, -0.460, 0, 180, 0, 68 [SEP] 5, Fork, 2.217, 0.772, 1.198, 0, 270, 0, 80 [SEP] 6, Spatula, 0.888, 0.926, -0.430, 0, 0, 0, 49 [SEP] 7, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 106 [SEP] 8, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 84 [SEP] 9, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 84 [SEP] 10, Cup, 0.466, 1.782, 1.455, 0, 180, 0, 107 [SEP] 11, Egg, -0.017, 0.803, -0.541, 0, 0, 0, 106 [SEP] 12, Egg, 0.570, 1.822, 1.520, 0, 180, 0, 107 [SEP] 13, Knife, 1.688, 0.944, 1.044, 0, 0, 0, 84 [SEP] 14, Knife, 0.888, 0.944, -0.684, 0, 0, 0, 49 [SEP] 15, SoapBottle, -1.991, 0.429, 1.290, 0, 270, 0, 102 [SEP] 16, SoapBottle, 2.754, 0.917, 1.553, 0, 0, 0, 84 [SEP] 17, Tomato, 2.591, 0.758, -0.535, 0, 0, 0, 104 [SEP] 18, Bowl, 1.155, 0.909, 1.129, 0, 0, 0, 84 [SEP] 19, Bowl, 2.153, 0.112, 1.193, 0, 0, 0, 85 [SEP] 20, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 104 [SEP] 21, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 84 [SEP] 22, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 84 [SEP] 23, Mug, -0.198, 0.906, 1.468, 0, 270, 0, 60 [SEP] 24, Apple, 2.777, 1.357, -0.775, 0, 0, 0, 104 [SEP] 25, Apple, -1.962, 0.492, 1.417, 0, 270, 0, 102 [SEP] 26, SoapBottle, -1.056, 0.826, -1.308, 0, 90, 0, 108 [SEP] 27, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 49 [SEP] 28, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 108 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 60 [SEP] 31, Egg, 2.488, 0.949, 1.553, 0, 0, 0, 84 [SEP] 32, Kettle, -0.141, 1.655, -0.772, 0, 180, 0, 91 [SEP] 33, Tomato, 2.653, 1.320, -0.775, 0, 0, 0, 104 [SEP] 34, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 106 [SEP] 35, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 60 [SEP] 36, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 108 [SEP] 37, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 38, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 84 [SEP] 39, SaltShaker, 0.054, 0.908, -0.316, 0, 0, 0, 49 [SEP] 40, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 41, Potato, -0.785, 0.855, -1.400, 0, 0, 0, 108 [SEP] 42, PepperShaker, -0.103, 0.908, 1.383, 0, 0, 0, 60 [SEP] 43, ButterKnife, 0.888, 0.911, -0.430, 0, 90, 0, 49 [SEP] 44, Bowl, 1.485, 0.112, -0.498, 0, 180, 0, 66 [SEP] 45, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 84 [SEP] 46, Spoon, -0.734, 0.822, -1.255, 0, 0, 0, 108 [SEP] 47, Mug, 1.902, 0.906, -0.430, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the counter above the dishwasher.  | STEP 2: Pick up the gray knife on the counter  | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table.  | STEP 5: Turn around and go to the sink on the right.  | STEP 6: Place the knife in the sink.  | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple.  | STEP 9: Turn around the go to the microwave above the stove.  | STEP 10: Remove the apple after heating in the microwave.  | STEP 11: Turn around and go back to the sink.  | STEP 12: Place the apple piece in the sink.  | END


Input: Place a microwave coffee cup in the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.5, 0, 180, 0,  [SEP] 1, Potato, 2.715, 0.761, -0.473, 0, 0, 0, 104 [SEP] 2, Potato, 2.488, 0.946, 1.214, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.141, 0.771, 1.160, 0, 0, 0, 94 [SEP] 4, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 84 [SEP] 5, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 64 [SEP] 6, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 60 [SEP] 7, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 49 [SEP] 8, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 9, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 108 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 74 [SEP] 11, Plate, 2.754, 0.914, 1.129, 0, 0, 0, 84 [SEP] 12, Cup, 1.896, 0.112, 1.196, 0, 0, 0, 85 [SEP] 13, Cup, 2.124, 0.112, -0.379, 0, 180, 0, 90 [SEP] 14, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 106 [SEP] 16, Knife, 0.123, 0.798, -0.707, 0, 90, 0, 106 [SEP] 17, Knife, -0.836, 0.853, -1.473, 0, 0, 0, 108 [SEP] 18, SoapBottle, -0.123, 0.120, 1.236, 0, 0, 0, 77 [SEP] 19, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 106 [SEP] 20, Tomato, 2.777, 1.050, -0.644, 0, 0, 0, 104 [SEP] 21, Bowl, 1.485, 0.112, -0.458, 0, 180, 0, 66 [SEP] 22, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 84 [SEP] 23, Mug, 2.242, 1.650, -0.798, 0, 180, 0, 70 [SEP] 24, Mug, 1.955, 0.906, 1.129, 0, 0, 0, 84 [SEP] 25, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 107 [SEP] 26, SoapBottle, 1.597, 1.660, 1.508, 0, 0, 0, 72 [SEP] 27, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 84 [SEP] 28, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 108 [SEP] 29, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 49 [SEP] 30, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 60 [SEP] 31, Egg, 2.591, 1.056, -0.709, 0, 0, 0, 104 [SEP] 32, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 33, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 108 [SEP] 34, Cup, -0.621, 0.818, -1.360, 0, 90, 0, 108 [SEP] 35, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 108 [SEP] 36, Apple, -1.962, 0.492, 1.375, 0, 270, 0, 102 [SEP] 37, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 38, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.422, 0.908, 1.214, 0, 0, 0, 84 [SEP] 40, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 106 [SEP] 41, Potato, -0.836, 0.855, -1.183, 0, 0, 0, 108 [SEP] 42, PepperShaker, 1.422, 0.908, 1.383, 0, 0, 0, 84 [SEP] 43, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 84 [SEP] 44, Bowl, 1.955, 0.909, 1.383, 0, 0, 0, 84 [SEP] 45, DishSponge, 1.134, 1.654, -0.811, 0, 180, 0, 59 [SEP] 46, Spoon, 2.868, 0.772, 1.198, 0, 0, 0, 93 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the coffee maker on the right. | STEP 2: Take the coffee cup from the coffee maker. | STEP 3: Turn right a walk to the stove on the right. | STEP 4: Put the cup in the microwave above the stove and turn it on. Remove it when it's done and close the door. | STEP 5: Turn right and walk back to the coffee maker on the right. | STEP 6: Put the cup back in the coffee maker. | END


Input: Put a heated mug on the coffee machine.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.5, 0, 180, 0,  [SEP] 1, Potato, 2.715, 0.761, -0.473, 0, 0, 0, 104 [SEP] 2, Potato, 2.488, 0.946, 1.214, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.141, 0.771, 1.160, 0, 0, 0, 94 [SEP] 4, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 84 [SEP] 5, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 64 [SEP] 6, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 60 [SEP] 7, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 49 [SEP] 8, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 9, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 108 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 74 [SEP] 11, Plate, 2.754, 0.914, 1.129, 0, 0, 0, 84 [SEP] 12, Cup, 1.896, 0.112, 1.196, 0, 0, 0, 85 [SEP] 13, Cup, 2.124, 0.112, -0.379, 0, 180, 0, 90 [SEP] 14, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 106 [SEP] 16, Knife, 0.123, 0.798, -0.707, 0, 90, 0, 106 [SEP] 17, Knife, -0.836, 0.853, -1.473, 0, 0, 0, 108 [SEP] 18, SoapBottle, -0.123, 0.120, 1.236, 0, 0, 0, 77 [SEP] 19, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 106 [SEP] 20, Tomato, 2.777, 1.050, -0.644, 0, 0, 0, 104 [SEP] 21, Bowl, 1.485, 0.112, -0.458, 0, 180, 0, 66 [SEP] 22, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 84 [SEP] 23, Mug, 2.242, 1.650, -0.798, 0, 180, 0, 70 [SEP] 24, Mug, 1.955, 0.906, 1.129, 0, 0, 0, 84 [SEP] 25, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 107 [SEP] 26, SoapBottle, 1.597, 1.660, 1.508, 0, 0, 0, 72 [SEP] 27, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 84 [SEP] 28, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 108 [SEP] 29, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 49 [SEP] 30, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 60 [SEP] 31, Egg, 2.591, 1.056, -0.709, 0, 0, 0, 104 [SEP] 32, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 33, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 108 [SEP] 34, Cup, -0.621, 0.818, -1.360, 0, 90, 0, 108 [SEP] 35, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 108 [SEP] 36, Apple, -1.962, 0.492, 1.375, 0, 270, 0, 102 [SEP] 37, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 38, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.422, 0.908, 1.214, 0, 0, 0, 84 [SEP] 40, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 106 [SEP] 41, Potato, -0.836, 0.855, -1.183, 0, 0, 0, 108 [SEP] 42, PepperShaker, 1.422, 0.908, 1.383, 0, 0, 0, 84 [SEP] 43, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 84 [SEP] 44, Bowl, 1.955, 0.909, 1.383, 0, 0, 0, 84 [SEP] 45, DishSponge, 1.134, 1.654, -0.811, 0, 180, 0, 59 [SEP] 46, Spoon, 2.868, 0.772, 1.198, 0, 0, 0, 93 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter.  | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around and bring the mug to the microwave above the stove.  | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug from the microwave, turn around, and bring it back to the coffee machine on the counter.  | STEP 6: Put the heated mug on the coffee machine.  | END


Input: Examine a metallic item by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 5.75, 0, 90, 0,  [SEP] 1, Bowl, -5.274, 0.535, 6.665, 0, 45, 0, 61 [SEP] 2, Bowl, -3.265, 0.454, 7.183, 0, 90, 0, 52 [SEP] 3, Newspaper, -0.789, 0.431, 3.915, 0, 0, 0, 43 [SEP] 4, Newspaper, -0.710, 0.365, 3.915, 0, 0, 0, 43 [SEP] 5, KeyChain, -0.433, 0.794, 5.600, 0, 270, 0, 44 [SEP] 6, CreditCard, -0.413, 0.788, 2.002, 0, 0, 0, 45 [SEP] 7, RemoteControl, -5.631, 0.536, 6.683, 0, 135, 0, 61 [SEP] 8, RemoteControl, -0.947, 0.444, 4.524, 0, 0, 0, 43 [SEP] 9, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 43 [SEP] 10, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 54 [SEP] 11, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 59 [SEP] 12, Vase, -5.442, 0.534, 6.497, 0, 45, 0, 61 [SEP] 13, Vase, -2.811, 0.542, 4.044, 0, 0, 0, 60 [SEP] 14, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 43 [SEP] 15, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 60 [SEP] 16, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 17, Vase, -3.462, 0.147, 7.276, 0, 90, 0, 54 [SEP] 18, CreditCard, -0.535, 0.793, 2.252, 0, 270, 0, 45 [SEP] 19, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 57 [SEP] 20, KeyChain, -2.631, 0.534, 3.752, 0, 90, 0, 60 [SEP] 21, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 55 [SEP] 22, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 55 [SEP] 23, Bowl, -0.484, 0.795, 2.377, 0, 270, 0, 45 [SEP] 24, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 43 [SEP] 25, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 57 [SEP] 26, RemoteControl, -0.947, 0.438, 3.611, 0, 0, 0, 43 [SEP] 27, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 44 [SEP] 28, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 59 [SEP] 29, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 57 [SEP] 30, Statue, -5.899, 0.156, 3.954, 0, 0, 0, 50 [SEP] 31, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 59 [SEP] 32, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 33, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 34, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 35, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 36, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 37, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 38, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 39, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 40, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 41, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 42, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 43, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 44, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 45, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 46, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 47, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 48, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 49, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 50, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 51, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 54, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 56, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 57, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 58, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 59, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 60, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 61, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the three shelves by the wall. | STEP 2: Pick up the metallic item from the bottom shelf. | STEP 3: Turn around and walk to the lamp that is to the left of the couch. | STEP 4: Turn on the lamp. | END


Input: Put a  box of tissues on the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 3.0, 0, 0, 0,  [SEP] 1, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 28 [SEP] 2, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 22 [SEP] 3, SoapBar, -1.481, 0.994, 3.873, 0, 0, 0, 29 [SEP] 4, Candle, 0.351, 0.892, 1.566, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.560, 0.068, 2.290, 0, 0, 0, 24 [SEP] 6, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 32 [SEP] 7, SoapBottle, -1.259, 0.067, 2.441, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.481, 0.993, 3.041, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.382, 0.068, 3.844, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 24 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.219, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.219, 0.993, 3.041, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.620, 0.064, 3.276, 0, 0, 0, 28 [SEP] 18, SprayBottle, -1.547, 0.995, 3.812, 0, 0, 0, 29 [SEP] 19, Cloth, -1.284, 0.994, 2.178, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the box of tissues. | STEP 3: Turn around and walk to the door then turn right and walk to the toilet. | STEP 4: Stand the box of tissues on end on the back of the toilet. | END


Input: Move a box of tissues from counter to back of toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 3.0, 0, 0, 0,  [SEP] 1, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 28 [SEP] 2, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 22 [SEP] 3, SoapBar, -1.481, 0.994, 3.873, 0, 0, 0, 29 [SEP] 4, Candle, 0.351, 0.892, 1.566, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.560, 0.068, 2.290, 0, 0, 0, 24 [SEP] 6, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 32 [SEP] 7, SoapBottle, -1.259, 0.067, 2.441, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.481, 0.993, 3.041, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.382, 0.068, 3.844, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 24 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.219, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.219, 0.993, 3.041, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.620, 0.064, 3.276, 0, 0, 0, 28 [SEP] 18, SprayBottle, -1.547, 0.995, 3.812, 0, 0, 0, 29 [SEP] 19, Cloth, -1.284, 0.994, 2.178, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn left, proceed to counter and sink. | STEP 2: Pick up box of tissues between pump bottle and sink. | STEP 3: Turn left, proceed to toilet. | STEP 4: Place box of tissues, on its side, on the back of the toilet. | END


Input: Place the dirty spatula in the kitchen 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, 0.5, 0, 270, 0,  [SEP] 1, ButterKnife, 1.015, 1.043, 0.763, 0, 0, 0, 47 [SEP] 2, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 3, Fork, -0.517, 1.047, -1.289, 0, 0, 0, 45 [SEP] 4, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 5, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 47 [SEP] 6, Spatula, 0.160, 1.058, 0.522, 0, 0, 0, 47 [SEP] 7, Plate, -0.398, 1.577, -1.470, 0, 0, 0, 50 [SEP] 8, Plate, 1.068, 0.212, -1.556, 0, 0, 0, 56 [SEP] 9, SoapBottle, -0.624, 1.565, -1.396, 0, 0, 0, 50 [SEP] 10, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 60 [SEP] 11, Bowl, -1.096, 1.714, -1.300, 0, 0, 0, 59 [SEP] 12, SaltShaker, 1.879, 1.038, 0.738, 0, 0, 0, 47 [SEP] 13, PepperShaker, 1.158, 0.194, -1.339, 0, 0, 0, 56 [SEP] 14, PepperShaker, 0.960, 1.560, -1.463, 0, 0, 0, 49 [SEP] 15, Mug, 0.936, 1.048, 0.281, 0, 180, 0, 43 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 17, Apple, -0.030, 1.086, 0.307, 0, 0, 0, 47 [SEP] 18, Apple, 0.936, 1.097, 0.381, 0, 90, 0, 43 [SEP] 19, SoapBottle, 0.160, 1.044, 0.738, 0, 0, 0, 47 [SEP] 20, Apple, 1.854, 0.166, 2.330, 0, 270, 0, 61 [SEP] 21, Potato, -1.169, 1.281, 1.796, 0, 90, 0, 60 [SEP] 22, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 47 [SEP] 23, Kettle, -1.184, 2.029, -1.337, 0, 0, 0, 52 [SEP] 24, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 45 [SEP] 25, Tomato, -1.342, 1.540, 1.885, 0, 90, 0, 60 [SEP] 26, SaltShaker, 1.743, 1.014, -1.484, 0, 0, 0, 51 [SEP] 27, Egg, 0.717, 1.108, 0.181, 0, 90, 0, 43 [SEP] 28, Cup, 1.701, 1.043, 0.522, 0, 0, 0, 47 [SEP] 29, Spatula, -0.260, 1.061, -1.720, 0, 0, 0, 45 [SEP] 30, Knife, 0.717, 1.080, 0.281, 0, 270, 0, 43 [SEP] 31, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.689, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, 1.347, 1.038, 0.545, 0, 0, 0, 47 [SEP] 34, DishSponge, 0.712, 0.199, -1.556, 0, 0, 0, 56 [SEP] 35, Plate, -1.183, 0.215, -1.555, 0, 0, 0, 53 [SEP] 36, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.181, 1.044, 0.720, 0, 0, 0, 47 [SEP] 38, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 39, Mug, -1.419, 1.484, 2.063, 0, 90, 0, 60 [SEP] 40, Bowl, 1.665, 0.203, -1.480, 0, 0, 0, 55 [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, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn around, turn left, walk straight, turn right to face the stove. | STEP 2: Grab the spatula on top of the counter. | STEP 3: Turn left, walk straight, turn left to face the kitchen sink and walk to the sink. | STEP 4: Place the spatula in the sink. | END


Input: Move the spatula to 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, 0.5, 0, 270, 0,  [SEP] 1, ButterKnife, 1.015, 1.043, 0.763, 0, 0, 0, 47 [SEP] 2, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 3, Fork, -0.517, 1.047, -1.289, 0, 0, 0, 45 [SEP] 4, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 5, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 47 [SEP] 6, Spatula, 0.160, 1.058, 0.522, 0, 0, 0, 47 [SEP] 7, Plate, -0.398, 1.577, -1.470, 0, 0, 0, 50 [SEP] 8, Plate, 1.068, 0.212, -1.556, 0, 0, 0, 56 [SEP] 9, SoapBottle, -0.624, 1.565, -1.396, 0, 0, 0, 50 [SEP] 10, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 60 [SEP] 11, Bowl, -1.096, 1.714, -1.300, 0, 0, 0, 59 [SEP] 12, SaltShaker, 1.879, 1.038, 0.738, 0, 0, 0, 47 [SEP] 13, PepperShaker, 1.158, 0.194, -1.339, 0, 0, 0, 56 [SEP] 14, PepperShaker, 0.960, 1.560, -1.463, 0, 0, 0, 49 [SEP] 15, Mug, 0.936, 1.048, 0.281, 0, 180, 0, 43 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 17, Apple, -0.030, 1.086, 0.307, 0, 0, 0, 47 [SEP] 18, Apple, 0.936, 1.097, 0.381, 0, 90, 0, 43 [SEP] 19, SoapBottle, 0.160, 1.044, 0.738, 0, 0, 0, 47 [SEP] 20, Apple, 1.854, 0.166, 2.330, 0, 270, 0, 61 [SEP] 21, Potato, -1.169, 1.281, 1.796, 0, 90, 0, 60 [SEP] 22, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 47 [SEP] 23, Kettle, -1.184, 2.029, -1.337, 0, 0, 0, 52 [SEP] 24, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 45 [SEP] 25, Tomato, -1.342, 1.540, 1.885, 0, 90, 0, 60 [SEP] 26, SaltShaker, 1.743, 1.014, -1.484, 0, 0, 0, 51 [SEP] 27, Egg, 0.717, 1.108, 0.181, 0, 90, 0, 43 [SEP] 28, Cup, 1.701, 1.043, 0.522, 0, 0, 0, 47 [SEP] 29, Spatula, -0.260, 1.061, -1.720, 0, 0, 0, 45 [SEP] 30, Knife, 0.717, 1.080, 0.281, 0, 270, 0, 43 [SEP] 31, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.689, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, 1.347, 1.038, 0.545, 0, 0, 0, 47 [SEP] 34, DishSponge, 0.712, 0.199, -1.556, 0, 0, 0, 56 [SEP] 35, Plate, -1.183, 0.215, -1.555, 0, 0, 0, 53 [SEP] 36, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.181, 1.044, 0.720, 0, 0, 0, 47 [SEP] 38, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 39, Mug, -1.419, 1.484, 2.063, 0, 90, 0, 60 [SEP] 40, Bowl, 1.665, 0.203, -1.480, 0, 0, 0, 55 [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, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the counter by the stove. | STEP 2: Pick up the spatula by the toaster.  | STEP 3: Turn around and go to the sink | STEP 4: Put the spatula in the sink.  | END