Input: Pick up a box and turn on a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 6.25, 0, 180, 0,  [SEP] 1, Bowl, -0.585, 0.795, 2.252, 0, 270, 0, 40 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 55 [SEP] 3, Newspaper, -0.947, 0.440, 3.002, 0, 0, 0, 38 [SEP] 4, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 55 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -2.811, 0.534, 3.919, 0, 0, 0, 55 [SEP] 8, Vase, -2.870, 1.289, 7.298, 0, 90, 0, 54 [SEP] 9, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -5.917, 0.880, 4.349, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.461, 0.534, 6.628, 0, 45, 0, 56 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -0.326, 0.795, 1.951, 0, 0, 0, 40 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.640, 1.282, 7.361, 0, 90, 0, 54 [SEP] 22, Watch, -5.290, 0.533, 7.024, 0, 135, 0, 56 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -2.561, 0.543, 3.752, 0, 270, 0, 55 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: Go right and cross the room to face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small table with the lamp. | STEP 4: Turn on the lamp. | END


Input: Put two sets of keys on the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 6.0, 0, 180, 0,  [SEP] 1, Newspaper, -0.789, 0.365, 4.524, 0, 0, 0, 39 [SEP] 2, Newspaper, -5.951, 0.878, 4.547, 0, 0, 0, 49 [SEP] 3, Watch, -3.557, 1.280, 6.981, 0, 90, 0, 55 [SEP] 4, KeyChain, -2.870, 0.453, 7.221, 0, 90, 0, 48 [SEP] 5, CreditCard, -0.710, 0.367, 3.002, 0, 0, 0, 39 [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, -2.474, 0.880, 7.173, 0, 90, 0, 47 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.947, 0.365, 3.002, 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, -3.067, 0.453, 7.183, 0, 90, 0, 48 [SEP] 14, CreditCard, -0.413, 0.793, 5.826, 0, 0, 0, 40 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.413, 0.794, 2.103, 0, 90, 0, 41 [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, -5.330, 0.535, 6.609, 0, 45, 0, 57 [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, -5.218, 0.536, 6.721, 0, 45, 0, 57 [SEP] 23, Watch, -6.002, 0.146, 3.757, 0, 0, 0, 46 [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, -2.631, 0.543, 4.335, 0, 270, 0, 56 [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: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps | STEP 4: Place the keys on the couch | STEP 5: Move to the end table to the right of the couch | STEP 6: Pick up keys from the end table | STEP 7: Move to the couch in between the two lamps | STEP 8: Place the keys on the couch | END


Input: Heat a potato 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, -1.25, 0.931, -0.5, 0, 0, 0,  [SEP] 1, Potato, -1.051, 0.760, 2.063, 0, 90, 0, 62 [SEP] 2, Potato, 0.805, 1.108, 0.331, 0, 90, 0, 45 [SEP] 3, Potato, 0.906, 1.100, -1.289, 0, 0, 0, 47 [SEP] 4, DishSponge, 1.612, 1.042, 0.091, 0, 0, 0, 49 [SEP] 5, Kettle, 0.255, 1.044, 0.415, 0, 0, 0, 49 [SEP] 6, Pot, -1.105, 0.204, -1.555, 0, 90, 0, 55 [SEP] 7, Cup, -0.624, 1.565, -1.470, 0, 0, 0, 52 [SEP] 8, Plate, 1.665, 0.217, -1.480, 0, 0, 0, 57 [SEP] 9, Plate, 1.112, 1.577, -1.538, 0, 0, 0, 51 [SEP] 10, Knife, 0.657, 1.072, -1.107, 0, 0, 0, 47 [SEP] 11, Tomato, -1.300, 1.279, 2.153, 0, 90, 0, 62 [SEP] 12, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 45 [SEP] 13, SoapBottle, 0.351, 1.044, 0.630, 0, 90, 0, 49 [SEP] 14, SoapBottle, -0.432, 1.047, -1.289, 0, 0, 0, 47 [SEP] 15, Bowl, -1.103, 1.227, 1.885, 0, 90, 0, 62 [SEP] 16, Bowl, -0.548, 1.563, -1.767, 0, 0, 0, 52 [SEP] 17, SaltShaker, 0.848, 1.038, 0.676, 0, 0, 0, 49 [SEP] 18, PepperShaker, -1.416, 2.023, -1.555, 0, 0, 0, 54 [SEP] 19, Mug, 0.936, 1.050, 0.331, 0, 90, 0, 45 [SEP] 20, Apple, 0.989, 1.090, -1.397, 0, 0, 0, 47 [SEP] 21, SoapBottle, -0.775, 1.047, -1.720, 0, 0, 0, 47 [SEP] 22, Apple, -1.458, 1.532, 1.974, 0, 90, 0, 62 [SEP] 23, Potato, 0.542, 1.096, 0.307, 0, 0, 0, 49 [SEP] 24, Fork, 0.717, 1.054, 0.231, 0, 90, 0, 45 [SEP] 25, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.351, 1.038, 0.738, 0, 0, 0, 49 [SEP] 29, Egg, -1.419, 1.543, 2.331, 0, 90, 0, 62 [SEP] 30, Cup, -1.029, 2.028, -1.191, 0, 0, 0, 54 [SEP] 31, Spatula, 0.682, 1.058, 0.632, 0, 0, 0, 49 [SEP] 32, Knife, 1.347, 1.069, 0.632, 0, 90, 0, 49 [SEP] 33, Lettuce, -0.689, 1.106, -1.397, 0, 0, 0, 47 [SEP] 34, ButterKnife, 1.181, 1.043, 0.632, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.188, 1.560, -1.764, 0, 0, 0, 51 [SEP] 36, DishSponge, 1.068, 0.199, -1.267, 0, 0, 0, 58 [SEP] 37, Plate, -1.029, 2.041, -1.409, 0, 0, 0, 54 [SEP] 38, Bread, -0.030, 1.117, 0.630, 0, 0, 0, 49 [SEP] 39, Spoon, 1.155, 1.048, -1.505, 0, 180, 0, 47 [SEP] 40, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 50 [SEP] 41, Mug, -0.670, 0.198, -1.265, 0, 0, 0, 56 [SEP] 42, Bowl, 1.155, 1.045, -1.181, 0, 0, 0, 47 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and then the left to find the sink. | STEP 2: Pick up the potato from the right side of the sink area. | STEP 3: Carry the potato to the left and then the left again to the microwave. | STEP 4: Open the microwave and place the potato inside. Turn it on then open the door and take the potato out. | STEP 5: Carry the potato and turn to the left and face the sink on the left. | STEP 6: Place the potato in the sink. | END


Input: Place a warmed tomato in a recycling bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, 1.422, 0.946, 1.044, 0, 0, 0, 75 [SEP] 2, Potato, 3.220, 0.875, -0.514, 0, 0, 0, 95 [SEP] 3, DishSponge, 2.868, 0.771, 1.083, 0, 0, 0, 84 [SEP] 4, DishSponge, -0.159, 0.771, 1.236, 0, 0, 0, 45 [SEP] 5, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 75 [SEP] 6, Spoon, 2.156, 0.912, -0.684, 0, 0, 0, 40 [SEP] 7, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 75 [SEP] 8, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 75 [SEP] 9, Cup, 0.634, 0.909, -0.515, 0, 0, 0, 40 [SEP] 10, Egg, -1.056, 0.858, -1.206, 0, 90, 0, 99 [SEP] 11, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 75 [SEP] 12, Knife, -0.198, 0.944, 1.383, 0, 270, 0, 51 [SEP] 13, Bowl, 2.488, 0.909, 1.468, 0, 0, 0, 75 [SEP] 14, SaltShaker, 1.760, 0.110, -0.570, 0, 180, 0, 86 [SEP] 15, PepperShaker, -0.682, 0.817, -1.473, 0, 0, 0, 99 [SEP] 16, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 97 [SEP] 17, SoapBottle, 1.522, 0.120, -0.458, 0, 180, 0, 57 [SEP] 18, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 75 [SEP] 19, Fork, 0.263, 0.766, -0.651, 0, 90, 0, 97 [SEP] 20, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 55 [SEP] 21, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 40 [SEP] 22, Egg, -0.839, 0.858, -1.360, 0, 90, 0, 99 [SEP] 23, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 24, Tomato, -0.694, 0.852, -1.360, 0, 90, 0, 99 [SEP] 25, Cup, 2.900, 0.723, -0.473, 0, 0, 0, 95 [SEP] 26, Spatula, 1.955, 0.926, 1.044, 0, 0, 0, 75 [SEP] 27, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 95 [SEP] 29, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 75 [SEP] 30, SaltShaker, 2.770, 1.650, 1.355, 0, 0, 0, 41 [SEP] 31, Knife, -0.939, 0.853, -1.400, 0, 90, 0, 99 [SEP] 32, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 97 [SEP] 33, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 99 [SEP] 34, ButterKnife, 1.155, 0.911, 1.129, 0, 0, 0, 75 [SEP] 35, Bowl, 0.215, 1.653, -0.810, 0, 180, 0, 80 [SEP] 36, DishSponge, -0.766, 0.820, -1.155, 0, 90, 0, 99 [SEP] 37, Spoon, -0.839, 0.822, -1.257, 0, 180, 0, 99 [SEP] 38, Mug, 2.487, 1.650, 1.507, 0, 0, 0, 41 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. | STEP 2: Grab the tomato from the table. | STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove. | STEP 4: Warm the tomato in the microwave, then pick it up again. | STEP 5: Turn to your left and walk until you get to the recycling bin on your right. | STEP 6: Place the tomato in the recycling bin. | END


Input: Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, Watch, -1.163, 0.552, -0.623, 0, 270, 0, 28 [SEP] 2, Watch, -0.323, 0.038, -0.544, 0, 90, 0, 29 [SEP] 3, CreditCard, -0.862, 0.551, -0.192, 0, 270, 0, 28 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 28 [SEP] 6, Watch, -0.582, 0.201, -0.544, 0, 90, 0, 29 [SEP] 7, Newspaper, 1.807, 0.868, 0.326, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, 1.206, 0.315, -0.512, 0, 0, 0, 36 [SEP] 10, RemoteControl, 1.807, 0.872, 0.537, 0, 90, 0, 34 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Go to the couch in front of you. | STEP 2: Take the black shiny animal figure from the shelf above the couch. | STEP 3: Face the wooden chest in front of the couch. | STEP 4: Set the black shiny animal figure atop the wooden chest. | END


Input: Move a statue from the shelf to the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, Watch, -1.163, 0.552, -0.623, 0, 270, 0, 28 [SEP] 2, Watch, -0.323, 0.038, -0.544, 0, 90, 0, 29 [SEP] 3, CreditCard, -0.862, 0.551, -0.192, 0, 270, 0, 28 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 28 [SEP] 6, Watch, -0.582, 0.201, -0.544, 0, 90, 0, 29 [SEP] 7, Newspaper, 1.807, 0.868, 0.326, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, 1.206, 0.315, -0.512, 0, 0, 0, 36 [SEP] 10, RemoteControl, 1.807, 0.872, 0.537, 0, 90, 0, 34 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Move to the large brown sofa that is under the black shelf | STEP 2: Grab the statue from the black shelf | STEP 3: carry the statue to the wood dresser | STEP 4: Place the statue on top of the dresser in front of the plant | END


Input: Put a cleaned kettle on a counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Pan, 2.754, 0.911, 1.383, 0, 0, 0, 82 [SEP] 3, DishSponge, -0.766, 0.820, -1.103, 0, 90, 0, 106 [SEP] 4, DishSponge, 1.831, 0.770, 1.083, 0, 0, 0, 82 [SEP] 5, ButterKnife, 2.488, 0.911, 1.468, 0, 90, 0, 82 [SEP] 6, ButterKnife, -0.055, 0.911, 1.214, 0, 90, 0, 58 [SEP] 7, Spoon, 2.754, 0.912, 1.129, 0, 0, 0, 82 [SEP] 8, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 47 [SEP] 9, Spatula, 2.488, 0.926, 1.383, 0, 0, 0, 82 [SEP] 10, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 47 [SEP] 11, Cup, 2.653, 1.016, -0.644, 0, 0, 0, 102 [SEP] 12, Cup, 2.208, 1.653, -0.798, 0, 180, 0, 84 [SEP] 13, Egg, 2.962, 0.762, -0.504, 0, 0, 0, 102 [SEP] 14, Egg, 2.488, 0.949, 1.214, 0, 0, 0, 82 [SEP] 15, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 16, SoapBottle, -0.086, 0.120, 1.196, 0, 0, 0, 75 [SEP] 17, SoapBottle, 1.141, 0.917, -0.515, 0, 0, 0, 47 [SEP] 18, Tomato, 1.422, 0.942, 1.383, 0, 0, 0, 82 [SEP] 19, Bowl, 0.518, 1.782, 1.455, 0, 180, 0, 105 [SEP] 20, SaltShaker, 1.061, 0.110, -0.458, 0, 180, 0, 55 [SEP] 21, PepperShaker, 0.759, 2.150, 1.584, 0, 0, 0, 56 [SEP] 22, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 82 [SEP] 23, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 106 [SEP] 24, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 100 [SEP] 25, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 82 [SEP] 26, Fork, -0.785, 0.821, -1.328, 0, 0, 0, 106 [SEP] 27, Pot, 2.715, 1.567, -0.578, 0, 0, 0, 102 [SEP] 28, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 58 [SEP] 29, Egg, -2.048, 0.461, 1.502, 0, 270, 0, 100 [SEP] 30, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 82 [SEP] 31, Tomato, -0.621, 0.852, -1.257, 0, 90, 0, 106 [SEP] 32, Cup, 1.447, 1.653, -0.849, 0, 180, 0, 84 [SEP] 33, Spatula, -0.007, 0.926, 1.129, 0, 90, 0, 58 [SEP] 34, Apple, 0.634, 0.980, -0.684, 0, 0, 0, 47 [SEP] 35, Pan, 1.880, 1.655, 1.468, 0, 0, 0, 59 [SEP] 36, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 82 [SEP] 37, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 106 [SEP] 38, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 58 [SEP] 39, Potato, -0.785, 0.855, -1.473, 0, 180, 0, 106 [SEP] 40, PepperShaker, -0.734, 0.817, -1.255, 0, 0, 0, 106 [SEP] 41, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 82 [SEP] 42, Bowl, 1.141, 0.909, -0.769, 0, 0, 0, 47 [SEP] 43, DishSponge, 0.581, 1.654, -0.849, 0, 180, 0, 86 [SEP] 44, Spoon, 2.303, 0.773, -0.460, 0, 270, 0, 60 [SEP] 45, Mug, -0.887, 0.815, -1.400, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. | STEP 2: Pick up the kettle from the counter. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the kettle in the sink, rinse it off, and take it back out. | STEP 5: Turn left, walk past the dishwasher, then turn right towards the counter. | STEP 6: Put the kettle on the counter, in front of the toaster. | END


Input: Place tissue boxes on the back of a toilet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.903, 1.0, 0, 270, 0,  [SEP] 1, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 30 [SEP] 2, TissueBox, -0.980, 1.070, 2.097, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.041, 0.043, 1.067, 0, 0, 0, 29 [SEP] 4, Candle, -1.144, 0.330, 2.217, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.144, 1.774, 2.217, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 33 [SEP] 7, SoapBottle, -0.082, 0.611, 1.775, 0, 0, 0, 22 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 9, Candle, -0.187, 0.650, -0.466, 0, 315, 0, 22 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.308, 1.772, 2.127, 0, 0, 0, 28 [SEP] 13, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 25 [SEP] 14, SoapBottle, 0.117, 0.611, 1.775, 0, 0, 0, 22 [SEP] 15, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 30 [SEP] 16, Cloth, -0.184, 0.614, 1.632, 0, 135, 0, 22 [SEP] 17, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -0.817, 1.071, 2.097, 0, 0, 0, 30 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you. | STEP 4: Place tissue box on top of the back of the toilet | STEP 5: Turn around and walk over to the white shelf in front of you. | STEP 6: Pick up the left tissue box that is on the top shelf. | STEP 7: Turn back around and walk to the toilet that is in front of you. | STEP 8: Place tissue box on top of the back of the toilet, on its side | END


Input: Put the cooked apple in the recycling bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.25, 0, 90, 0,  [SEP] 1, Pan, 1.872, 1.654, -0.772, 0, 180, 0, 88 [SEP] 2, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 108 [SEP] 3, Potato, -0.017, 0.800, -0.762, 0, 0, 0, 108 [SEP] 4, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 51 [SEP] 5, DishSponge, -0.621, 0.820, -1.411, 0, 90, 0, 110 [SEP] 6, Kettle, -0.160, 0.116, 1.196, 0, 0, 0, 79 [SEP] 7, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 51 [SEP] 8, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 9, Fork, 0.888, 0.912, -0.430, 0, 0, 0, 51 [SEP] 10, Fork, -0.694, 0.821, -1.257, 0, 90, 0, 110 [SEP] 11, Spatula, 2.754, 0.926, 1.553, 0, 270, 0, 86 [SEP] 12, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 86 [SEP] 13, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 51 [SEP] 14, Egg, 2.900, 1.601, -0.644, 0, 0, 0, 106 [SEP] 15, Egg, 2.653, 0.764, -0.535, 0, 0, 0, 106 [SEP] 16, SoapBottle, 2.258, 0.120, 1.081, 0, 0, 0, 87 [SEP] 17, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 110 [SEP] 18, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 108 [SEP] 19, Tomato, 1.955, 0.942, 1.383, 0, 0, 0, 86 [SEP] 20, SaltShaker, 1.525, 0.110, 1.231, 0, 0, 0, 80 [SEP] 21, SaltShaker, -0.055, 0.908, 1.129, 0, 0, 0, 62 [SEP] 22, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 86 [SEP] 23, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 86 [SEP] 24, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 86 [SEP] 25, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 86 [SEP] 26, Apple, -0.151, 0.980, 1.468, 0, 0, 0, 62 [SEP] 27, Apple, -2.019, 0.492, 1.375, 0, 270, 0, 104 [SEP] 28, SoapBottle, 1.896, 0.120, 1.156, 0, 0, 0, 71 [SEP] 29, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 51 [SEP] 30, Fork, 1.456, 0.772, 1.122, 0, 90, 0, 69 [SEP] 31, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 32, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 62 [SEP] 33, Egg, -0.055, 0.949, 1.214, 0, 0, 0, 62 [SEP] 34, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 51 [SEP] 35, Tomato, 2.900, 0.756, -0.565, 0, 0, 0, 106 [SEP] 36, Cup, 2.120, 1.652, 1.546, 0, 0, 0, 63 [SEP] 37, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 110 [SEP] 38, Apple, 1.688, 0.980, 1.299, 0, 0, 0, 86 [SEP] 39, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 54 [SEP] 40, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 110 [SEP] 41, SaltShaker, 0.937, 1.651, -0.888, 0, 180, 0, 61 [SEP] 42, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 108 [SEP] 43, Potato, -0.839, 0.855, -1.206, 0, 90, 0, 110 [SEP] 44, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 62 [SEP] 45, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 86 [SEP] 46, Bowl, 2.838, 1.017, -0.644, 0, 0, 0, 106 [SEP] 47, DishSponge, 1.141, 0.911, -0.854, 0, 0, 0, 51 [SEP] 48, Spoon, -0.939, 0.822, -1.473, 0, 180, 0, 110 [SEP] 49, Mug, 2.242, 1.650, -0.835, 0, 180, 0, 72 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin | STEP 3: Turn right and walk over to the microwave above the oven | STEP 4: Heat the apple in the microwave then remove it | STEP 5: Turn left and walk back over to the recycling bin | STEP 6: Put the apple in the recycling bin | END


Input: place a plate with a card on it in the tv stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 5.75, 0, 0, 0,  [SEP] 1, Bowl, -5.917, 0.881, 4.547, 0, 0, 0, 52 [SEP] 2, Bowl, -0.687, 0.795, 6.357, 0, 270, 0, 43 [SEP] 3, Bowl, -2.672, 0.148, 7.173, 0, 90, 0, 53 [SEP] 4, Newspaper, -5.648, 0.532, 6.592, 0, 45, 0, 60 [SEP] 5, Newspaper, -0.947, 0.440, 3.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -5.313, 0.533, 6.927, 0, 45, 0, 60 [SEP] 7, CreditCard, -5.882, 0.879, 4.152, 0, 0, 0, 52 [SEP] 8, CreditCard, -0.499, 0.793, 2.154, 0, 0, 0, 44 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.326, 0.794, 2.103, 0, 0, 0, 44 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -0.710, 0.365, 4.828, 0, 0, 0, 42 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -0.535, 0.794, 5.726, 0, 270, 0, 43 [SEP] 17, CreditCard, -0.535, 0.793, 5.600, 0, 270, 0, 43 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.552, 0.367, 3.306, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.474, 0.881, 7.173, 0, 90, 0, 50 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -3.067, 0.882, 7.139, 0, 90, 0, 51 [SEP] 26, Watch, -5.796, 0.146, 3.757, 0, 0, 0, 49 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -2.631, 0.543, 4.480, 0, 270, 0, 59 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output:
STEP 1: move around to the shelf | STEP 2: pick up the card | STEP 3: move right of the shelf | STEP 4:
place the card on a plate | STEP 5: pick up the plate | STEP 6: move right to the tv stand | STEP 7: place the plate on the tv stand | END


Input: take a disk from the dresser and put it on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.949, 3.0, 0, 0, 0,  [SEP] 1, CD, 2.952, 0.183, -2.005, 0, 270, 0, 41 [SEP] 2, CD, 2.234, 0.984, -1.862, 0, 270, 0, 42 [SEP] 3, CellPhone, 1.950, 0.988, -1.687, 0, 270, 0, 42 [SEP] 4, CellPhone, 3.377, 0.723, 1.443, 0, 180, 0, 67 [SEP] 5, Pen, 3.087, 0.990, -2.125, 0, 270, 0, 42 [SEP] 6, Pencil, -0.848, 0.384, -0.292, 0, 0, 0, 59 [SEP] 7, CreditCard, 3.300, 0.723, 1.262, 0, 180, 0, 67 [SEP] 8, CreditCard, -0.706, 0.783, -0.128, 0, 0, 0, 63 [SEP] 9, KeyChain, 2.803, 0.986, -1.949, 0, 270, 0, 42 [SEP] 10, KeyChain, 1.382, 0.986, -2.125, 0, 270, 0, 42 [SEP] 11, Book, 2.545, 0.610, 1.271, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.904, 0.786, -0.338, 0, 0, 0, 63 [SEP] 13, AlarmClock, -0.904, 0.785, 0.081, 0, 180, 0, 63 [SEP] 14, Book, 1.723, 0.610, 1.030, 0, 0, 0, 27 [SEP] 15, KeyChain, -0.848, 0.175, 0.391, 0, 90, 0, 54 [SEP] 16, CreditCard, 3.377, 0.723, 1.262, 0, 180, 0, 67 [SEP] 17, Pen, 2.235, 0.990, -2.125, 0, 270, 0, 42 [SEP] 18, Pencil, -0.904, 0.788, -0.548, 0, 0, 0, 63 [SEP] 19, Laptop, 1.950, 0.986, -2.037, 0, 270, 0, 42 [SEP] 20, Vase, 1.666, 0.993, -2.037, 0, 270, 0, 42 [SEP] 21, AlarmClock, -0.838, 0.786, -0.128, 0, 0, 0, 63 [SEP] 22, Pillow, 1.888, 0.674, 0.549, 0, 0, 0, 27 [SEP] 23, Pillow, 2.381, 0.674, 0.308, 0, 0, 0, 27 [SEP] 24, CellPhone, -0.257, 1.108, 3.198, 0, 180, 0, 50 [SEP] 25, CD, 3.087, 0.987, -1.949, 0, 270, 0, 42 [SEP] 26, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 49 [SEP] 27, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 28, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 29, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 30, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 31, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 32, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 33, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 34, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 35, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 36, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 39, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 40, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 43, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 44, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 45, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 46, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 47, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 48, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 49, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 50, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 51, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 52, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 63, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 64, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 65, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 66, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 67, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 68, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 69, NorthWall, , , , , , ,  [SEP] 70, EastWall, , , , , , ,  [SEP] 71, SouthWall, , , , , , ,  [SEP] 72, WestWall, , , , , , ,

Output: STEP 1: go to the end of the black dresser at the foot of the bed | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the book shelf | STEP 4: put the disk on the shelf | END


Input: place a cooled potato slice in the garbage bin 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, DishSponge, -0.160, 0.114, 1.236, 0, 0, 0, 78 [SEP] 2, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 109 [SEP] 3, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 107 [SEP] 4, ButterKnife, -0.103, 0.911, 1.129, 0, 270, 0, 61 [SEP] 5, Spoon, -0.103, 0.912, 1.214, 0, 180, 0, 61 [SEP] 6, Spoon, 2.156, 0.912, -0.769, 0, 0, 0, 50 [SEP] 7, Spatula, 1.688, 0.926, 1.214, 0, 0, 0, 85 [SEP] 8, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 107 [SEP] 9, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 90 [SEP] 10, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 85 [SEP] 11, Cup, 2.777, 1.016, -0.512, 0, 0, 0, 105 [SEP] 12, Cup, 0.570, 1.782, 1.488, 0, 180, 0, 108 [SEP] 13, Egg, -1.991, 0.461, 1.247, 0, 270, 0, 103 [SEP] 14, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 61 [SEP] 15, SoapBottle, -0.734, 0.826, -1.255, 0, 0, 0, 109 [SEP] 16, Tomato, 3.301, 0.871, -0.514, 0, 0, 0, 105 [SEP] 17, Bowl, 2.900, 0.723, -0.504, 0, 0, 0, 105 [SEP] 18, Bowl, -0.983, 0.818, -1.308, 0, 90, 0, 109 [SEP] 19, SaltShaker, 0.514, 1.650, -0.849, 0, 180, 0, 89 [SEP] 20, SaltShaker, -0.785, 0.817, -1.400, 0, 0, 0, 109 [SEP] 21, PepperShaker, 1.947, 0.110, -0.421, 0, 180, 0, 96 [SEP] 22, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 61 [SEP] 23, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 85 [SEP] 24, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 105 [SEP] 25, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 85 [SEP] 26, Mug, 2.838, 1.014, -0.709, 0, 0, 0, 105 [SEP] 27, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 103 [SEP] 28, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 50 [SEP] 29, Fork, 1.524, 0.772, 1.122, 0, 90, 0, 68 [SEP] 30, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 65 [SEP] 31, Bread, 1.030, 0.953, -0.519, 0, 0, 0, 50 [SEP] 32, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 108 [SEP] 33, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 50 [SEP] 34, Tomato, 2.777, 1.320, -0.840, 0, 0, 0, 105 [SEP] 35, Cup, 2.562, 1.653, 1.507, 0, 0, 0, 75 [SEP] 36, Spatula, 1.902, 0.926, -0.345, 0, 0, 0, 50 [SEP] 37, Apple, 2.653, 1.357, -0.578, 0, 0, 0, 105 [SEP] 38, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 85 [SEP] 40, SaltShaker, 1.842, 1.651, 1.585, 0, 0, 0, 62 [SEP] 41, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 85 [SEP] 42, Potato, 2.156, 0.946, -0.684, 0, 0, 0, 50 [SEP] 43, PepperShaker, 2.837, 0.110, 1.119, 0, 0, 0, 82 [SEP] 44, ButterKnife, 0.888, 0.901, -0.6, 0, 0, 0, 50 [SEP] 45, Bowl, 2.900, 1.286, -0.709, 0, 0, 0, 105 [SEP] 46, DishSponge, 2.155, 0.771, 1.160, 0, 0, 0, 81 [SEP] 47, Spoon, 1.955, 0.912, 1.383, 0, 0, 0, 85 [SEP] 48, Mug, 2.222, 1.649, 1.432, 0, 0, 0, 51 [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 left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: move to the left a bit to face the front of the fridge | STEP 10: place the potato slice in the fridge to cool, then take it back out | STEP 11: turn right and walk to the end of the room | STEP 12: place the potato slice in the recycling bin on the right | END


Input: Put a mug with a knife in it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 89 [SEP] 2, Potato, 3.341, 0.875, -0.485, 0, 0, 0, 106 [SEP] 3, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 108 [SEP] 4, DishSponge, 1.558, 0.771, -0.460, 0, 180, 0, 81 [SEP] 5, DishSponge, -0.087, 0.765, -0.651, 0, 0, 0, 108 [SEP] 6, Kettle, 1.173, 0.115, -0.495, 0, 180, 0, 59 [SEP] 7, ButterKnife, 1.422, 0.911, 1.214, 0, 180, 0, 86 [SEP] 8, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 86 [SEP] 9, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 10, Fork, 2.450, 0.771, 1.198, 0, 270, 0, 67 [SEP] 11, Fork, 2.899, 0.772, 1.198, 0, 270, 0, 95 [SEP] 12, Spatula, 1.955, 0.926, 1.299, 0, 0, 0, 86 [SEP] 13, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 108 [SEP] 14, Egg, 2.838, 0.762, -0.504, 0, 0, 0, 106 [SEP] 15, Egg, 1.649, 0.949, -0.345, 0, 0, 0, 51 [SEP] 16, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 86 [SEP] 17, Knife, -0.103, 0.944, 1.044, 0, 0, 0, 62 [SEP] 18, Knife, -0.836, 0.853, -1.328, 0, 270, 0, 110 [SEP] 19, SoapBottle, 2.272, 0.120, -0.419, 0, 180, 0, 92 [SEP] 20, Tomato, 2.591, 1.050, -0.709, 0, 0, 0, 106 [SEP] 21, Tomato, 0.888, 0.942, -0.430, 0, 0, 0, 51 [SEP] 22, Bowl, 1.835, 0.112, -0.458, 0, 180, 0, 97 [SEP] 23, SaltShaker, -0.694, 0.817, -1.360, 0, 90, 0, 110 [SEP] 24, SaltShaker, 1.447, 1.651, -0.693, 0, 180, 0, 73 [SEP] 25, Mug, 2.777, 1.283, -0.644, 0, 0, 0, 106 [SEP] 26, Mug, 1.141, 0.906, -0.769, 0, 0, 0, 51 [SEP] 27, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 51 [SEP] 28, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 110 [SEP] 29, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 76 [SEP] 30, Fork, 1.893, 0.772, 1.122, 0, 90, 0, 84 [SEP] 31, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 86 [SEP] 32, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 106 [SEP] 33, Egg, 2.900, 1.326, -0.840, 0, 0, 0, 106 [SEP] 34, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 35, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 104 [SEP] 36, Cup, 2.900, 1.561, -0.840, 0, 0, 0, 106 [SEP] 37, Spatula, 0.193, 0.780, -0.541, 0, 270, 0, 108 [SEP] 38, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 109 [SEP] 39, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 51 [SEP] 40, Lettuce, 1.141, 0.992, -0.430, 0, 0, 0, 51 [SEP] 41, SaltShaker, -0.766, 0.817, -1.206, 0, 90, 0, 110 [SEP] 42, Knife, -0.983, 0.853, -1.206, 0, 270, 0, 110 [SEP] 43, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 62 [SEP] 44, PepperShaker, -1.056, 0.817, -1.103, 0, 90, 0, 110 [SEP] 45, ButterKnife, -0.151, 0.911, 1.214, 0, 0, 0, 62 [SEP] 46, Bowl, 2.754, 0.909, 1.299, 0, 0, 0, 86 [SEP] 47, DishSponge, -1.056, 0.820, -1.308, 0, 90, 0, 110 [SEP] 48, Spoon, 1.768, 0.772, 1.122, 0, 90, 0, 84 [SEP] 49, Mug, 0.570, 1.779, 1.455, 0, 180, 0, 109 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. | STEP 4: Put the knife in the mug that's in front of you. | STEP 5: Pick up the mug with the knife in it. | STEP 6: Turn around and take a step then turn left and walk until you're almost to the window about two feet away then turn left and walk to the small table. | STEP 7: Put the mug to the left of the pepper shaker, | END


Input: place a bunch of key in the carton and close it with the carton on the sofa 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, -0.75, 0, 180, 0,  [SEP] 1, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 30 [SEP] 2, Newspaper, 1.766, 0.869, 0.220, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.411, 0.551, -0.537, 0, 270, 0, 30 [SEP] 4, CreditCard, -0.711, 0.293, -1.917, 0, 0, 0, 32 [SEP] 5, RemoteControl, 1.807, 0.871, 0.537, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.5, 0.318, -1.771, 0, 270, 0, 32 [SEP] 8, Watch, -0.712, 0.552, -0.537, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.100, 0.037, -0.152, 0, 270, 0, 26 [SEP] 12, RemoteControl, 1.808, 0.871, 0.114, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa | STEP 4: drop the carton on the sofa | STEP 5: move left to the sofa  | STEP 6: pick up the keys on the sofa | STEP 7: move right on the  sofa | STEP 8: place the keys in the carton and close it | END


Input: throw away a soap bottle into the garbage can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.5, 0, 0, 0,  [SEP] 1, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 25 [SEP] 2, SoapBar, -1.319, 0.067, 3.327, 0, 0, 0, 25 [SEP] 3, SoapBar, -1.416, 0.994, 3.903, 0, 0, 0, 26 [SEP] 4, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.560, 0.068, 3.377, 0, 0, 0, 25 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.262, 0.068, 3.793, 0, 0, 0, 27 [SEP] 9, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 21 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.481, 0.994, 3.041, 0, 0, 0, 26 [SEP] 12, TissueBox, -1.501, 0.069, 3.743, 0, 0, 0, 27 [SEP] 13, SoapBottle, -1.547, 0.993, 3.933, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.481, 0.991, 2.148, 0, 0, 0, 26 [SEP] 15, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 32 [SEP] 16, Cloth, -1.501, 0.068, 2.857, 0, 0, 0, 19 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: walk straight and turn left towards the sink | STEP 2: pick up the soap bottle on the counter | STEP 3: turn around and walk straight then turn left towards the garbage can | STEP 4: put the soap bottle inside the garbage can | END


Input: Put a box on the couch and put the keys in it 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, 0.0, 0, 270, 0,  [SEP] 1, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 31 [SEP] 2, KeyChain, 1.364, 0.326, -0.818, 0, 90, 0, 39 [SEP] 3, KeyChain, -0.841, 0.202, -0.577, 0, 90, 0, 32 [SEP] 4, CreditCard, -0.711, 0.551, -0.106, 0, 270, 0, 31 [SEP] 5, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 31 [SEP] 6, RemoteControl, 1.443, 0.321, -0.742, 0, 0, 0, 39 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, -0.582, 0.038, -0.480, 0, 270, 0, 26 [SEP] 9, Watch, -0.453, 0.040, -0.512, 0, 90, 0, 32 [SEP] 10, Newspaper, 1.849, 0.868, 0.326, 0, 90, 0, 37 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.411, 0.551, -0.451, 0, 270, 0, 31 [SEP] 13, RemoteControl, 1.766, 0.871, 0.643, 0, 90, 0, 37 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch | STEP 5: Turn left, go to the wall, turn right | STEP 6: Pick up the keys on the chair | STEP 7: Turn left, go forward, turn left in front of the couch | STEP 8: Put the keys into the box on the couch | END


Input: heat the cup with microwave, put it back in 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, -0.75, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine | STEP 3: turn around, walk to the microwave | STEP 4: open the microwave,put the cup in, heat the cup, take the cup out | STEP 5: turn around, walk to the coffee machine | STEP 6: put the cup in the coffee machine | END


Input: Place a warm coffee cup on the coffee maker.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right.  | STEP 2: Pick up the coffee mug that is on the coffee maker.  | STEP 3: Turn around and go to the microwave above the stove.  | STEP 4: Place the coffee mug inside the microwave, heat it up, then remove the coffee mug from the microwave.  | STEP 5: Turn around and go back to the coffee maker on the counter.  | STEP 6: Place the coffee mug back on the coffee maker.  | END


Input: Heat the mug on the microwave going back to 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, -0.75, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your right head to the microwave above the stove | STEP 4: Open the microwave heat the mug then take out the mug close the microwave | STEP 5: Turn to your right and head to the coffee maker | STEP 6: Put back the mug on 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, -0.75, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn right, head to the coffee machine on the right.   | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around, bring the mug to the microwave over the stove. | STEP 4: Heat the mug in the microwave.  | STEP 5: Take the heated mug out of the microwave, turn around, bring the mug to the coffee machine.  | STEP 6: Put the heated mug on the coffee machine.  | END


Input: Put a cleaned cup filled with water in a cabinet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.931, -0.25, 0, 0, 0,  [SEP] 1, Potato, -1.264, 1.542, 2.242, 0, 90, 0, 61 [SEP] 2, Potato, 1.879, 1.096, 0.091, 0, 0, 0, 48 [SEP] 3, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 42 [SEP] 4, Spatula, -0.775, 1.061, -1.612, 0, 270, 0, 46 [SEP] 5, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 48 [SEP] 6, Egg, 0.848, 1.097, 0.545, 0, 0, 0, 48 [SEP] 7, Egg, 1.612, 1.097, 0.415, 0, 0, 0, 48 [SEP] 8, Cup, -0.401, 0.203, -1.553, 0, 0, 0, 55 [SEP] 9, Cup, 0.809, 1.565, -1.538, 0, 0, 0, 50 [SEP] 10, Cup, -1.145, 1.716, -1.269, 0, 0, 0, 60 [SEP] 11, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 46 [SEP] 12, Tomato, 1.968, 1.094, 0.738, 0, 0, 0, 48 [SEP] 13, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 61 [SEP] 14, Bowl, -1.342, 1.488, 1.885, 0, 90, 0, 61 [SEP] 15, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 46 [SEP] 16, PepperShaker, 0.906, 1.041, -1.181, 0, 0, 0, 46 [SEP] 17, Lettuce, -0.689, 1.106, -1.397, 0, 0, 0, 46 [SEP] 18, Apple, 1.882, 0.166, 2.386, 0, 270, 0, 62 [SEP] 19, Apple, 0.989, 1.090, -1.397, 0, 0, 0, 46 [SEP] 20, SoapBottle, 1.820, 1.020, -1.337, 0, 0, 0, 52 [SEP] 21, Apple, -1.268, 1.991, 1.974, 0, 90, 0, 61 [SEP] 22, Potato, 1.523, 1.096, 0.199, 0, 0, 0, 48 [SEP] 23, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 46 [SEP] 24, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 45 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.095, 1.014, 1.885, 0, 90, 0, 61 [SEP] 27, SaltShaker, 1.514, 1.038, 0.589, 0, 0, 0, 48 [SEP] 28, Egg, -1.431, 1.282, 1.796, 0, 90, 0, 61 [SEP] 29, Cup, 1.015, 1.043, 0.720, 0, 0, 0, 48 [SEP] 30, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 46 [SEP] 31, Knife, -0.432, 1.072, -1.289, 0, 0, 0, 46 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 0.848, 1.043, 0.720, 0, 0, 0, 48 [SEP] 34, PepperShaker, 1.512, 0.199, -1.408, 0, 0, 0, 56 [SEP] 35, DishSponge, -0.689, 1.046, -1.181, 0, 0, 0, 46 [SEP] 36, Plate, -0.699, 1.577, -1.545, 0, 0, 0, 51 [SEP] 37, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 48 [SEP] 38, Spoon, 1.181, 1.044, 0.632, 0, 0, 0, 48 [SEP] 39, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 40, Mug, 0.516, 1.038, 0.589, 0, 0, 0, 48 [SEP] 41, Bowl, 1.589, 1.018, -1.557, 0, 0, 0, 52 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Turn around, move to the counter left of the stove. | STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there.  | STEP 3: Turn around and bring the cup to the sink.  | STEP 4: Wash the cup in the sink, fill the cup with water.  | STEP 5: Pick up the filled cup from in the sink, turn around, bring the cup to the cabinet. | STEP 6: Open the lower cabinet on the left and put the filled cup in there.  | END