Input: Place the sponge in the blue bowl on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Kettle, 1.835, 1.655, -0.772, 0, 180, 0, 72 [SEP] 2, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 46 [SEP] 3, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 35 [SEP] 4, Spatula, 0.634, 0.926, -0.6, 0, 0, 0, 35 [SEP] 5, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 70 [SEP] 6, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 70 [SEP] 7, SoapBottle, 0.581, 1.660, -0.735, 0, 180, 0, 74 [SEP] 8, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 94 [SEP] 9, PepperShaker, -0.887, 0.817, -1.255, 0, 0, 0, 94 [SEP] 10, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 70 [SEP] 11, Mug, -0.621, 0.815, -1.257, 0, 90, 0, 94 [SEP] 12, SoapBottle, 1.155, 0.917, 1.553, 0, 0, 0, 70 [SEP] 13, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 70 [SEP] 14, Fork, -1.056, 0.821, -1.206, 0, 90, 0, 94 [SEP] 15, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 41 [SEP] 16, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 90 [SEP] 17, Egg, 3.260, 0.878, -0.543, 0, 0, 0, 90 [SEP] 18, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 70 [SEP] 19, Tomato, -0.055, 0.942, 1.383, 0, 0, 0, 46 [SEP] 20, Cup, 2.591, 1.016, -0.512, 0, 0, 0, 90 [SEP] 21, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 92 [SEP] 22, Apple, 0.123, 0.834, -0.541, 0, 0, 0, 92 [SEP] 23, Pan, 2.838, 1.563, -0.709, 0, 0, 0, 90 [SEP] 24, Lettuce, -0.198, 0.992, 1.299, 0, 0, 0, 46 [SEP] 25, SaltShaker, 1.525, 0.110, 1.231, 0, 0, 0, 64 [SEP] 26, Knife, 0.888, 0.944, -0.430, 0, 0, 0, 35 [SEP] 27, Potato, -0.983, 0.855, -1.308, 0, 90, 0, 94 [SEP] 28, PepperShaker, -0.198, 0.908, 1.468, 0, 0, 0, 46 [SEP] 29, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 70 [SEP] 30, Bowl, 2.524, 1.653, 1.429, 0, 0, 0, 60 [SEP] 31, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 94 [SEP] 32, Spoon, -0.785, 0.822, -1.038, 0, 0, 0, 94 [SEP] 33, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 35 [SEP] 34, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 35, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 36, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 37, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 38, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 39, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 40, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 41, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 42, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 43, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 44, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 46, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 47, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 49, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 51, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 54, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 57, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 58, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 70, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 71, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 73, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 74, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 75, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 76, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 77, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 78, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 79, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 82, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 83, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 84, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 85, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 86, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 87, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 88, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 89, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 90, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 91, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 92, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 93, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 94, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 95, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table. | STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter. | STEP 4: Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl. | STEP 5: Take out the bowl from the cabinet and close the door. | STEP 6: Look down at the counter. | STEP 7: Place the bowl to the left of the lettuce on the counter. | END


Input: Put the heated mug on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.25, 0, 270, 0,  [SEP] 1, Potato, 0.761, 1.106, 0.331, 0, 90, 0, 43 [SEP] 2, DishSponge, 0.542, 1.042, 0.738, 0, 0, 0, 47 [SEP] 3, Pot, 1.743, 1.021, -1.557, 0, 90, 0, 51 [SEP] 4, Pot, -1.349, 1.714, 1.885, 0, 180, 0, 60 [SEP] 5, Spoon, 0.446, 1.044, 0.630, 0, 90, 0, 47 [SEP] 6, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 47 [SEP] 7, Egg, 1.241, 0.947, 0.304, 0, 90, 0, 42 [SEP] 8, Egg, 0.892, 1.108, 0.381, 0, 90, 0, 43 [SEP] 9, Plate, 0.065, 1.056, 0.522, 0, 0, 0, 47 [SEP] 10, Plate, 1.112, 1.577, -1.614, 0, 0, 0, 49 [SEP] 11, Tomato, -1.381, 1.540, 1.974, 0, 90, 0, 60 [SEP] 12, SoapBottle, -1.184, 2.029, -1.482, 0, 0, 0, 52 [SEP] 13, Bowl, -1.029, 2.027, -1.555, 0, 0, 0, 52 [SEP] 14, Bowl, -1.339, 2.027, -1.264, 0, 0, 0, 52 [SEP] 15, SaltShaker, 1.015, 1.038, 0.589, 0, 0, 0, 47 [SEP] 16, PepperShaker, -0.670, 0.198, -1.193, 0, 0, 0, 54 [SEP] 17, PepperShaker, 0.255, 1.038, 0.630, 0, 0, 0, 47 [SEP] 18, Apple, 1.523, 1.086, 0.307, 0, 0, 0, 47 [SEP] 19, SoapBottle, 1.894, 0.205, -1.480, 0, 0, 0, 55 [SEP] 20, Apple, 0.936, 1.097, 0.281, 0, 90, 0, 43 [SEP] 21, Potato, -1.342, 1.542, 1.796, 0, 90, 0, 60 [SEP] 22, Fork, 0.989, 1.047, -1.289, 0, 0, 0, 45 [SEP] 23, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 24, Pan, -0.580, 0.203, -1.481, 0, 180, 0, 54 [SEP] 25, Tomato, -1.038, 1.279, 2.063, 0, 90, 0, 60 [SEP] 26, SaltShaker, 1.015, 1.038, 0.720, 0, 0, 0, 47 [SEP] 27, Egg, 0.848, 1.108, 0.080, 0, 90, 0, 43 [SEP] 28, Cup, 1.666, 1.020, -1.337, 0, 0, 0, 51 [SEP] 29, Spatula, -0.775, 1.061, -1.612, 0, 90, 0, 45 [SEP] 30, Knife, 1.612, 1.069, 0.738, 0, 180, 0, 47 [SEP] 31, Lettuce, -1.300, 1.287, 2.242, 0, 90, 0, 60 [SEP] 32, ButterKnife, 0.717, 1.053, 0.231, 0, 90, 0, 43 [SEP] 33, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.432, 1.046, -1.505, 0, 0, 0, 45 [SEP] 35, Plate, 1.665, 0.217, -1.335, 0, 0, 0, 55 [SEP] 36, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 0.980, 1.054, 0.131, 0, 90, 0, 43 [SEP] 38, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 57 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, 0.823, 1.045, -1.181, 0, 0, 0, 45 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn right then walk forward towards the coffee maker on your left | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn left then head to the microwave | STEP 4: Open the microwave heat up the mug then take it out and close the microwave | STEP 5: Turn left then head to the right side counter of the stove | STEP 6: Put the mug on the counter | END


Input: Put a washed piece of apple in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 42 [SEP] 2, Potato, 2.591, 1.598, -0.644, 0, 90, 0, 97 [SEP] 3, Potato, 0.123, 0.800, -0.707, 0, 0, 0, 99 [SEP] 4, DishSponge, -0.682, 0.820, -1.328, 0, 0, 0, 101 [SEP] 5, DishSponge, 1.135, 0.114, -0.458, 0, 180, 0, 50 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 7, Pot, 1.155, 0.915, 1.299, 0, 0, 0, 77 [SEP] 8, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 86 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 99 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 76 [SEP] 11, Cup, 2.900, 1.286, -0.775, 0, 0, 0, 97 [SEP] 12, SoapBottle, 1.141, 1.661, 1.390, 0, 0, 0, 69 [SEP] 13, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 14, Tomato, 2.838, 0.756, -0.442, 0, 0, 0, 97 [SEP] 15, SaltShaker, 1.065, 0.111, 1.037, 0, 0, 0, 49 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 77 [SEP] 17, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 18, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 53 [SEP] 19, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 101 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 77 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 100 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.151, 0.942, 1.383, 0, 0, 0, 53 [SEP] 27, Cup, -0.785, 0.818, -1.255, 0, 0, 0, 101 [SEP] 28, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 99 [SEP] 29, Apple, -0.198, 0.980, 1.553, 0, 0, 0, 53 [SEP] 30, Pan, 2.838, 1.018, -0.709, 0, 0, 0, 97 [SEP] 31, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 77 [SEP] 32, SaltShaker, 1.955, 0.908, 1.468, 0, 0, 0, 77 [SEP] 33, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 42 [SEP] 34, Potato, 2.962, 1.323, -0.447, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 101 [SEP] 36, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 77 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, -0.198, 0.911, 1.044, 0, 0, 0, 53 [SEP] 39, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.804, 1.649, 1.394, 0, 0, 0, 43 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Wash the piece of apple in the sink. Take the piece of apple from the sink. | STEP 11: Turn around, go forward and right to the oven. | STEP 12: Put the apple in the microwave above the oven. | END


Input: Cut and wash an apple, put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 42 [SEP] 2, Potato, 2.591, 1.598, -0.644, 0, 90, 0, 97 [SEP] 3, Potato, 0.123, 0.800, -0.707, 0, 0, 0, 99 [SEP] 4, DishSponge, -0.682, 0.820, -1.328, 0, 0, 0, 101 [SEP] 5, DishSponge, 1.135, 0.114, -0.458, 0, 180, 0, 50 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 7, Pot, 1.155, 0.915, 1.299, 0, 0, 0, 77 [SEP] 8, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 86 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 99 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 76 [SEP] 11, Cup, 2.900, 1.286, -0.775, 0, 0, 0, 97 [SEP] 12, SoapBottle, 1.141, 1.661, 1.390, 0, 0, 0, 69 [SEP] 13, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 14, Tomato, 2.838, 0.756, -0.442, 0, 0, 0, 97 [SEP] 15, SaltShaker, 1.065, 0.111, 1.037, 0, 0, 0, 49 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 77 [SEP] 17, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 18, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 53 [SEP] 19, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 101 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 77 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 100 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.151, 0.942, 1.383, 0, 0, 0, 53 [SEP] 27, Cup, -0.785, 0.818, -1.255, 0, 0, 0, 101 [SEP] 28, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 99 [SEP] 29, Apple, -0.198, 0.980, 1.553, 0, 0, 0, 53 [SEP] 30, Pan, 2.838, 1.018, -0.709, 0, 0, 0, 97 [SEP] 31, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 77 [SEP] 32, SaltShaker, 1.955, 0.908, 1.468, 0, 0, 0, 77 [SEP] 33, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 42 [SEP] 34, Potato, 2.962, 1.323, -0.447, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 101 [SEP] 36, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 77 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, -0.198, 0.911, 1.044, 0, 0, 0, 53 [SEP] 39, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.804, 1.649, 1.394, 0, 0, 0, 43 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around and go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn left, go forward, turn left at the microwave | STEP 12: Put the apple piece in the microwave | END


Input: Pick up a disc and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -4.0, 0, 270, 0,  [SEP] 1, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 20 [SEP] 2, CreditCard, -3.466, 0.981, -3.070, 0, 0, 0, 38 [SEP] 3, CreditCard, -3.760, 0.981, -3.271, 0, 0, 0, 38 [SEP] 4, KeyChain, -3.613, 0.980, -3.070, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.687, 0.982, -4.276, 0, 0, 0, 38 [SEP] 6, AlarmClock, -1.474, 0.803, -3.811, 0, 0, 0, 35 [SEP] 7, Book, -1.270, 0.804, -4.029, 0, 0, 0, 35 [SEP] 8, CellPhone, -0.862, 0.800, -3.703, 0, 0, 0, 35 [SEP] 9, Laptop, -2.559, 0.618, -1.506, 0, 0, 0, 20 [SEP] 10, CreditCard, -3.526, 0.225, -4.256, 0, 0, 0, 42 [SEP] 11, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 12, KeyChain, -0.862, 0.800, -4.137, 0, 90, 0, 35 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -1.886, 0.065, -3.968, 0, 9.990, 0, 24 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.613, 0.980, -3.874, 0, 0, 0, 38 [SEP] 18, Pen, -3.687, 0.985, -3.472, 0, 0, 0, 38 [SEP] 19, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 35 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Move to the right and stand in the middle of the brown dresser. | STEP 2: Pick the disc up from the dresser. | STEP 3: Turn around and face the lamp on the white table. | STEP 4: Turn the lamp on. | END


Input: Pick up a CD 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, -2.75, 0.909, -4.0, 0, 270, 0,  [SEP] 1, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 20 [SEP] 2, CreditCard, -3.466, 0.981, -3.070, 0, 0, 0, 38 [SEP] 3, CreditCard, -3.760, 0.981, -3.271, 0, 0, 0, 38 [SEP] 4, KeyChain, -3.613, 0.980, -3.070, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.687, 0.982, -4.276, 0, 0, 0, 38 [SEP] 6, AlarmClock, -1.474, 0.803, -3.811, 0, 0, 0, 35 [SEP] 7, Book, -1.270, 0.804, -4.029, 0, 0, 0, 35 [SEP] 8, CellPhone, -0.862, 0.800, -3.703, 0, 0, 0, 35 [SEP] 9, Laptop, -2.559, 0.618, -1.506, 0, 0, 0, 20 [SEP] 10, CreditCard, -3.526, 0.225, -4.256, 0, 0, 0, 42 [SEP] 11, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 12, KeyChain, -0.862, 0.800, -4.137, 0, 90, 0, 35 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -1.886, 0.065, -3.968, 0, 9.990, 0, 24 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.613, 0.980, -3.874, 0, 0, 0, 38 [SEP] 18, Pen, -3.687, 0.985, -3.472, 0, 0, 0, 38 [SEP] 19, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 35 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn to the right, move forward, turn to the left to the dresser. | STEP 2: Pick up the CD that is on the dresser between the pen and keys. | STEP 3: Turn around, go to the white table with the lamp on it. | STEP 4: Turn on the lamp. | END


Input: Place two sets of keys on the middle cushion of the tan couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 4.5, 0, 180, 0,  [SEP] 1, Bowl, -5.707, 0.535, 6.532, 0, 135, 0, 57 [SEP] 2, Bowl, -5.917, 0.881, 4.547, 0, 0, 0, 49 [SEP] 3, KeyChain, -2.87, 0.147, 7.225, 0, 270, 0, 50 [SEP] 4, KeyChain, -5.328, 0.534, 7.289, 0, 135, 0, 57 [SEP] 5, RemoteControl, -2.474, 0.455, 7.259, 0, 90, 0, 48 [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, -2.411, 1.280, 7.235, 0, 90, 0, 55 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -2.561, 0.532, 4.335, 0, 270, 0, 56 [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, -2.277, 0.453, 7.183, 0, 90, 0, 48 [SEP] 14, CreditCard, -5.215, 0.533, 6.949, 0, 135, 0, 57 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -2.870, 0.147, 7.276, 0, 90, 0, 50 [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, -0.326, 0.795, 1.900, 0, 0, 0, 41 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.710, 0.369, 3.002, 0, 0, 0, 39 [SEP] 23, Watch, -2.704, 0.533, 3.981, 0, 0, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.492, 0.543, 3.752, 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: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch. | STEP 4: Place the keys on the middle seat of the couch. | STEP 5: Turn left and walk to the TV in the corner. | STEP 6: Pick up the keys from the behind the TV. | STEP 7: Turn around and walk to the middle of the tan couch. | STEP 8: Place the keys to the left of the keys already on the couch. | END


Input: Rinse a tea kettle and set it next 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, -1.5, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Pan, 2.838, 1.288, -0.644, 0, 0, 0, 96 [SEP] 2, Pan, 2.221, 0.911, 1.214, 0, 0, 0, 76 [SEP] 3, Potato, 1.422, 0.946, 1.044, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.872, 0.114, 1.081, 0, 0, 0, 73 [SEP] 5, DishSponge, 2.481, 0.770, 1.122, 0, 0, 0, 57 [SEP] 6, ButterKnife, -0.621, 0.820, -1.257, 0, 90, 0, 100 [SEP] 7, Spoon, -1.056, 0.822, -1.206, 0, 90, 0, 100 [SEP] 8, Spoon, -0.055, 0.912, 1.299, 0, 0, 0, 52 [SEP] 9, Fork, 1.955, 0.912, 1.299, 0, 0, 0, 76 [SEP] 10, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 41 [SEP] 11, Spatula, -0.887, 0.835, -1.400, 0, 90, 0, 100 [SEP] 12, Egg, 0.518, 1.822, 1.391, 0, 180, 0, 99 [SEP] 13, SoapBottle, 1.524, 1.660, 1.432, 0, 0, 0, 64 [SEP] 14, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 100 [SEP] 15, PepperShaker, -0.983, 0.817, -1.360, 0, 90, 0, 100 [SEP] 16, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, -1.991, 0.492, 1.332, 0, 270, 0, 94 [SEP] 18, SoapBottle, -0.197, 0.120, 1.156, 0, 0, 0, 69 [SEP] 19, Plate, 1.155, 0.914, 1.214, 0, 0, 0, 76 [SEP] 20, Fork, 1.276, 0.771, -0.422, 0, 270, 0, 60 [SEP] 21, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 76 [SEP] 22, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 96 [SEP] 23, Egg, -2.048, 0.461, 1.502, 0, 270, 0, 94 [SEP] 24, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 25, Tomato, -0.983, 0.852, -1.103, 0, 90, 0, 100 [SEP] 26, Cup, 2.715, 1.016, -0.512, 0, 0, 0, 96 [SEP] 27, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 52 [SEP] 28, Apple, 3.260, 0.909, -0.485, 0, 0, 0, 96 [SEP] 29, Pan, 2.715, 1.563, -0.644, 0, 0, 0, 96 [SEP] 30, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 52 [SEP] 31, SaltShaker, 2.513, 0.111, 1.117, 0, 0, 0, 45 [SEP] 32, Knife, -0.939, 0.853, -1.328, 0, 270, 0, 100 [SEP] 33, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 99 [SEP] 34, PepperShaker, -0.990, 0.817, -1.255, 0, 0, 0, 100 [SEP] 35, ButterKnife, 1.955, 0.911, 1.468, 0, 0, 0, 76 [SEP] 36, Bowl, 2.715, 0.723, -0.504, 0, 0, 0, 96 [SEP] 37, DishSponge, -0.734, 0.820, -1.400, 0, 0, 0, 100 [SEP] 38, Spoon, 2.754, 0.912, 1.468, 0, 0, 0, 76 [SEP] 39, Mug, 2.188, 0.109, 1.119, 0, 0, 0, 77 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk forward, making a left to stop at the stove. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Turn around to face the sink. | STEP 4: Rinse the tea kettle in the sink, removing it again. | STEP 5: Make a left to stop at the counter before the fridge. | STEP 6: Set the tea kettle down on the counter next to the coffee maker. | END


Input: Retrieve a tomato for heating in the microwave and placement 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, -1.0, 0.931, -0.5, 0, 90, 0,  [SEP] 1, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 48 [SEP] 2, Potato, -1.051, 0.760, 1.885, 0, 90, 0, 67 [SEP] 3, Potato, 0.848, 1.096, 0.763, 0, 0, 0, 54 [SEP] 4, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 52 [SEP] 5, Fork, 1.072, 1.047, -1.397, 0, 0, 0, 52 [SEP] 6, Spoon, 0.446, 1.044, 0.630, 0, 90, 0, 54 [SEP] 7, Spoon, -0.346, 1.048, -1.397, 0, 90, 0, 52 [SEP] 8, Spatula, 1.181, 1.058, 0.589, 0, 90, 0, 54 [SEP] 9, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 52 [SEP] 10, Cup, -0.548, 1.565, -1.396, 0, 0, 0, 57 [SEP] 11, Cup, -0.323, 1.565, -1.470, 0, 0, 0, 57 [SEP] 12, Plate, 1.188, 1.577, -1.764, 0, 0, 0, 56 [SEP] 13, Plate, -0.548, 1.577, -1.619, 0, 0, 0, 57 [SEP] 14, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 54 [SEP] 15, Knife, 0.100, 1.072, -1.086, 0, 180, 0, 52 [SEP] 16, Tomato, -1.268, 1.999, 2.242, 0, 90, 0, 67 [SEP] 17, Tomato, -1.038, 1.279, 1.796, 0, 90, 0, 67 [SEP] 18, Tomato, 0.906, 1.097, -1.181, 0, 0, 0, 52 [SEP] 19, SoapBottle, 1.523, 1.044, 0.199, 0, 0, 0, 54 [SEP] 20, SoapBottle, 1.512, 0.205, -1.335, 0, 0, 0, 62 [SEP] 21, Bowl, 1.112, 1.563, -1.463, 0, 0, 0, 56 [SEP] 22, PepperShaker, 1.817, 0.199, -1.190, 0, 0, 0, 62 [SEP] 23, PepperShaker, -0.222, 0.198, -1.481, 0, 90, 0, 61 [SEP] 24, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 52 [SEP] 25, Mug, -1.096, 1.711, -1.238, 0, 270, 0, 66 [SEP] 26, SoapBottle, -0.432, 1.047, -1.397, 0, 0, 0, 52 [SEP] 27, Apple, 1.181, 0.936, 0.304, 0, 90, 0, 49 [SEP] 28, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 54 [SEP] 29, Fork, 0.255, 1.043, 0.630, 0, 0, 0, 54 [SEP] 30, Kettle, 0.823, 1.047, -1.828, 0, 0, 0, 52 [SEP] 31, Pan, -1.105, 0.202, -1.482, 0, 90, 0, 60 [SEP] 32, Tomato, -1.386, 1.764, 1.796, 0, 90, 0, 67 [SEP] 33, SaltShaker, 0.979, 0.194, -1.628, 0, 0, 0, 63 [SEP] 34, Egg, -1.264, 1.543, 2.063, 0, 90, 0, 67 [SEP] 35, Cup, -1.264, 1.489, 2.242, 0, 90, 0, 67 [SEP] 36, Spatula, 0.761, 1.068, 0.131, 0, 180, 0, 50 [SEP] 37, Knife, 1.701, 1.069, 0.630, 0, 0, 0, 54 [SEP] 38, Lettuce, -1.349, 1.773, 2.063, 0, 90, 0, 67 [SEP] 39, ButterKnife, 0.516, 1.043, 0.807, 0, 0, 0, 54 [SEP] 40, PepperShaker, 0.890, 0.194, -1.628, 0, 0, 0, 63 [SEP] 41, DishSponge, -0.491, 0.203, -1.193, 0, 0, 0, 61 [SEP] 42, Plate, 0.801, 0.212, -1.267, 0, 0, 0, 63 [SEP] 43, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 54 [SEP] 44, Spoon, 0.980, 1.054, 0.231, 0, 90, 0, 50 [SEP] 45, Pot, -1.029, 2.029, -1.555, 0, 90, 0, 59 [SEP] 46, Mug, 0.960, 1.560, -1.764, 0, 0, 0, 56 [SEP] 47, Bowl, -1.235, 1.227, 1.885, 0, 90, 0, 67 [SEP] 48, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 49, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 50, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 51, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 52, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 53, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 54, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 55, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 56, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 57, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 58, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 63, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 64, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 65, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 66, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 67, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 68, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 69, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 70, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 71, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 74, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 75, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 76, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 77, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 78, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 79, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork. | STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven. | STEP 4: Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove.  | STEP 5: Walk to the opposite side of the room and face left to see the sink. | STEP 6: Place the tomato in the right sink below the apple,. | END


Input: Put a clean cup 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, -0.25, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Pan, 0.707, 2.153, 1.468, 0, 0, 0, 55 [SEP] 2, Potato, 2.591, 1.053, -0.447, 0, 0, 0, 101 [SEP] 3, Potato, 2.838, 1.053, -0.709, 0, 0, 0, 101 [SEP] 4, DishSponge, 2.223, 0.114, 1.119, 0, 0, 0, 82 [SEP] 5, DishSponge, -0.734, 0.820, -1.038, 0, 0, 0, 105 [SEP] 6, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 81 [SEP] 7, Pot, 2.715, 1.567, -0.578, 0, 0, 0, 101 [SEP] 8, Spatula, 2.221, 0.926, 1.383, 0, 0, 0, 81 [SEP] 9, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 105 [SEP] 10, Cup, 2.900, 1.561, -0.775, 0, 0, 0, 101 [SEP] 11, Cup, 2.962, 1.561, -0.644, 0, 0, 0, 101 [SEP] 12, Cup, 0.103, 1.653, -0.810, 0, 180, 0, 86 [SEP] 13, Egg, 0.570, 1.822, 1.488, 0, 180, 0, 104 [SEP] 14, Egg, 1.155, 0.949, 1.468, 0, 0, 0, 81 [SEP] 15, Bowl, 2.161, 0.112, -0.498, 0, 270, 0, 87 [SEP] 16, Bowl, 2.754, 0.909, 1.299, 0, 0, 0, 81 [SEP] 17, SaltShaker, -0.151, 0.908, 1.129, 0, 0, 0, 57 [SEP] 18, PepperShaker, -0.198, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, Bread, 2.715, 1.346, -0.644, 0, 0, 0, 101 [SEP] 20, Lettuce, -0.246, 0.992, 1.383, 0, 0, 0, 57 [SEP] 21, Mug, 3.381, 0.835, -0.514, 0, 0, 0, 101 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 23, SoapBottle, 1.247, 0.120, -0.383, 0, 180, 0, 54 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.887, 0.821, -1.400, 0, 90, 0, 105 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, -1.962, 0.461, 1.459, 0, 270, 0, 99 [SEP] 29, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 1.050, -0.709, 0, 0, 0, 101 [SEP] 31, Cup, 2.770, 1.652, 1.470, 0, 0, 0, 47 [SEP] 32, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 103 [SEP] 33, Apple, 1.422, 0.980, 1.468, 0, 0, 0, 81 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 81 [SEP] 36, SaltShaker, 0.888, 0.908, -0.345, 0, 0, 0, 46 [SEP] 37, Knife, -0.983, 0.853, -1.206, 0, 180, 0, 105 [SEP] 38, Potato, 2.221, 0.946, 1.468, 0, 0, 0, 81 [SEP] 39, PepperShaker, 1.955, 0.908, 1.129, 0, 0, 0, 81 [SEP] 40, ButterKnife, 1.141, 0.901, -0.6, 0, 0, 0, 46 [SEP] 41, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 105 [SEP] 42, DishSponge, 0.862, 1.655, -0.732, 0, 180, 0, 56 [SEP] 43, Spoon, 2.488, 0.912, 1.129, 0, 0, 0, 81 [SEP] 44, Mug, -0.983, 0.815, -1.360, 0, 90, 0, 105 [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 to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. | STEP 3: Take a small step to your right. | STEP 4: Wash the cup in the sink and then pick it back up and shut off the water. | STEP 5: Turn right and then walk two steps then turn left and walk to the small circular table. | STEP 6: Put the cup to the right of the sponge. | END


Input: Put a cooked slice of tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.75, 0, 0, 0,  [SEP] 1, DishSponge, -0.952, 2.027, -1.409, 0, 0, 0, 60 [SEP] 2, ButterKnife, 0.065, 1.043, 0.091, 0, 0, 0, 55 [SEP] 3, ButterKnife, 0.823, 1.046, -1.289, 0, 0, 0, 53 [SEP] 4, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 52 [SEP] 5, Kettle, -0.670, 0.204, -1.553, 0, 0, 0, 62 [SEP] 6, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 49 [SEP] 7, Pot, 1.512, 1.021, -1.264, 0, 270, 0, 59 [SEP] 8, Fork, 0.657, 1.047, -1.107, 0, 0, 0, 53 [SEP] 9, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 53 [SEP] 10, Spoon, 0.936, 1.054, 0.231, 0, 90, 0, 51 [SEP] 11, Spatula, -0.603, 1.061, -1.289, 0, 0, 0, 53 [SEP] 12, Spatula, 1.181, 1.058, 0.763, 0, 0, 0, 55 [SEP] 13, Egg, -1.096, 1.770, -1.238, 0, 0, 0, 67 [SEP] 14, Cup, 0.712, 0.200, -1.556, 0, 0, 0, 64 [SEP] 15, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 50 [SEP] 16, Plate, -0.548, 1.577, -1.619, 0, 0, 0, 58 [SEP] 17, Tomato, 1.701, 1.094, 0.738, 0, 0, 0, 55 [SEP] 18, Tomato, 0.906, 1.097, -1.181, 0, 0, 0, 53 [SEP] 19, Tomato, -1.366, 1.279, 1.885, 0, 90, 0, 68 [SEP] 20, SoapBottle, 0.936, 1.054, 0.331, 0, 90, 0, 51 [SEP] 21, SoapBottle, 1.897, 1.020, -1.557, 0, 0, 0, 59 [SEP] 22, Bowl, -1.303, 1.488, 2.063, 0, 90, 0, 68 [SEP] 23, Bowl, -1.300, 1.227, 2.153, 0, 90, 0, 68 [SEP] 24, PepperShaker, -1.416, 0.197, -1.555, 0, 0, 0, 61 [SEP] 25, PepperShaker, -0.517, 1.041, -1.181, 0, 0, 0, 53 [SEP] 26, Apple, 1.826, 0.166, 2.414, 0, 270, 0, 69 [SEP] 27, SoapBottle, -1.339, 0.203, -1.265, 0, 0, 0, 61 [SEP] 28, Apple, -1.194, 1.759, -1.269, 0, 0, 0, 67 [SEP] 29, Potato, 0.761, 1.106, 0.331, 0, 90, 0, 51 [SEP] 30, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 55 [SEP] 31, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 56 [SEP] 32, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 53 [SEP] 33, Tomato, -1.038, 1.279, 2.153, 0, 90, 0, 68 [SEP] 34, SaltShaker, -0.432, 1.041, -1.505, 0, 0, 0, 53 [SEP] 35, Egg, -1.103, 1.282, 1.885, 0, 90, 0, 68 [SEP] 36, Cup, -1.095, 0.964, 1.885, 0, 90, 0, 68 [SEP] 37, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 53 [SEP] 38, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 55 [SEP] 39, Lettuce, -0.030, 1.103, 0.199, 0, 0, 0, 55 [SEP] 40, ButterKnife, 0.065, 1.043, 0.415, 0, 0, 0, 55 [SEP] 41, PepperShaker, 1.612, 1.038, 0.091, 0, 0, 0, 55 [SEP] 42, DishSponge, -0.689, 1.046, -1.397, 0, 0, 0, 53 [SEP] 43, Plate, 1.188, 1.577, -1.689, 0, 0, 0, 57 [SEP] 44, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 55 [SEP] 45, Spoon, 0.516, 1.044, 0.720, 0, 0, 0, 55 [SEP] 46, Pot, 1.512, 0.206, -1.553, 0, 270, 0, 63 [SEP] 47, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 71 [SEP] 48, Bowl, 1.158, 0.198, -1.267, 0, 0, 0, 64 [SEP] 49, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 50, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 51, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 52, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 53, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 54, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 55, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 56, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 57, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 58, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 59, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 63, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 64, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 65, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 66, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 67, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 68, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 69, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 70, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 71, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 72, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 74, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 75, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 76, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 77, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 78, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 79, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 80, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, go across the room and turn left to the microwave above the oven. | STEP 10: Put the tomato in the microwave, cook it and pick it back up. | STEP 11: Turn left and go the counter to the left of the stove. | STEP 12: Put the slice of tomato on the counter by the corner of the stove. | END


Input: Place the clean spoon in the drawer below the bread. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0,  [SEP] 1, DishSponge, 1.209, 0.771, 1.198, 0, 0, 0, 91 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 3, Kettle, 1.134, 1.655, -0.772, 0, 180, 0, 48 [SEP] 4, ButterKnife, 1.422, 0.911, 1.468, 0, 90, 0, 81 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 6, Spoon, -0.151, 0.912, 1.468, 0, 0, 0, 57 [SEP] 7, Fork, 1.155, 0.912, 1.383, 0, 0, 0, 81 [SEP] 8, Fork, 1.155, 0.912, 1.129, 0, 0, 0, 81 [SEP] 9, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 81 [SEP] 10, Cup, 2.124, 0.112, -0.538, 0, 180, 0, 87 [SEP] 11, Cup, 0.518, 1.782, 1.423, 0, 180, 0, 104 [SEP] 12, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 46 [SEP] 13, Egg, 2.754, 0.949, 1.468, 0, 0, 0, 81 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 103 [SEP] 15, SoapBottle, -0.983, 0.826, -1.155, 0, 180, 0, 105 [SEP] 16, SoapBottle, -1.991, 0.429, 1.459, 0, 270, 0, 99 [SEP] 17, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 18, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 81 [SEP] 19, PepperShaker, 2.767, 0.110, 1.193, 0, 0, 0, 78 [SEP] 20, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 57 [SEP] 21, Mug, -0.087, 0.760, -0.541, 0, 0, 0, 103 [SEP] 22, Apple, 3.381, 0.909, -0.514, 0, 0, 0, 101 [SEP] 23, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 46 [SEP] 24, Plate, 2.777, 1.566, -0.578, 0, 0, 0, 101 [SEP] 25, Fork, 2.418, 0.771, 1.122, 0, 90, 0, 62 [SEP] 26, Pot, 1.179, 1.659, 1.468, 0, 0, 0, 58 [SEP] 27, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 46 [SEP] 28, Egg, -0.007, 0.949, 1.129, 0, 0, 0, 57 [SEP] 29, Kettle, 1.141, 0.912, -0.430, 0, 0, 0, 46 [SEP] 30, Tomato, 0.888, 0.942, -0.769, 0, 0, 0, 46 [SEP] 31, Cup, 1.792, 0.112, 1.156, 0, 0, 0, 75 [SEP] 32, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 81 [SEP] 33, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 105 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -1.056, 0.817, -1.411, 0, 90, 0, 105 [SEP] 37, Knife, 1.955, 0.944, 1.129, 0, 0, 0, 81 [SEP] 38, Potato, -0.621, 0.855, -1.257, 0, 90, 0, 105 [SEP] 39, PepperShaker, -0.911, 0.817, -1.257, 0, 90, 0, 105 [SEP] 40, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 81 [SEP] 41, Bowl, 2.900, 1.017, -0.709, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.766, 0.820, -1.411, 0, 90, 0, 105 [SEP] 43, Spoon, -0.694, 0.822, -1.360, 0, 90, 0, 105 [SEP] 44, Mug, 2.838, 0.720, -0.535, 0, 0, 0, 101 [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 and head towards the loaf of bread on the counter on your right. | STEP 2: Pick up the spoon behind the loaf of bread. | STEP 3: Turn around and walk towards the sink. | STEP 4: Place the spoon in the sink, turn on the faucet, wash the spoon, turn off the faucet, and pick up the spoon. | STEP 5: Turn around and face the bread on the counter. | STEP 6: Open the drawer below the bread, place the spoon in it, and close the drawer. | END


Input: Move the pencil from the table to the top of the cabinet under the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.0, 0, 90, 0,  [SEP] 1, CD, -3.539, 0.979, -3.874, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.862, 0.803, -4.029, 0, 0, 0, 39 [SEP] 3, CellPhone, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 4, Pencil, -0.657, 0.807, -4.354, 0, 0, 0, 39 [SEP] 5, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 39 [SEP] 6, CreditCard, -3.638, 0.614, -3.184, 0, 0, 0, 43 [SEP] 7, Book, -1.270, 0.800, -4.137, 0, 0, 0, 39 [SEP] 8, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 9, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 39 [SEP] 10, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 39 [SEP] 11, Book, -3.760, 0.980, -3.070, 0, 0, 0, 42 [SEP] 12, CellPhone, -1.066, 0.800, -3.811, 0, 0, 0, 39 [SEP] 13, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.760, 0.981, -4.075, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.760, 0.980, -3.271, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.453, 0.803, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.613, 0.980, -4.075, 0, 0, 0, 42 [SEP] 22, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 39 [SEP] 23, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Go to the wall then turn right to face the table | STEP 2: Pick up the pencil that is to the left of the alarm clock at the back of the table | STEP 3: Turn around and take a step then turn around again to face the table  | STEP 4: Put the pencil on top of the cabinet under the table | END


Input: Move the yellow pencil from the desk to the drawers underneath. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.0, 0, 90, 0,  [SEP] 1, CD, -3.539, 0.979, -3.874, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.862, 0.803, -4.029, 0, 0, 0, 39 [SEP] 3, CellPhone, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 4, Pencil, -0.657, 0.807, -4.354, 0, 0, 0, 39 [SEP] 5, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 39 [SEP] 6, CreditCard, -3.638, 0.614, -3.184, 0, 0, 0, 43 [SEP] 7, Book, -1.270, 0.800, -4.137, 0, 0, 0, 39 [SEP] 8, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 9, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 39 [SEP] 10, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 39 [SEP] 11, Book, -3.760, 0.980, -3.070, 0, 0, 0, 42 [SEP] 12, CellPhone, -1.066, 0.800, -3.811, 0, 0, 0, 39 [SEP] 13, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.760, 0.981, -4.075, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.760, 0.980, -3.271, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.453, 0.803, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.613, 0.980, -4.075, 0, 0, 0, 42 [SEP] 22, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 39 [SEP] 23, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Walk forward and make a right to walk to the desk. | STEP 2: Pick up a yellow pencil from the desk. | STEP 3: Move to face the drawers below the desk. | STEP 4: Set the pencil down on top of the drawers below the desk. | END


Input: Examine the mug by the light SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -2.5, 0, 90, 0,  [SEP] 1, CD, -0.249, 0.799, -4.029, 0, 0, 0, 43 [SEP] 2, CD, -3.470, 0.418, -4.255, 0, 0, 0, 49 [SEP] 3, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 28 [SEP] 4, Pen, -3.613, 0.986, -3.070, 0, 0, 0, 46 [SEP] 5, Pen, -3.760, 0.986, -4.075, 0, 0, 0, 46 [SEP] 6, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 32 [SEP] 7, Pencil, -3.760, 0.983, -3.874, 0, 0, 0, 46 [SEP] 8, CreditCard, -1.270, 0.803, -3.811, 0, 0, 0, 43 [SEP] 9, KeyChain, -3.467, 0.045, -3.977, 0, 0, 0, 51 [SEP] 10, KeyChain, -0.578, 0.190, -3.779, 0, 0, 0, 38 [SEP] 11, Book, -3.613, 0.981, -4.276, 0, 0, 0, 46 [SEP] 12, Book, -3.687, 0.980, -3.673, 0, 0, 0, 46 [SEP] 13, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 28 [SEP] 14, AlarmClock, -1.474, 0.800, -3.920, 0, 0, 0, 43 [SEP] 15, Book, -3.834, 0.980, -3.271, 0, 0, 0, 46 [SEP] 16, CellPhone, -0.453, 0.803, -4.029, 0, 0, 0, 43 [SEP] 17, Laptop, -3.402, 0.618, -1.218, 0, 0, 0, 28 [SEP] 18, CreditCard, -3.580, 0.045, -3.465, 0, 0, 0, 45 [SEP] 19, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 43 [SEP] 20, KeyChain, -1.474, 0.804, -4.137, 0, 0, 0, 43 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.834, 0.984, -3.673, 0, 0, 0, 46 [SEP] 24, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 28 [SEP] 25, CD, -3.908, 0.980, -3.472, 0, 0, 0, 46 [SEP] 26, Pen, -1.066, 0.809, -3.811, 0, 0, 0, 43 [SEP] 27, Mug, -0.862, 0.801, -3.811, 0, 0, 0, 43 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Turn to your right and face the table  | STEP 2: Pick up the mug on the table | STEP 3: Turn right then walk forward, turn left face the lamp | STEP 4: Turn on the lamp | END


Input: To move two newspapers to the chair on the side of the room. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.0, 0, 180, 0,  [SEP] 1, Watch, 1.891, 0.870, 0.643, 0, 90, 0, 39 [SEP] 2, Watch, -0.582, 0.360, -0.609, 0, 90, 0, 32 [SEP] 3, Newspaper, 1.766, 0.868, 0.537, 0, 90, 0, 39 [SEP] 4, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 33 [SEP] 5, CreditCard, -1.100, 0.359, -0.609, 0, 90, 0, 42 [SEP] 6, CreditCard, 1.522, 0.277, -0.435, 0, 0, 0, 41 [SEP] 7, RemoteControl, 1.849, 0.872, 0.326, 0, 90, 0, 39 [SEP] 8, RemoteControl, -0.323, 0.358, -0.544, 0, 90, 0, 32 [SEP] 9, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 41 [SEP] 10, KeyChain, -0.323, 0.361, -0.152, 0, 270, 0, 30 [SEP] 11, Watch, -0.323, 0.038, -0.185, 0, 270, 0, Floor|+00.00| [SEP] 12, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 33 [SEP] 13, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 35 [SEP] 14, CreditCard, -0.922, 0.293, -1.771, 0, 0, 0, 35 [SEP] 15, RemoteControl, 1.808, 0.871, 0.114, 0, 90, 0, 39 [SEP] 16, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 33 [SEP] 17, Statue, -0.561, 0.562, -0.192, 0, 0, 0, 33 [SEP] 18, Statue, -0.561, 0.562, -0.537, 0, 270, 0, 33 [SEP] 19, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 20, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 21, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 22, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 23, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 24, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 25, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 27, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 32, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 33, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 34, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 35, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 36, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 37, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 38, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 39, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 40, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 41, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 42, , , , , , , ,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair. | STEP 4: Place the newspaper in the chair. | STEP 5: Take a step to the left to face the table to the left of the chair. | STEP 6: Pick up the newspaper on the table. | STEP 7: Take a step to the right to face the chair. | STEP 8: Place the newspaper next to the first newspaper in the chair. | END


Input: Take the box near the TV, put it 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, -5.5, 0.901, 1.75, 0, 0, 0,  [SEP] 1, Bowl, -5.917, 0.881, 3.757, 0, 0, 0, 52 [SEP] 2, Newspaper, -0.789, 0.431, 3.306, 0, 0, 0, 42 [SEP] 3, Newspaper, -0.868, 0.365, 3.306, 0, 0, 0, 42 [SEP] 4, KeyChain, -0.868, 0.433, 4.219, 0, 90, 0, 42 [SEP] 5, KeyChain, -2.474, 0.147, 7.122, 0, 90, 0, 53 [SEP] 6, RemoteControl, -2.561, 0.536, 3.607, 0, 270, 0, 59 [SEP] 7, RemoteControl, -0.789, 0.369, 3.915, 0, 0, 0, 42 [SEP] 8, Box, -3.328, 1.443, 7.171, 0, 90, 0, 58 [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, -5.960, 0.453, 4.152, 0, 0, 0, 54 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -2.352, 0.532, 4.480, 0, 270, 0, 59 [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, -0.687, 0.794, 1.626, 0, 270, 0, 44 [SEP] 17, CreditCard, -2.631, 0.533, 3.752, 0, 270, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -2.811, 0.534, 4.231, 0, 0, 0, 59 [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, -5.917, 0.881, 4.547, 0, 0, 0, 52 [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, -0.789, 0.369, 3.002, 0, 0, 0, 42 [SEP] 26, Watch, -0.433, 0.793, 2.377, 0, 270, 0, 44 [SEP] 27, Statue, -2.352, 0.540, 3.752, 0, 270, 0, 59 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -5.950, 0.156, 4.349, 0, 0, 0, 49 [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: Head straight to the TV in the corner | STEP 2: Pick up the box from the floor next to the TV | STEP 3: Turn around, head across the living room | STEP 4: Put the box on the couch | END


Input: Place the two tissue boxes from the shelf on the toilet basin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.25, 0, 90, 0,  [SEP] 1, TissueBox, -0.980, 0.289, 2.127, 0, 0, 0, 27 [SEP] 2, Cloth, 0.206, 0.048, 0.384, 0, 0, 0, 30 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.471, 1.772, 2.157, 0, 0, 0, 29 [SEP] 5, SoapBar, 0.206, 0.043, 1.295, 0, 0, 0, 30 [SEP] 6, SprayBottle, -1.144, 1.071, 2.217, 0, 0, 0, 31 [SEP] 7, SoapBottle, -1.471, 1.072, 2.187, 0, 0, 0, 31 [SEP] 8, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 9, ToiletPaper, -0.248, 0.606, -0.366, 0, 315, 0, 23 [SEP] 10, Candle, -1.308, 1.111, 2.217, 0, 0, 0, 31 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, 0.289, 0.043, -0.071, 0, 0, 0, 30 [SEP] 14, ToiletPaper, -1.308, 1.066, 2.127, 0, 0, 0, 31 [SEP] 15, SoapBottle, -1.308, 0.291, 2.187, 0, 0, 0, 27 [SEP] 16, TissueBox, -1.461, 0.278, 2.145, 0, 0, 0, 27 [SEP] 17, Cloth, -0.980, 1.074, 2.127, 0, 0, 0, 31 [SEP] 18, ToiletPaper, -0.653, 0.285, 2.217, 0, 0, 0, 27 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.308, 1.774, 2.187, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the tissue box on the toilet basin. | STEP 5: Turn around and walk towards the shelves. | STEP 6: Pick up the tissue box on the bottom shelf. | STEP 7: Turn around and head towards the toilet. | STEP 8: Place the tissue box to the left of the first tissue box. | END


Input: Move a pen to the top of a set of drawers. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.75, 0, 90, 0,  [SEP] 1, Mug, -3.613, 0.977, -3.874, 0, 0, 0, 44 [SEP] 2, Mug, -3.687, 0.977, -4.075, 0, 0, 0, 44 [SEP] 3, CD, -3.466, 0.980, -3.472, 0, 0, 0, 44 [SEP] 4, CD, -3.539, 0.980, -3.673, 0, 0, 0, 44 [SEP] 5, CellPhone, -3.687, 0.981, -3.271, 0, 0, 0, 44 [SEP] 6, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 41 [SEP] 7, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, Pencil, -0.657, 0.803, -4.029, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.469, 0.227, -2.999, 0, 0, 0, 46 [SEP] 10, Book, -3.582, 0.227, -3.278, 0, 0, 0, 46 [SEP] 11, Book, -3.613, 0.620, -1.506, 0, 0, 0, 26 [SEP] 12, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 44 [SEP] 13, Book, -1.270, 0.804, -4.246, 0, 0, 0, 41 [SEP] 14, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 15, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 16, CreditCard, -3.694, 0.225, -3.884, 0, 0, 0, 48 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -0.240, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -1.270, 0.803, -3.703, 0, 0, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -4.075, 0, 0, 0, 44 [SEP] 24, Pen, -0.862, 0.805, -4.029, 0, 0, 0, 41 [SEP] 25, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Walk over to face the front of the desk. | STEP 2: Pick up the pen that is the closest to the front of the desk. | STEP 3: Move back a bit until you can see the drawers under the desk. | STEP 4: Place the pen on top of the drawers, on the right hand side. | END


Input: To move a pen to the drawer of the desk.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.75, 0, 90, 0,  [SEP] 1, Mug, -3.613, 0.977, -3.874, 0, 0, 0, 44 [SEP] 2, Mug, -3.687, 0.977, -4.075, 0, 0, 0, 44 [SEP] 3, CD, -3.466, 0.980, -3.472, 0, 0, 0, 44 [SEP] 4, CD, -3.539, 0.980, -3.673, 0, 0, 0, 44 [SEP] 5, CellPhone, -3.687, 0.981, -3.271, 0, 0, 0, 44 [SEP] 6, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 41 [SEP] 7, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, Pencil, -0.657, 0.803, -4.029, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.469, 0.227, -2.999, 0, 0, 0, 46 [SEP] 10, Book, -3.582, 0.227, -3.278, 0, 0, 0, 46 [SEP] 11, Book, -3.613, 0.620, -1.506, 0, 0, 0, 26 [SEP] 12, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 44 [SEP] 13, Book, -1.270, 0.804, -4.246, 0, 0, 0, 41 [SEP] 14, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 15, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 16, CreditCard, -3.694, 0.225, -3.884, 0, 0, 0, 48 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -0.240, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -1.270, 0.803, -3.703, 0, 0, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -4.075, 0, 0, 0, 44 [SEP] 24, Pen, -0.862, 0.805, -4.029, 0, 0, 0, 41 [SEP] 25, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Walk over to face the front of the desk on the right.  | STEP 2: Pick up the pen from the desk to the right of the pencil.  | STEP 3: Move further back from the desk and face the drawers below the desk.  | STEP 4: Open the top drawer, place the pen inside the drawer, close the drawer.  | END


Input: Move two pencils to the dresser drawer.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.909, -4.25, 0, 0, 0,  [SEP] 1, CD, -3.908, 0.980, -3.874, 0, 0, 0, 43 [SEP] 2, CD, -3.760, 0.979, -3.271, 0, 0, 0, 43 [SEP] 3, CellPhone, -3.466, 0.979, -3.874, 0, 0, 0, 43 [SEP] 4, Pen, -1.270, 0.809, -4.354, 0, 0, 0, 40 [SEP] 5, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 40 [SEP] 6, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 29 [SEP] 7, Pencil, -3.760, 0.983, -3.070, 0, 0, 0, 43 [SEP] 8, CreditCard, -0.453, 0.800, -3.920, 0, 0, 0, 40 [SEP] 9, CreditCard, -0.418, 0.542, -3.694, 0, 0, 0, 34 [SEP] 10, AlarmClock, -0.862, 0.800, -4.246, 0, 0, 0, 40 [SEP] 11, AlarmClock, -3.539, 0.979, -4.276, 0, 0, 0, 43 [SEP] 12, Book, -3.613, 0.980, -3.673, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.191, 0.620, -0.931, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -0.578, 0.349, -3.811, 0, 0, 0, 34 [SEP] 16, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 40 [SEP] 17, KeyChain, -3.750, 0.810, -3.465, 0, 0, 0, 50 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.834, 0.983, -3.673, 0, 0, 0, 43 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -1.474, 0.803, -4.029, 0, 0, 0, 40 [SEP] 23, Pen, -0.657, 0.809, -4.137, 0, 90, 0, 40 [SEP] 24, Mug, -0.657, 0.798, -3.811, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn right and face the desk.  | STEP 2: Pick up the pencil from the desk.  | STEP 3: Turn around and face the dresser.  | STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer.  | STEP 5: Look at the top of the dresser.  | STEP 6: Pick up the pencil behind the book on the dresser.  | STEP 7: Move back from the dresser.  | STEP 8: Open the bottom left drawer, put the pencil in the drawer, and close the drawer.  | END


Input: Clean off a teapot and place it back on the stove. 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, 0.25, 0, 90, 0,  [SEP] 1, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 2, DishSponge, 1.558, 0.114, -0.379, 0, 180, 0, 63 [SEP] 3, DishSponge, 2.205, 0.770, -0.460, 0, 180, 0, 59 [SEP] 4, Kettle, 0.634, 0.912, -0.430, 0, 0, 0, 46 [SEP] 5, Pot, 2.838, 1.292, -0.709, 0, 0, 0, 101 [SEP] 6, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 46 [SEP] 7, Spoon, -0.694, 0.822, -1.360, 0, 90, 0, 105 [SEP] 8, Fork, -0.227, 0.771, 1.198, 0, 270, 0, 51 [SEP] 9, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 57 [SEP] 11, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 81 [SEP] 13, Egg, -0.887, 0.858, -1.400, 0, 0, 0, 105 [SEP] 14, Egg, 2.900, 1.601, -0.512, 0, 0, 0, 101 [SEP] 15, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 81 [SEP] 16, SoapBottle, -0.983, 0.826, -1.360, 0, 90, 0, 105 [SEP] 17, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 101 [SEP] 18, SaltShaker, 1.213, 0.111, 1.117, 0, 0, 0, 53 [SEP] 19, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 105 [SEP] 20, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 105 [SEP] 21, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 81 [SEP] 22, Apple, 1.688, 0.980, 1.383, 0, 0, 0, 81 [SEP] 23, SoapBottle, -0.766, 0.826, -1.257, 0, 90, 0, 105 [SEP] 24, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 25, Fork, 1.208, 0.772, -0.498, 0, 90, 0, 65 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 81 [SEP] 28, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 104 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, 2.962, 0.758, -0.504, 0, 0, 0, 101 [SEP] 31, Cup, 1.451, 0.112, 1.193, 0, 0, 0, 75 [SEP] 32, Spatula, -0.055, 0.926, 1.214, 0, 90, 0, 57 [SEP] 33, Apple, 2.777, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 57 [SEP] 36, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 105 [SEP] 37, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 105 [SEP] 38, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 99 [SEP] 39, PepperShaker, 1.896, 0.111, 1.276, 0, 0, 0, 66 [SEP] 40, ButterKnife, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 41, Bowl, 0.654, 2.151, 1.506, 0, 0, 0, 55 [SEP] 42, DishSponge, -0.151, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.103, 0.912, 1.299, 0, 0, 0, 57 [SEP] 44, Mug, 2.653, 1.558, -0.775, 0, 0, 0, 101 [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: Walk to the stove on your left. | STEP 2: Grab the teapot off the stove. | STEP 3: Walk to the kitchen sink. | STEP 4: Put the teapot in the sink, soak with water, and grab the teapot. | STEP 5: Walk back to the stove that's behind you. | STEP 6: Put the teapot back on the stove. | END