Input: Move keys from top of desk to below SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -1.5, 0, 0, 0,  [SEP] 1, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 24 [SEP] 2, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 3, Pen, -0.453, 0.809, -4.137, 0, 0, 0, 39 [SEP] 4, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 42 [SEP] 5, Pencil, -3.760, 0.983, -3.874, 0, 0, 0, 42 [SEP] 6, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 34 [SEP] 7, Book, -3.539, 0.981, -3.070, 0, 0, 0, 42 [SEP] 8, Book, -3.637, 0.045, -3.883, 0, 0, 0, 47 [SEP] 9, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 10, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 42 [SEP] 11, Book, -3.191, 0.620, -1.506, 0, 0, 0, 24 [SEP] 12, CellPhone, -3.582, 0.419, -3.092, 0, 0, 0, 50 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.657, 0.800, -4.029, 0, 0, 0, 39 [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, -0.657, 0.803, -3.811, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -1.827, 0.062, -3.905, 0, 279.990, 0, 28 [SEP] 22, Pen, -3.582, 0.424, -3.185, 0, 0, 0, 50 [SEP] 23, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to desk | STEP 2: Pick up keys off of desk | STEP 3: Turn around twice and end up facing the desk | STEP 4: Put keys on top of drawers under the desk | END


Input: Move keys from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -1.5, 0, 0, 0,  [SEP] 1, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 24 [SEP] 2, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 3, Pen, -0.453, 0.809, -4.137, 0, 0, 0, 39 [SEP] 4, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 42 [SEP] 5, Pencil, -3.760, 0.983, -3.874, 0, 0, 0, 42 [SEP] 6, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 34 [SEP] 7, Book, -3.539, 0.981, -3.070, 0, 0, 0, 42 [SEP] 8, Book, -3.637, 0.045, -3.883, 0, 0, 0, 47 [SEP] 9, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 10, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 42 [SEP] 11, Book, -3.191, 0.620, -1.506, 0, 0, 0, 24 [SEP] 12, CellPhone, -3.582, 0.419, -3.092, 0, 0, 0, 50 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.657, 0.800, -4.029, 0, 0, 0, 39 [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, -0.657, 0.803, -3.811, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -1.827, 0.062, -3.905, 0, 279.990, 0, 28 [SEP] 22, Pen, -3.582, 0.424, -3.185, 0, 0, 0, 50 [SEP] 23, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the desk along the wall. | STEP 2: Pick up the keys from the back of the desk. | STEP 3: Carry the keys and turn around. | STEP 4: Place the keys on the brown dresser below the desk. | END


Input: Place a microwaved slice of potato into the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0,  [SEP] 1, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 2, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 76 [SEP] 3, Spoon, -0.983, 0.822, -1.257, 0, 90, 0, 100 [SEP] 4, Spoon, 1.955, 0.912, 1.214, 0, 0, 0, 76 [SEP] 5, Fork, 2.512, 0.771, 1.122, 0, 90, 0, 57 [SEP] 6, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 76 [SEP] 7, Spatula, 1.688, 0.926, 1.468, 0, 0, 0, 76 [SEP] 8, Plate, 2.838, 1.566, -0.578, 0, 0, 0, 96 [SEP] 9, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 76 [SEP] 10, Cup, 2.804, 1.652, 1.508, 0, 0, 0, 42 [SEP] 11, Cup, 2.767, 0.112, 1.231, 0, 0, 0, 73 [SEP] 12, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 41 [SEP] 13, Bowl, 0.415, 1.782, 1.455, 0, 180, 0, 99 [SEP] 14, PepperShaker, 2.188, 1.650, 1.585, 0, 0, 0, 65 [SEP] 15, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 100 [SEP] 16, Mug, 1.448, 0.110, -0.419, 0, 180, 0, 58 [SEP] 17, Mug, -0.103, 0.906, 1.129, 0, 0, 0, 52 [SEP] 18, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 80 [SEP] 19, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 41 [SEP] 20, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 100 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 96 [SEP] 23, Egg, -0.246, 0.949, 1.553, 0, 0, 0, 52 [SEP] 24, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 41 [SEP] 25, Tomato, 2.156, 0.942, -0.684, 0, 0, 0, 41 [SEP] 26, Cup, 2.777, 0.723, -0.504, 0, 0, 0, 96 [SEP] 27, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 41 [SEP] 28, Apple, -1.962, 0.492, 1.417, 0, 270, 0, 94 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 76 [SEP] 31, SaltShaker, 0.888, 0.908, -0.769, 0, 0, 0, 41 [SEP] 32, Knife, 2.156, 0.944, -0.430, 0, 0, 0, 41 [SEP] 33, Potato, 2.754, 0.946, 1.553, 0, 0, 0, 76 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.017, 0.765, -0.707, 0, 180, 0, 98 [SEP] 36, Bowl, 2.653, 1.286, -0.644, 0, 0, 0, 96 [SEP] 37, DishSponge, 1.174, 0.770, -0.383, 0, 180, 0, 60 [SEP] 38, Spoon, -0.103, 0.912, 1.468, 0, 0, 0, 52 [SEP] 39, Mug, 2.838, 1.283, -0.840, 0, 0, 0, 96 [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: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top.  | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top. | STEP 8: Pick up a potato slice from the counter top. | STEP 9: Turn left then head towards the stove, turn right towards the microwave. | STEP 10: Place the potato slice into the microwave, close the door then turn it on. | STEP 11: Turn left then head towards wall, right towards the door, then left towards the trash can. | STEP 12: Place the potato slice into the trash can. | END


Input: Put a chilled bowl away in a kitchen cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 90, 0,  [SEP] 1, DishSponge, 1.893, 0.771, 1.236, 0, 0, 0, 77 [SEP] 2, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 77 [SEP] 3, Pot, 2.488, 0.915, 1.214, 0, 0, 0, 77 [SEP] 4, Spoon, -0.055, 0.912, 1.299, 0, 90, 0, 53 [SEP] 5, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 101 [SEP] 6, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.570, 1.782, 1.423, 0, 180, 0, 100 [SEP] 8, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 77 [SEP] 9, Egg, -1.991, 0.461, 1.332, 0, 270, 0, 95 [SEP] 10, Tomato, 2.900, 0.758, -0.442, 0, 0, 0, 97 [SEP] 11, Bowl, -0.694, 0.818, -1.360, 0, 90, 0, 101 [SEP] 12, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 53 [SEP] 13, Bowl, 0.284, 2.154, 1.467, 0, 0, 0, 76 [SEP] 14, SaltShaker, 2.838, 1.650, 1.432, 0, 0, 0, 43 [SEP] 15, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 101 [SEP] 16, PepperShaker, -0.198, 0.908, 1.129, 0, 0, 0, 53 [SEP] 17, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 18, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 42 [SEP] 19, SoapBottle, 0.178, 1.661, -0.771, 0, 180, 0, 82 [SEP] 20, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 77 [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, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.777, 1.056, -0.644, 0, 0, 0, 97 [SEP] 25, Kettle, 1.155, 0.912, 1.214, 0, 0, 0, 77 [SEP] 26, Tomato, 2.962, 1.050, -0.709, 0, 0, 0, 97 [SEP] 27, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 100 [SEP] 28, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 99 [SEP] 29, Apple, 2.653, 1.357, -0.709, 0, 0, 0, 97 [SEP] 30, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.838, 1.644, -0.709, 0, 0, 0, 97 [SEP] 32, SaltShaker, 1.155, 0.908, 1.383, 0, 0, 0, 77 [SEP] 33, Knife, 0.888, 0.944, -0.769, 0, 0, 0, 42 [SEP] 34, Potato, -0.087, 0.800, -0.651, 0, 0, 0, 99 [SEP] 35, PepperShaker, 1.141, 0.908, -0.769, 0, 0, 0, 42 [SEP] 36, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, -0.127, 1.652, 1.432, 0, 0, 0, 68 [SEP] 38, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 95 [SEP] 39, Spoon, -0.151, 0.912, 1.129, 0, 180, 0, 53 [SEP] 40, Mug, -0.939, 0.815, -1.328, 0, 0, 0, 101 [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: Turn left and go to the left of the stove. | STEP 2: Pick up the bowl from the counter on the left side of the stove. | STEP 3: Turn right and go to the fridge near the far wall. | STEP 4: Chill the bowl in the fridge, then take it out again. | STEP 5: Take the bowl to the cabinet under the countertop to the right of the fridge. | STEP 6: Open the right side door of the cabinet and put the bowl away in it. | END


Input: Put the chilled tomato slice in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 47 [SEP] 2, Potato, 0.363, 1.819, 1.423, 0, 180, 0, 105 [SEP] 3, Potato, 2.777, 1.053, -0.644, 0, 0, 0, 102 [SEP] 4, Kettle, 1.917, 1.656, 1.507, 0, 0, 0, 71 [SEP] 5, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 6, ButterKnife, -0.151, 0.911, 1.468, 0, 0, 0, 58 [SEP] 7, Spoon, -0.734, 0.822, -1.255, 0, 0, 0, 106 [SEP] 8, Spoon, 2.092, 0.773, 1.122, 0, 90, 0, 78 [SEP] 9, Fork, 1.862, 0.772, 1.198, 0, 270, 0, 80 [SEP] 10, Cup, 2.715, 0.723, -0.473, 0, 0, 0, 102 [SEP] 11, Egg, -0.246, 0.949, 1.299, 0, 0, 0, 58 [SEP] 12, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 13, SoapBottle, -1.991, 0.429, 1.459, 0, 270, 0, 100 [SEP] 14, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 47 [SEP] 15, Tomato, -0.983, 0.852, -1.103, 0, 90, 0, 106 [SEP] 16, Tomato, 2.221, 0.942, 1.044, 0, 0, 0, 82 [SEP] 17, Bowl, 0.518, 1.782, 1.455, 0, 180, 0, 105 [SEP] 18, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 106 [SEP] 19, SaltShaker, -0.983, 0.817, -1.206, 0, 90, 0, 106 [SEP] 20, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 82 [SEP] 21, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 106 [SEP] 22, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 82 [SEP] 23, Lettuce, 2.838, 1.644, -0.578, 0, 0, 0, 102 [SEP] 24, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 82 [SEP] 25, Plate, 1.422, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, 1.175, 0.772, 1.198, 0, 270, 0, 92 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, -2.019, 0.461, 1.332, 0, 270, 0, 100 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, -0.055, 0.942, 1.468, 0, 0, 0, 58 [SEP] 32, Cup, 1.902, 0.909, -0.345, 0, 0, 0, 47 [SEP] 33, Spatula, -0.198, 0.926, 1.129, 0, 180, 0, 58 [SEP] 34, Apple, 2.221, 0.980, 1.468, 0, 0, 0, 82 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 106 [SEP] 37, SaltShaker, 1.484, 1.651, -0.654, 0, 180, 0, 69 [SEP] 38, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 104 [SEP] 39, Potato, 0.123, 0.800, -0.596, 0, 0, 0, 104 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 82 [SEP] 42, Bowl, 1.135, 0.112, -0.421, 0, 180, 0, 55 [SEP] 43, DishSponge, 0.480, 1.654, -0.773, 0, 180, 0, 86 [SEP] 44, Spoon, 1.955, 0.912, 1.468, 0, 0, 0, 82 [SEP] 45, Mug, -0.734, 0.815, -1.038, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter | STEP 8: Turn left and walk over to the fridge | STEP 9: Put the tomato in the fridge then remove it | STEP 10: Turn right and walk over to the microwave above the stove | STEP 11: Put the tomato slice in the microwave | END


Input: Put a statue down on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.25, 0, 0, 0,  [SEP] 1, Watch, -0.712, 0.360, -0.544, 0, 90, 0, 31 [SEP] 2, Newspaper, -0.711, 0.038, -0.185, 0, 270, 0, 41 [SEP] 3, Newspaper, 1.724, 0.868, 0.325, 0, 90, 0, 38 [SEP] 4, KeyChain, 1.522, 0.279, -0.512, 0, 0, 0, 40 [SEP] 5, CreditCard, 1.682, 0.869, 0.114, 0, 90, 0, 38 [SEP] 6, RemoteControl, -0.411, 0.553, -0.537, 0, 270, 0, 32 [SEP] 7, RemoteControl, 1.849, 0.872, 0.008, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.601, 0.318, -0.435, 0, 0, 0, 40 [SEP] 10, Watch, -0.411, 0.552, -0.623, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.970, 0.036, -0.544, 0, 90, 0, 27 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.841, 0.200, -0.249, 0, 270, 0, 30 [SEP] 14, RemoteControl, -0.453, 0.199, -0.185, 0, 270, 0, 42 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, , , , , , , ,  [SEP] 42, , , , , , , ,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Go to the left and turn left to face the table with the plant on it. | STEP 2: Pick the statue up from the table. | STEP 3: Go to the left and face the table in the corner. | STEP 4: Put the statue down on the table. | END


Input: Move the wristwatch from the coffee table to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Watch, -0.453, 0.201, -0.609, 0, 90, 0, 39 [SEP] 2, KeyChain, -0.323, 0.202, -0.609, 0, 90, 0, 31 [SEP] 3, KeyChain, -0.711, 0.553, -0.278, 0, 180, 0, 30 [SEP] 4, RemoteControl, 1.522, 0.319, -0.359, 0, 90, 0, 38 [SEP] 5, RemoteControl, -0.411, 0.553, -0.623, 0, 270, 0, 30 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.826, 0.761, 0.229, 0, 90, 0, 37 [SEP] 8, Watch, -0.862, 0.552, -0.192, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.807, 0.869, 0.326, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.260, 0.551, -0.192, 0, 270, 0, 30 [SEP] 12, RemoteControl, 1.522, 0.279, -0.435, 0, 0, 0, 38 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.807, 0.880, 0.537, 0, 270, 0, 36 [SEP] 15, Statue, 1.682, 0.880, 0.220, 0, 90, 0, 36 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, , , , , , , ,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the coffee table. | STEP 2: Pick up the wristwatch from the coffee table. | STEP 3: Turn left and walk to the dresser with statues on it. | STEP 4: Put the wristwatch down on the dresser to the right of the grey statue. | END


Input: Place a warm egg 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, 0.0, 0.931, -0.25, 0, 90, 0,  [SEP] 1, Pan, 1.036, 1.564, -1.538, 0, 0, 0, 56 [SEP] 2, Potato, 0.823, 1.100, -1.181, 0, 0, 0, 52 [SEP] 3, Potato, -1.342, 1.542, 1.796, 0, 90, 0, 67 [SEP] 4, DishSponge, 1.155, 1.046, -1.828, 0, 0, 0, 52 [SEP] 5, DishSponge, -0.312, 0.203, -1.193, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.848, 1.043, 0.589, 0, 0, 0, 54 [SEP] 7, ButterKnife, -0.603, 1.046, -1.181, 0, 0, 0, 52 [SEP] 8, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 53 [SEP] 9, Pot, -1.300, 1.229, 1.974, 0, 180, 0, 67 [SEP] 10, Pot, 1.589, 1.021, -1.484, 0, 270, 0, 58 [SEP] 11, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 52 [SEP] 12, Spoon, -0.346, 1.048, -1.181, 0, 0, 0, 52 [SEP] 13, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 54 [SEP] 14, Egg, 1.854, 0.177, 2.358, 0, 270, 0, 68 [SEP] 15, Egg, -1.458, 1.543, 1.885, 0, 90, 0, 67 [SEP] 16, Cup, 0.848, 1.053, 0.131, 0, 90, 0, 50 [SEP] 17, Cup, -0.775, 1.047, -1.289, 0, 0, 0, 52 [SEP] 18, Tomato, 0.936, 1.105, 0.331, 0, 90, 0, 50 [SEP] 19, SoapBottle, 1.158, 0.200, -1.484, 0, 0, 0, 63 [SEP] 20, PepperShaker, 1.036, 1.560, -1.839, 0, 0, 0, 56 [SEP] 21, Lettuce, 1.015, 1.103, 0.676, 0, 0, 0, 54 [SEP] 22, Mug, -1.261, 0.197, -1.338, 0, 0, 0, 60 [SEP] 23, Mug, -1.349, 1.708, 1.885, 0, 90, 0, 67 [SEP] 24, Apple, 0.980, 1.097, 0.231, 0, 90, 0, 50 [SEP] 25, Apple, -1.243, 1.759, -1.300, 0, 0, 0, 66 [SEP] 26, SoapBottle, -1.105, 0.203, -1.627, 0, 0, 0, 60 [SEP] 27, Apple, -1.381, 1.532, 2.063, 0, 90, 0, 67 [SEP] 28, Potato, 0.160, 1.096, 0.415, 0, 0, 0, 54 [SEP] 29, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 54 [SEP] 30, Kettle, -1.261, 2.029, -1.409, 0, 0, 0, 59 [SEP] 31, Pan, 0.120, 1.053, -1.630, 0, 0, 0, 55 [SEP] 32, Tomato, -0.517, 1.097, -1.289, 0, 0, 0, 52 [SEP] 33, SaltShaker, 1.588, 0.199, -1.480, 0, 0, 0, 62 [SEP] 34, Egg, 0.717, 1.108, 0.131, 0, 90, 0, 50 [SEP] 35, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 49 [SEP] 36, Spatula, 1.155, 1.061, -1.289, 0, 0, 0, 52 [SEP] 37, Knife, 0.761, 1.079, 0.181, 0, 90, 0, 50 [SEP] 38, Lettuce, 1.347, 1.103, 0.632, 0, 0, 0, 54 [SEP] 39, ButterKnife, 0.065, 1.043, 0.307, 0, 0, 0, 54 [SEP] 40, PepperShaker, 1.512, 0.199, -1.335, 0, 0, 0, 62 [SEP] 41, DishSponge, 1.894, 0.204, -1.408, 0, 0, 0, 62 [SEP] 42, Plate, 0.890, 0.212, -1.484, 0, 0, 0, 63 [SEP] 43, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 54 [SEP] 44, Spoon, 0.848, 1.044, 0.720, 0, 0, 0, 54 [SEP] 45, Pot, -0.699, 1.566, -1.470, 0, 270, 0, 57 [SEP] 46, Mug, -1.047, 1.711, -1.269, 0, 0, 0, 66 [SEP] 47, Bowl, -0.491, 0.202, -1.481, 0, 0, 0, 61 [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 to the sink to your left. | STEP 2: Grab the egg sitting between the bread and knife to the left of the sink. | STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave. | STEP 4: Place the egg next to the cup inside the microwave, heat it and then remove the egg. | STEP 5: Look down, turn left and walk to the toaster on the counter to your right. | STEP 6: Place the warm egg on the edge of the counter. | END


Input: Place a chilled tomato slice in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Potato, -0.246, 0.946, 1.214, 0, 270, 0, 58 [SEP] 2, Potato, 1.422, 0.946, 1.553, 0, 0, 0, 82 [SEP] 3, DishSponge, -1.056, 0.820, -1.155, 0, 90, 0, 106 [SEP] 4, DishSponge, -0.159, 0.771, 1.198, 0, 0, 0, 52 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 6, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 82 [SEP] 7, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 82 [SEP] 8, Pot, 2.777, 1.292, -0.775, 0, 0, 0, 102 [SEP] 9, Pot, 2.777, 1.022, -0.709, 0, 0, 0, 102 [SEP] 10, Spoon, 1.862, 0.773, 1.122, 0, 0, 0, 80 [SEP] 11, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 104 [SEP] 12, Spatula, -0.694, 0.835, -1.308, 0, 90, 0, 106 [SEP] 13, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 100 [SEP] 14, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 47 [SEP] 15, Knife, 2.488, 0.944, 1.214, 0, 0, 0, 82 [SEP] 16, Tomato, -1.933, 0.455, 1.332, 0, 270, 0, 100 [SEP] 17, SaltShaker, 1.422, 0.908, 1.468, 0, 0, 0, 82 [SEP] 18, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 106 [SEP] 19, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 106 [SEP] 20, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 82 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 82 [SEP] 22, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 58 [SEP] 23, Mug, -0.246, 0.906, 1.044, 0, 0, 0, 58 [SEP] 24, SoapBottle, 1.141, 1.661, 1.390, 0, 0, 0, 74 [SEP] 25, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 59 [SEP] 26, Fork, -0.055, 0.912, 1.383, 0, 90, 0, 58 [SEP] 27, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 104 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 100 [SEP] 32, Cup, 2.872, 0.112, 1.231, 0, 0, 0, 79 [SEP] 33, Spatula, -0.198, 0.926, 1.044, 0, 180, 0, 58 [SEP] 34, Apple, 2.900, 0.794, -0.504, 0, 0, 0, 102 [SEP] 35, Pan, 2.777, 1.563, -0.578, 0, 0, 0, 102 [SEP] 36, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 106 [SEP] 37, SaltShaker, 2.770, 1.650, 1.508, 0, 0, 0, 72 [SEP] 38, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 104 [SEP] 39, Potato, 1.955, 0.946, 1.214, 0, 0, 0, 82 [SEP] 40, PepperShaker, -0.164, 1.650, 1.355, 0, 0, 0, 73 [SEP] 41, ButterKnife, 1.141, 0.911, -0.345, 0, 0, 0, 47 [SEP] 42, Bowl, 0.363, 1.782, 1.455, 0, 180, 0, 105 [SEP] 43, DishSponge, 1.254, 1.655, 1.429, 0, 0, 0, 74 [SEP] 44, Spoon, 2.205, 0.773, -0.460, 0, 180, 0, 60 [SEP] 45, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 47 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door. | STEP 8: Pick up a slice of tomato from the blue bin. | STEP 9: Turn right, move to in front of the refrigerator. | STEP 10: Put the tomato slice in the refrigerator, chill it, pick it back up. | STEP 11: Turn right, move to in front of the stove. | STEP 12: Put the tomato slice in the microwave. | END


Input: Put a CD on the book shelf.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.949, 0.5, 0, 270, 0,  [SEP] 1, CD, 1.666, 0.987, -2.212, 0, 270, 0, 40 [SEP] 2, CD, 2.234, 0.984, -1.774, 0, 270, 0, 40 [SEP] 3, CellPhone, 3.087, 0.988, -2.037, 0, 270, 0, 40 [SEP] 4, Pen, -1.037, 0.789, 0.291, 0, 0, 0, 61 [SEP] 5, Pen, -0.772, 0.790, 0.291, 0, 0, 0, 61 [SEP] 6, Pencil, -0.350, 1.112, 3.115, 0, 180, 0, 48 [SEP] 7, CreditCard, 3.687, 0.723, 1.488, 0, 180, 0, 65 [SEP] 8, Book, 1.515, 0.180, -1.896, 0, 270, 0, 37 [SEP] 9, Book, 1.888, 0.610, 0.549, 0, 0, 0, 25 [SEP] 10, Laptop, 2.381, 0.607, -0.172, 0, 0, 0, 25 [SEP] 11, Laptop, 2.545, 0.607, 0.790, 0, 0, 0, 25 [SEP] 12, Book, -0.838, 0.784, -0.338, 0, 0, 0, 61 [SEP] 13, KeyChain, 3.377, 0.725, 1.397, 0, 180, 0, 65 [SEP] 14, CreditCard, 2.519, 0.985, -2.212, 0, 270, 0, 40 [SEP] 15, Pen, -0.068, 0.789, 3.088, 0, 180, 0, 47 [SEP] 16, Pencil, -0.904, 0.789, 0.501, 0, 0, 0, 61 [SEP] 17, Laptop, 2.519, 0.983, -1.862, 0, 270, 0, 40 [SEP] 18, Vase, 2.235, 0.993, -2.125, 0, 270, 0, 40 [SEP] 19, AlarmClock, 3.087, 0.989, -1.774, 0, 270, 0, 40 [SEP] 20, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 25 [SEP] 21, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 25 [SEP] 22, CellPhone, -0.163, 1.108, 3.198, 0, 180, 0, 48 [SEP] 23, CD, 3.132, 0.183, -1.778, 0, 270, 0, 39 [SEP] 24, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 47 [SEP] 25, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 26, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 27, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 28, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 29, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 30, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 31, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 32, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 33, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 34, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 39, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 40, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 41, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 42, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 43, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 45, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 46, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 47, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 48, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 49, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 50, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 61, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 63, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 64, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 65, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 66, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 67, NorthWall, , , , , , ,  [SEP] 68, EastWall, , , , , , ,  [SEP] 69, SouthWall, , , , , , ,  [SEP] 70, WestWall, , , , , , ,

Output: STEP 1: Turn to your left and go to the dresser against the wall, across from you. | STEP 2: Pick up the CD closest to you on the dresser.  | STEP 3: Turn to your left and go past the other dresser on your right, to the bookshelf across the room. | STEP 4: Place the CD on the second shelf between the gold vase and the pen. | END


Input: close up box on couch containing remote control SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 3.75, 0, 180, 0,  [SEP] 1, Bowl, -2.87, 0.148, 7.225, 0, 90, 0, 51 [SEP] 2, Watch, -2.631, 0.533, 4.189, 0, 270, 0, 57 [SEP] 3, KeyChain, -0.631, 0.367, 4.219, 0, 270, 0, 40 [SEP] 4, CreditCard, -0.868, 0.432, 3.611, 0, 0, 0, 40 [SEP] 5, RemoteControl, -2.704, 0.536, 3.981, 0, 0, 0, 57 [SEP] 6, RemoteControl, -6.139, 1.282, 4.349, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.536, 0.534, 6.703, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.87, 0.145, 7.122, 0, 90, 0, 51 [SEP] 12, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.598, 0.534, 3.981, 0, 0, 0, 57 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.279, 0.535, 4.106, 0, 0, 0, 57 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.859, 0.536, 6.456, 0, 135, 0, 58 [SEP] 24, Watch, -2.492, 0.533, 4.044, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.433, 0.803, 2.252, 0, 270, 0, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch  | STEP 5: turn to face coffee table | STEP 6: pick up remote from coffee table | STEP 7: turn to face couch | STEP 8: put remote into box on couch, close up box | END


Input: Put a remote control in a box on the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 3.75, 0, 180, 0,  [SEP] 1, Bowl, -2.87, 0.148, 7.225, 0, 90, 0, 51 [SEP] 2, Watch, -2.631, 0.533, 4.189, 0, 270, 0, 57 [SEP] 3, KeyChain, -0.631, 0.367, 4.219, 0, 270, 0, 40 [SEP] 4, CreditCard, -0.868, 0.432, 3.611, 0, 0, 0, 40 [SEP] 5, RemoteControl, -2.704, 0.536, 3.981, 0, 0, 0, 57 [SEP] 6, RemoteControl, -6.139, 1.282, 4.349, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.536, 0.534, 6.703, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.87, 0.145, 7.122, 0, 90, 0, 51 [SEP] 12, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.598, 0.534, 3.981, 0, 0, 0, 57 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.279, 0.535, 4.106, 0, 0, 0, 57 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.859, 0.536, 6.456, 0, 135, 0, 58 [SEP] 24, Watch, -2.492, 0.533, 4.044, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.433, 0.803, 2.252, 0, 270, 0, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor.  | STEP 3: Turn and go to the sofa. | STEP 4: Put the box on the sofa.  | STEP 5: Turn and go to the coffee table | STEP 6: Pick up the remote control on the coffee table.  | STEP 7: Turn and go to the sofa. | STEP 8: Put the remote control in the box on the sofa.  | END


Input: Heat and place a potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.25, 0, 180, 0,  [SEP] 1, Potato, 1.238, 1.100, -1.181, 0, 0, 0, 48 [SEP] 2, Potato, -1.312, 1.766, 2.063, 0, 90, 0, 63 [SEP] 3, Potato, 0.740, 1.100, -1.289, 0, 0, 0, 48 [SEP] 4, ButterKnife, 0.823, 1.046, -1.181, 0, 0, 0, 48 [SEP] 5, ButterKnife, 1.514, 1.043, 0.589, 0, 0, 0, 50 [SEP] 6, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 44 [SEP] 8, Spoon, 0.823, 1.048, -1.397, 0, 0, 0, 48 [SEP] 9, Spoon, 0.065, 1.044, 0.415, 0, 90, 0, 50 [SEP] 10, Egg, -1.366, 1.282, 2.331, 0, 90, 0, 63 [SEP] 11, Cup, -1.169, 1.228, 2.063, 0, 90, 0, 63 [SEP] 12, Knife, 1.181, 1.069, 0.807, 0, 0, 0, 50 [SEP] 13, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 48 [SEP] 14, Tomato, -1.235, 1.279, 2.242, 0, 90, 0, 63 [SEP] 15, SoapBottle, 0.712, 0.200, -1.267, 0, 0, 0, 59 [SEP] 16, Bowl, -1.339, 2.027, -1.409, 0, 0, 0, 55 [SEP] 17, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 63 [SEP] 18, Mug, -0.398, 1.560, -1.396, 0, 0, 0, 53 [SEP] 19, Mug, -1.071, 0.702, 2.242, 0, 90, 0, 63 [SEP] 20, Apple, 1.241, 0.936, 0.158, 0, 90, 0, 45 [SEP] 21, Apple, 0.848, 1.086, 0.676, 0, 0, 0, 50 [SEP] 22, SoapBottle, 1.158, 0.200, -1.484, 0, 0, 0, 59 [SEP] 23, Apple, -0.432, 1.090, -1.397, 0, 0, 0, 48 [SEP] 24, Potato, -0.517, 1.100, -1.289, 0, 0, 0, 48 [SEP] 25, Fork, -0.689, 1.047, -1.181, 0, 0, 0, 48 [SEP] 26, Kettle, 1.589, 1.020, -1.337, 0, 0, 0, 54 [SEP] 27, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 57 [SEP] 28, Tomato, 1.701, 1.094, 0.522, 0, 0, 0, 50 [SEP] 29, SaltShaker, -0.952, 2.023, -1.191, 0, 0, 0, 55 [SEP] 30, Egg, 0.446, 1.097, 0.091, 0, 0, 0, 50 [SEP] 31, Cup, -1.419, 1.489, 2.153, 0, 90, 0, 63 [SEP] 32, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 48 [SEP] 33, Knife, 0.379, 1.072, -1.097, 0, 0, 0, 48 [SEP] 34, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 46 [SEP] 35, ButterKnife, 0.160, 1.032, 0.415, 0, 0, 0, 50 [SEP] 36, PepperShaker, 1.435, 1.014, -1.557, 0, 0, 0, 54 [SEP] 37, DishSponge, 1.436, 0.204, -1.335, 0, 0, 0, 58 [SEP] 38, Plate, 1.072, 1.059, -1.505, 0, 0, 0, 48 [SEP] 39, Bread, 0.407, 1.104, 0.353, 0, 337.142, 0, 50 [SEP] 40, Spoon, -0.346, 1.048, -1.181, 0, 0, 0, 48 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.699, 1.563, -1.470, 0, 0, 0, 53 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Take a few steps right to find the toaster. | STEP 2: Pick up the potato from the middle of the counter. | STEP 3: Hold the potato and take a step right, then look up at the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the microwave then open it when finished and take the potato out. | STEP 5: Hold the potato and turn left. Then left again at the sink. | STEP 6: Place the potato in the sink. | END


Input: Move the two credit cards on the narrow end table to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.25, 0, 180, 0,  [SEP] 1, CreditCard, 1.849, 0.870, 0.326, 0, 90, 0, 33 [SEP] 2, RemoteControl, -0.411, 0.553, -0.451, 0, 270, 0, 27 [SEP] 3, Box, -0.711, 0.539, -1.844, 0, 90, 0, 29 [SEP] 4, KeyChain, 1.807, 0.871, 0.643, 0, 90, 0, 33 [SEP] 5, Watch, -0.260, 0.552, -0.623, 0, 270, 0, 27 [SEP] 6, Newspaper, 1.601, 0.276, -0.435, 0, 0, 0, 35 [SEP] 7, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 29 [SEP] 8, CreditCard, 1.682, 0.869, 0.431, 0, 90, 0, 33 [SEP] 9, RemoteControl, 1.808, 0.872, 0.220, 0, 90, 0, 33 [SEP] 10, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 27 [SEP] 11, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 27 [SEP] 12, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 27 [SEP] 13, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 14, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 15, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 16, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 17, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 18, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 19, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 20, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 22, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 27, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 28, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 29, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 30, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 31, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 32, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 33, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 34, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 35, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table. | STEP 4: Put the credit card on the coffee table to the right of the laptop. | STEP 5: Turn right and go back to the narrow end table. | STEP 6: Pick up the second credit card on the narrow end table. | STEP 7: Turn around and go back to the coffee table where you put the other credit card down. | STEP 8: Put down the second credit card to the right of the first credit card. | END


Input: Move two watches to a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Watch, 1.808, 0.871, 0.114, 0, 90, 0, 35 [SEP] 2, Watch, -0.712, 0.552, -0.537, 0, 270, 0, 29 [SEP] 3, KeyChain, -0.077, 0.295, -1.771, 0, 0, 0, 31 [SEP] 4, RemoteControl, 1.766, 0.872, 0.008, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.288, 0.327, -1.844, 0, 0, 0, 31 [SEP] 7, Watch, -0.561, 0.552, -0.106, 0, 270, 0, 29 [SEP] 8, Newspaper, 1.724, 0.868, 0.220, 0, 90, 0, 35 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.862, 0.551, -0.106, 0, 270, 0, 29 [SEP] 11, RemoteControl, -0.711, 0.337, -1.917, 0, 0, 0, 31 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, -0.561, 0.562, -0.537, 0, 90, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward. | STEP 4: Open the drawer of the table. Place the watch inside on the right,  then shut the door. | STEP 5: Turn around and face the coffee table on the left. | STEP 6: Pick up the watch from the front of the coffee table | STEP 7: Carry the watch and turn left to the brown table. | STEP 8: Open the drawer and place the watch inside, on the right. Shut the drawer. | END


Input: To move two alarm clocks to the dresser.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.5, 0, 90, 0,  [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 31 [SEP] 2, CD, -3.539, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, Pencil, -1.854, 0.065, -3.925, 0, 279.990, 0, 26 [SEP] 4, Pencil, -3.750, 0.812, -3.977, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.638, 0.226, -3.185, 0, 0, 0, 42 [SEP] 6, Book, -3.637, 0.809, -2.997, 0, 270, 0, 47 [SEP] 7, Book, -3.613, 0.980, -3.070, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -0.350, 0.030, -3.811, 0, 0, 0, 29 [SEP] 10, CellPhone, -2.981, 0.620, -2.080, 0, 0, 0, 22 [SEP] 11, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 37 [SEP] 12, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 37 [SEP] 13, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.453, 0.807, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.270, 0.803, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -3.694, 0.424, -3.370, 0, 0, 0, 48 [SEP] 21, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the white desk.  | STEP 2: Pick up the alarm clock to the left of the keys.  | STEP 3: Turn right and walk to the wooden dresser.  | STEP 4: Place the alarm on the dresser to the right of the CD.  | STEP 5: Turn around and walk back to the white desk.  | STEP 6: Pick up the remaining alarm clock from the desk.  | STEP 7: Turn right and walk back to the dresser.  | STEP 8: Place the alarm clock on the dresser to the left of the CD.  | END


Input: Place two clocks on a dresser.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.5, 0, 90, 0,  [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 31 [SEP] 2, CD, -3.539, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, Pencil, -1.854, 0.065, -3.925, 0, 279.990, 0, 26 [SEP] 4, Pencil, -3.750, 0.812, -3.977, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.638, 0.226, -3.185, 0, 0, 0, 42 [SEP] 6, Book, -3.637, 0.809, -2.997, 0, 270, 0, 47 [SEP] 7, Book, -3.613, 0.980, -3.070, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -0.350, 0.030, -3.811, 0, 0, 0, 29 [SEP] 10, CellPhone, -2.981, 0.620, -2.080, 0, 0, 0, 22 [SEP] 11, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 37 [SEP] 12, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 37 [SEP] 13, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.453, 0.807, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.270, 0.803, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -3.694, 0.424, -3.370, 0, 0, 0, 48 [SEP] 21, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and walk the the far left of the desk.  | STEP 2: Pick up the clock that is to the right from the desk.  | STEP 3: Turn to the right and walk to the dresser.  | STEP 4: Place the clock on the dresser.  | STEP 5: Turn around to the right and walk back to the desk.  | STEP 6: Pick up the remaining clock.  | STEP 7: Turn to the right and walk back to the dresser.  | STEP 8: Place the clock by the wall on the left side of the dresser.  | END


Input: Put the pan with the knife into the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Potato, 3.260, 0.875, -0.514, 0, 0, 0, 99 [SEP] 2, DishSponge, 2.155, 0.771, 1.122, 0, 0, 0, 75 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 4, ButterKnife, 2.156, 0.911, -0.430, 0, 90, 0, 44 [SEP] 5, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 79 [SEP] 6, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 79 [SEP] 7, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 79 [SEP] 8, Spatula, -0.839, 0.835, -1.308, 0, 90, 0, 103 [SEP] 9, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 99 [SEP] 10, Cup, 1.450, 1.652, 1.546, 0, 0, 0, 71 [SEP] 11, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 103 [SEP] 12, Tomato, 2.653, 1.320, -0.644, 0, 0, 0, 99 [SEP] 13, Bowl, 1.141, 0.909, -0.684, 0, 0, 0, 44 [SEP] 14, SaltShaker, -0.151, 0.908, 1.299, 0, 0, 0, 55 [SEP] 15, SaltShaker, 2.120, 1.650, 1.585, 0, 0, 0, 68 [SEP] 16, PepperShaker, 1.955, 0.908, 1.044, 0, 0, 0, 79 [SEP] 17, PepperShaker, 2.488, 0.908, 1.044, 0, 0, 0, 79 [SEP] 18, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 79 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 44 [SEP] 20, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 103 [SEP] 21, SoapBottle, 1.141, 0.917, -0.430, 0, 0, 0, 44 [SEP] 22, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 79 [SEP] 23, Fork, 1.422, 0.912, 1.214, 0, 0, 0, 79 [SEP] 24, Pot, 1.688, 0.915, 1.299, 0, 0, 0, 79 [SEP] 25, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 79 [SEP] 26, Egg, -2.019, 0.461, 1.332, 0, 270, 0, 97 [SEP] 27, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 28, Tomato, -1.056, 0.852, -1.308, 0, 90, 0, 103 [SEP] 29, Cup, 2.221, 0.909, 1.044, 0, 0, 0, 79 [SEP] 30, Spatula, 2.156, 0.926, -0.345, 0, 0, 0, 44 [SEP] 31, Apple, 0.518, 1.853, 1.455, 0, 180, 0, 102 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 0.888, 0.992, -0.769, 0, 0, 0, 44 [SEP] 34, SaltShaker, -1.056, 0.817, -1.155, 0, 90, 0, 103 [SEP] 35, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 103 [SEP] 36, Potato, -0.694, 0.855, -1.257, 0, 90, 0, 103 [SEP] 37, PepperShaker, 2.258, 0.110, 1.119, 0, 0, 0, 80 [SEP] 38, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 103 [SEP] 39, Bowl, 1.909, 0.112, -0.458, 0, 180, 0, 90 [SEP] 40, DishSponge, 1.247, 0.114, -0.495, 0, 180, 0, 52 [SEP] 41, Spoon, 1.524, 0.773, -0.460, 0, 180, 0, 74 [SEP] 42, Mug, 2.838, 1.014, -0.578, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table.  | STEP 3: Turn around and go to the front of the stove.  | STEP 4: Place the knife in the gray pan on the front burner.  | STEP 5: Pick up the pan with the knife in it.  | STEP 6: Turn around and go to the sink.  | STEP 7: Place the pan with knife in it inside the sink.  | END


Input: Get the soap from the back of the toilet, get it wet in the sink and place it 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, 0.0, 0.901, 3.25, 0, 270, 0,  [SEP] 1, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 33 [SEP] 2, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 32 [SEP] 3, SoapBar, 0.231, 0.047, 3.893, 0, 0, 0, 36 [SEP] 4, SoapBar, -1.501, 0.068, 2.958, 0, 0, 0, 26 [SEP] 5, SoapBar, -1.439, 0.067, 3.427, 0, 0, 0, 32 [SEP] 6, Candle, -1.500, 0.067, 2.341, 0, 0, 0, 28 [SEP] 7, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 33 [SEP] 8, SprayBottle, -1.620, 0.068, 2.441, 0, 0, 0, 28 [SEP] 9, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 34 [SEP] 10, SoapBottle, -1.219, 0.993, 2.269, 0, 0, 0, 33 [SEP] 11, SoapBottle, -1.284, 0.993, 2.863, 0, 0, 0, 33 [SEP] 12, ToiletPaper, -1.613, 0.991, 3.812, 0, 0, 0, 33 [SEP] 13, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 35 [SEP] 14, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 37 [SEP] 15, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 39 [SEP] 16, ToiletPaper, -1.319, 0.064, 2.441, 0, 0, 0, 28 [SEP] 17, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 18, Candle, -1.259, 0.067, 2.240, 0, 0, 0, 28 [SEP] 19, TissueBox, -1.481, 0.994, 2.923, 0, 0, 0, 33 [SEP] 20, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 36 [SEP] 21, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 41 [SEP] 22, SprayBottle, 0.306, 0.894, 1.566, 0, 0, 0, 39 [SEP] 23, Cloth, -1.501, 0.068, 3.793, 0, 0, 0, 34 [SEP] 24, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 25, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 27, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 29, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 30, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 31, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 32, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 33, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 34, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 35, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 36, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 37, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 38, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 39, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 40, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 41, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 42, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 43, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 44, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 45, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 46, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 47, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet | STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink | STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap up again | STEP 5: Turn to the left, then turn right  and walk toward the wall then turn right again | STEP 6: Place the soap on the counter | END


Input: Put a wet bar of soap 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, 0.0, 0.901, 3.25, 0, 270, 0,  [SEP] 1, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 33 [SEP] 2, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 32 [SEP] 3, SoapBar, 0.231, 0.047, 3.893, 0, 0, 0, 36 [SEP] 4, SoapBar, -1.501, 0.068, 2.958, 0, 0, 0, 26 [SEP] 5, SoapBar, -1.439, 0.067, 3.427, 0, 0, 0, 32 [SEP] 6, Candle, -1.500, 0.067, 2.341, 0, 0, 0, 28 [SEP] 7, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 33 [SEP] 8, SprayBottle, -1.620, 0.068, 2.441, 0, 0, 0, 28 [SEP] 9, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 34 [SEP] 10, SoapBottle, -1.219, 0.993, 2.269, 0, 0, 0, 33 [SEP] 11, SoapBottle, -1.284, 0.993, 2.863, 0, 0, 0, 33 [SEP] 12, ToiletPaper, -1.613, 0.991, 3.812, 0, 0, 0, 33 [SEP] 13, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 35 [SEP] 14, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 37 [SEP] 15, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 39 [SEP] 16, ToiletPaper, -1.319, 0.064, 2.441, 0, 0, 0, 28 [SEP] 17, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 18, Candle, -1.259, 0.067, 2.240, 0, 0, 0, 28 [SEP] 19, TissueBox, -1.481, 0.994, 2.923, 0, 0, 0, 33 [SEP] 20, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 36 [SEP] 21, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 41 [SEP] 22, SprayBottle, 0.306, 0.894, 1.566, 0, 0, 0, 39 [SEP] 23, Cloth, -1.501, 0.068, 3.793, 0, 0, 0, 34 [SEP] 24, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 25, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 27, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 29, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 30, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 31, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 32, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 33, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 34, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 35, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 36, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 37, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 38, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 39, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 40, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 41, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 42, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 43, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 44, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 45, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 46, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 47, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: move to the toilet to the right of the door | STEP 2: pick up soap from the toilet | STEP 3: move to the sink behind you | STEP 4: wet the soap in the sink | STEP 5: move to the left side of the sink ahead of you | STEP 6: put the soap on the counter | END


Input: put a clean fork in to the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.25, 0, 270, 0,  [SEP] 1, DishSponge, 0.888, 0.911, -0.854, 0, 0, 0, 40 [SEP] 2, DishSponge, -0.294, 0.911, 1.468, 0, 0, 0, 51 [SEP] 3, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 40 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 5, Fork, -0.151, 0.912, 1.299, 0, 180, 0, 51 [SEP] 6, Spatula, 0.193, 0.780, -0.762, 0, 90, 0, 97 [SEP] 7, Cup, 1.173, 0.112, -0.458, 0, 180, 0, 48 [SEP] 8, Egg, 3.260, 0.878, -0.514, 0, 0, 0, 95 [SEP] 9, Egg, -0.990, 0.858, -1.038, 0, 0, 0, 99 [SEP] 10, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 99 [SEP] 11, Tomato, 0.634, 0.942, -0.515, 0, 0, 0, 40 [SEP] 12, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 99 [SEP] 13, PepperShaker, -0.106, 1.650, -0.811, 0, 180, 0, 82 [SEP] 14, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 75 [SEP] 15, Mug, 2.591, 0.721, -0.504, 0, 90, 0, 95 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 40 [SEP] 17, SoapBottle, -0.246, 0.917, 1.214, 0, 0, 0, 51 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 99 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 40 [SEP] 22, Egg, 1.688, 0.949, 1.383, 0, 0, 0, 75 [SEP] 23, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 40 [SEP] 24, Tomato, 1.955, 0.942, 1.129, 0, 0, 0, 75 [SEP] 25, Cup, 1.155, 0.909, 1.468, 0, 0, 0, 75 [SEP] 26, Spatula, 1.955, 0.926, 1.468, 0, 0, 0, 75 [SEP] 27, Apple, 2.900, 1.087, -0.775, 0, 0, 0, 95 [SEP] 28, Pan, 2.715, 1.563, -0.709, 0, 0, 0, 95 [SEP] 29, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 75 [SEP] 30, SaltShaker, 0.634, 0.908, -0.430, 0, 0, 0, 40 [SEP] 31, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 97 [SEP] 32, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 99 [SEP] 33, PepperShaker, -0.151, 0.908, 1.129, 0, 0, 0, 51 [SEP] 34, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.208, 1.652, -0.734, 0, 180, 0, 42 [SEP] 36, DishSponge, -0.621, 0.820, -1.360, 0, 90, 0, 99 [SEP] 37, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 97 [SEP] 38, Mug, -0.766, 0.815, -1.360, 0, 270, 0, 99 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter | STEP 3: turn around and move to the sink | STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water off and pick up the fork from the sink | STEP 5: turn around and move to the counter that is to the left of the stove | STEP 6: open the drawer below the counter, put the fork in to the drawer and close it | END


Input: wash a dirty fork and put it away inside the drawer 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, DishSponge, 0.888, 0.911, -0.854, 0, 0, 0, 40 [SEP] 2, DishSponge, -0.294, 0.911, 1.468, 0, 0, 0, 51 [SEP] 3, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 40 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 5, Fork, -0.151, 0.912, 1.299, 0, 180, 0, 51 [SEP] 6, Spatula, 0.193, 0.780, -0.762, 0, 90, 0, 97 [SEP] 7, Cup, 1.173, 0.112, -0.458, 0, 180, 0, 48 [SEP] 8, Egg, 3.260, 0.878, -0.514, 0, 0, 0, 95 [SEP] 9, Egg, -0.990, 0.858, -1.038, 0, 0, 0, 99 [SEP] 10, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 99 [SEP] 11, Tomato, 0.634, 0.942, -0.515, 0, 0, 0, 40 [SEP] 12, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 99 [SEP] 13, PepperShaker, -0.106, 1.650, -0.811, 0, 180, 0, 82 [SEP] 14, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 75 [SEP] 15, Mug, 2.591, 0.721, -0.504, 0, 90, 0, 95 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 40 [SEP] 17, SoapBottle, -0.246, 0.917, 1.214, 0, 0, 0, 51 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 99 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 40 [SEP] 22, Egg, 1.688, 0.949, 1.383, 0, 0, 0, 75 [SEP] 23, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 40 [SEP] 24, Tomato, 1.955, 0.942, 1.129, 0, 0, 0, 75 [SEP] 25, Cup, 1.155, 0.909, 1.468, 0, 0, 0, 75 [SEP] 26, Spatula, 1.955, 0.926, 1.468, 0, 0, 0, 75 [SEP] 27, Apple, 2.900, 1.087, -0.775, 0, 0, 0, 95 [SEP] 28, Pan, 2.715, 1.563, -0.709, 0, 0, 0, 95 [SEP] 29, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 75 [SEP] 30, SaltShaker, 0.634, 0.908, -0.430, 0, 0, 0, 40 [SEP] 31, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 97 [SEP] 32, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 99 [SEP] 33, PepperShaker, -0.151, 0.908, 1.129, 0, 0, 0, 51 [SEP] 34, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.208, 1.652, -0.734, 0, 180, 0, 42 [SEP] 36, DishSponge, -0.621, 0.820, -1.360, 0, 90, 0, 99 [SEP] 37, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 97 [SEP] 38, Mug, -0.766, 0.815, -1.360, 0, 270, 0, 99 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove | STEP 2: pick up the fork on the counter top | STEP 3: turn around and walk straight towards the sink and look down | STEP 4: put the fork inside of the sink and fill the sink with water then drain the water and remove the fork from the sink | STEP 5: turn left walk straight then turn left again towards the counter next to the stove | STEP 6: open the drawer and put the fork inside and close the drawer | END