Input: Place a bowl holding a knife and potato slice into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 2, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 39 [SEP] 3, Potato, -0.734, 0.855, -1.328, 0, 180, 0, 98 [SEP] 4, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 96 [SEP] 5, DishSponge, 1.422, 0.911, 1.044, 0, 0, 0, 74 [SEP] 6, Kettle, 1.213, 0.116, 1.156, 0, 0, 0, 46 [SEP] 7, Spoon, 1.836, 0.773, -0.498, 0, 180, 0, 53 [SEP] 8, Spoon, 1.862, 0.772, 1.160, 0, 0, 0, 72 [SEP] 9, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 96 [SEP] 10, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 11, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 74 [SEP] 12, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 74 [SEP] 13, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 74 [SEP] 14, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 74 [SEP] 15, Mug, 2.653, 0.720, -0.473, 0, 0, 0, 94 [SEP] 16, SoapBottle, 0.888, 0.917, -0.430, 0, 0, 0, 39 [SEP] 17, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 94 [SEP] 18, Fork, 1.155, 0.912, 1.383, 0, 0, 0, 74 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 50 [SEP] 21, Egg, 2.777, 0.764, -0.535, 0, 0, 0, 94 [SEP] 22, Kettle, -0.141, 1.655, -0.811, 0, 180, 0, 81 [SEP] 23, Tomato, 2.900, 1.594, -0.512, 0, 0, 0, 94 [SEP] 24, Cup, 0.053, 0.763, -0.596, 0, 0, 0, 96 [SEP] 25, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 98 [SEP] 26, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 74 [SEP] 27, Pan, 1.141, 0.911, -0.515, 0, 0, 0, 39 [SEP] 28, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 98 [SEP] 30, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 98 [SEP] 31, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 97 [SEP] 32, PepperShaker, -0.053, 1.650, 1.394, 0, 0, 0, 65 [SEP] 33, ButterKnife, -0.246, 0.911, 1.299, 0, 90, 0, 50 [SEP] 34, Bowl, 1.955, 0.909, 1.129, 0, 0, 0, 74 [SEP] 35, DishSponge, -0.939, 0.820, -1.255, 0, 0, 0, 98 [SEP] 36, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 83 [SEP] 37, Mug, 2.118, 0.109, 1.156, 0, 90, 0, 75 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and move to face the bowl with the knife in it. | STEP 10: Place the potato slice in the bowl with the knife in it. | STEP 11: Pick up the bowl on the counter holding the potato slice and knife. | STEP 12: Turn left and go to the microwave above the stove. | STEP 13: Place the bowl with the knife and potato slice in the microwave. | END


Input: Moving a bowl, knife and slice of potato to the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 2, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 39 [SEP] 3, Potato, -0.734, 0.855, -1.328, 0, 180, 0, 98 [SEP] 4, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 96 [SEP] 5, DishSponge, 1.422, 0.911, 1.044, 0, 0, 0, 74 [SEP] 6, Kettle, 1.213, 0.116, 1.156, 0, 0, 0, 46 [SEP] 7, Spoon, 1.836, 0.773, -0.498, 0, 180, 0, 53 [SEP] 8, Spoon, 1.862, 0.772, 1.160, 0, 0, 0, 72 [SEP] 9, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 96 [SEP] 10, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 11, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 74 [SEP] 12, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 74 [SEP] 13, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 74 [SEP] 14, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 74 [SEP] 15, Mug, 2.653, 0.720, -0.473, 0, 0, 0, 94 [SEP] 16, SoapBottle, 0.888, 0.917, -0.430, 0, 0, 0, 39 [SEP] 17, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 94 [SEP] 18, Fork, 1.155, 0.912, 1.383, 0, 0, 0, 74 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 50 [SEP] 21, Egg, 2.777, 0.764, -0.535, 0, 0, 0, 94 [SEP] 22, Kettle, -0.141, 1.655, -0.811, 0, 180, 0, 81 [SEP] 23, Tomato, 2.900, 1.594, -0.512, 0, 0, 0, 94 [SEP] 24, Cup, 0.053, 0.763, -0.596, 0, 0, 0, 96 [SEP] 25, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 98 [SEP] 26, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 74 [SEP] 27, Pan, 1.141, 0.911, -0.515, 0, 0, 0, 39 [SEP] 28, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 98 [SEP] 30, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 98 [SEP] 31, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 97 [SEP] 32, PepperShaker, -0.053, 1.650, 1.394, 0, 0, 0, 65 [SEP] 33, ButterKnife, -0.246, 0.911, 1.299, 0, 90, 0, 50 [SEP] 34, Bowl, 1.955, 0.909, 1.129, 0, 0, 0, 74 [SEP] 35, DishSponge, -0.939, 0.820, -1.255, 0, 0, 0, 98 [SEP] 36, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 83 [SEP] 37, Mug, 2.118, 0.109, 1.156, 0, 90, 0, 75 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink | STEP 9: Turn around and go back to the counter that's ahead and to the right | STEP 10: Put the slice of potato in the bowl | STEP 11: Pick up the bowl with the knife and potato inside | STEP 12: Turn to the left and go to the stove | STEP 13: Open the microwave, place the bowl with the knife and potato inside, close the door | END


Input: Move the hand on the shelves to the TV table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 5.0, 0, 180, 0,  [SEP] 1, Bowl, -2.561, 0.535, 4.335, 0, 270, 0, 57 [SEP] 2, Newspaper, -2.561, 0.532, 3.607, 0, 270, 0, 57 [SEP] 3, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 4, Watch, -0.433, 0.793, 5.600, 0, 270, 0, 41 [SEP] 5, KeyChain, -0.636, 0.794, 6.231, 0, 0, 0, 41 [SEP] 6, KeyChain, -2.87, 0.880, 7.139, 0, 90, 0, 49 [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, -6.053, 0.147, 4.152, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.899, 0.145, 4.547, 0, 0, 0, 47 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -2.474, 0.880, 7.139, 0, 90, 0, 48 [SEP] 15, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.848, 0.148, 3.757, 0, 0, 0, 47 [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, -3.265, 0.149, 7.327, 0, 90, 0, 51 [SEP] 24, Watch, -2.811, 0.533, 4.106, 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, -0.535, 0.803, 5.726, 0, 270, 0, 41 [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 shelves. | STEP 2: Pick up the hand on the shelves.  | STEP 3: Turn and go to the TV table in the corner.  | STEP 4: Put the hand on the TV table.  | END


Input: Put a golden statue hand on the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 5.0, 0, 180, 0,  [SEP] 1, Bowl, -2.561, 0.535, 4.335, 0, 270, 0, 57 [SEP] 2, Newspaper, -2.561, 0.532, 3.607, 0, 270, 0, 57 [SEP] 3, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 4, Watch, -0.433, 0.793, 5.600, 0, 270, 0, 41 [SEP] 5, KeyChain, -0.636, 0.794, 6.231, 0, 0, 0, 41 [SEP] 6, KeyChain, -2.87, 0.880, 7.139, 0, 90, 0, 49 [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, -6.053, 0.147, 4.152, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.899, 0.145, 4.547, 0, 0, 0, 47 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -2.474, 0.880, 7.139, 0, 90, 0, 48 [SEP] 15, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.848, 0.148, 3.757, 0, 0, 0, 47 [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, -3.265, 0.149, 7.327, 0, 90, 0, 51 [SEP] 24, Watch, -2.811, 0.533, 4.106, 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, -0.535, 0.803, 5.726, 0, 270, 0, 41 [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: Move to the shelf to the right of you | STEP 2: Pick up a golden hand from the shelf | STEP 3: Move to the TV stand to the right of you | STEP 4: Place the hand on the stand | END


Input: Pick up apple, put in microwave, remove, and put on counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 2, Potato, 1.902, 0.946, -0.345, 0, 0, 0, 41 [SEP] 3, Potato, -0.734, 0.855, -1.255, 0, 0, 0, 100 [SEP] 4, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 100 [SEP] 5, Spoon, -0.103, 0.912, 1.214, 0, 0, 0, 52 [SEP] 6, Spoon, 1.524, 0.773, 1.198, 0, 0, 0, 59 [SEP] 7, Cup, 1.688, 0.909, 1.214, 0, 0, 0, 76 [SEP] 8, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 94 [SEP] 9, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 100 [SEP] 10, Bowl, 1.155, 0.909, 1.383, 0, 0, 0, 76 [SEP] 11, Bowl, 0.654, 2.151, 1.506, 0, 0, 0, 50 [SEP] 12, SaltShaker, 2.488, 0.908, 1.214, 0, 0, 0, 76 [SEP] 13, SaltShaker, -0.055, 0.908, 1.129, 0, 0, 0, 52 [SEP] 14, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 52 [SEP] 15, Lettuce, 2.838, 1.644, -0.644, 0, 0, 0, 96 [SEP] 16, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 100 [SEP] 17, Mug, 0.363, 1.779, 1.520, 0, 270, 0, 99 [SEP] 18, SoapBottle, 1.955, 0.917, 1.129, 0, 0, 0, 76 [SEP] 19, Plate, 0.888, 0.914, -0.515, 0, 0, 0, 41 [SEP] 20, Fork, 2.156, 0.912, -0.515, 0, 90, 0, 41 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 96 [SEP] 23, Egg, 1.955, 0.949, 1.468, 0, 0, 0, 76 [SEP] 24, Kettle, -0.087, 0.766, -0.651, 0, 0, 0, 98 [SEP] 25, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 98 [SEP] 26, Cup, 1.649, 0.909, -0.345, 0, 0, 0, 41 [SEP] 27, Spatula, 0.053, 0.780, -0.707, 0, 90, 0, 98 [SEP] 28, Apple, 2.221, 0.980, 1.214, 0, 0, 0, 76 [SEP] 29, Pan, 1.524, 1.654, 1.470, 0, 0, 0, 68 [SEP] 30, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 52 [SEP] 31, SaltShaker, 0.065, 1.651, -0.693, 0, 180, 0, 81 [SEP] 32, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 76 [SEP] 33, Potato, 2.156, 0.946, -0.684, 0, 0, 0, 41 [SEP] 34, PepperShaker, 2.272, 0.111, -0.419, 0, 180, 0, 82 [SEP] 35, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 76 [SEP] 36, Bowl, -0.734, 0.818, -1.400, 0, 0, 0, 100 [SEP] 37, DishSponge, 2.837, 0.114, 1.231, 0, 0, 0, 73 [SEP] 38, Spoon, 1.276, 0.773, -0.422, 0, 270, 0, 60 [SEP] 39, Mug, 2.591, 1.014, -0.644, 0, 90, 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: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter | STEP 3: Turn left, walk to stove, turn right facing the oven | STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave | STEP 5: Turn right, walk to end of counter, turn right, | STEP 6: Put apple on counter in front of coffee maker | END


Input: Fill a cup with water and place inside 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, 0.931, -0.75, 0, 0, 0,  [SEP] 1, Potato, -0.603, 1.100, -1.505, 0, 0, 0, 41 [SEP] 2, DishSponge, 1.897, 1.019, -1.484, 0, 0, 0, 47 [SEP] 3, ButterKnife, -0.346, 1.046, -1.289, 0, 0, 0, 41 [SEP] 4, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 53 [SEP] 5, Spoon, 1.612, 1.044, 0.415, 0, 0, 0, 43 [SEP] 6, Spatula, 0.160, 1.058, 0.522, 0, 270, 0, 43 [SEP] 7, Egg, -1.381, 1.543, 1.796, 0, 90, 0, 56 [SEP] 8, Knife, 0.239, 1.072, -1.086, 0, 0, 0, 41 [SEP] 9, Tomato, -1.312, 1.764, 1.974, 0, 90, 0, 56 [SEP] 10, PepperShaker, 1.894, 0.199, -1.262, 0, 0, 0, 51 [SEP] 11, PepperShaker, 1.188, 1.560, -1.388, 0, 0, 0, 45 [SEP] 12, Lettuce, -1.342, 1.548, 1.974, 0, 90, 0, 56 [SEP] 13, Mug, 1.743, 1.014, -1.264, 0, 0, 0, 47 [SEP] 14, Mug, -1.145, 1.711, -1.269, 0, 0, 0, 55 [SEP] 15, SoapBottle, -0.517, 1.047, -1.181, 0, 0, 0, 41 [SEP] 16, Apple, 0.989, 1.090, -1.181, 0, 0, 0, 41 [SEP] 17, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 43 [SEP] 18, Fork, 1.155, 1.047, -1.397, 0, 0, 0, 41 [SEP] 19, Kettle, -1.105, 0.203, -1.410, 0, 0, 0, 49 [SEP] 20, Pan, -0.473, 1.564, -1.693, 0, 90, 0, 46 [SEP] 21, Tomato, -1.431, 1.279, 1.974, 0, 90, 0, 56 [SEP] 22, SaltShaker, 0.989, 1.041, -1.828, 0, 0, 0, 41 [SEP] 23, Egg, -1.038, 1.282, 1.974, 0, 90, 0, 56 [SEP] 24, Cup, 1.589, 1.020, -1.484, 0, 0, 0, 47 [SEP] 25, Spatula, 0.255, 1.058, 0.630, 0, 0, 0, 43 [SEP] 26, Knife, -0.603, 1.072, -1.289, 0, 0, 0, 41 [SEP] 27, Lettuce, 1.181, 1.103, 0.632, 0, 0, 0, 43 [SEP] 28, ButterKnife, 1.612, 1.043, 0.091, 0, 0, 0, 43 [SEP] 29, PepperShaker, 1.181, 1.038, 0.807, 0, 0, 0, 43 [SEP] 30, DishSponge, 1.894, 0.204, -1.480, 0, 0, 0, 51 [SEP] 31, Plate, 1.036, 1.577, -1.614, 0, 0, 0, 45 [SEP] 32, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 43 [SEP] 33, Spoon, 0.989, 1.048, -1.289, 0, 0, 0, 41 [SEP] 34, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 37 [SEP] 35, Mug, -1.064, 0.959, 1.885, 0, 90, 0, 56 [SEP] 36, Bowl, 1.741, 0.203, -1.335, 0, 0, 0, 51 [SEP] 37, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 38, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 39, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 40, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 41, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 42, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 44, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 45, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 46, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 47, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 48, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 53, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 54, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 55, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 56, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 57, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 58, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 59, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 60, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 61, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 65, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 66, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 67, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 68, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 69, NorthWall, , , , , , ,  [SEP] 70, EastWall, , , , , , ,  [SEP] 71, SouthWall, , , , , , ,  [SEP] 72, WestWall, , , , , , ,

Output: STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. | STEP 3: Turn around and go to the kitchen sink. | STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off the faucet. | STEP 5: Turn around to face the kitchen counter with an apple. | STEP 6: Open the cabinet door directly under the apple, place the cup of water inside and close the door. | END


Input: Heat up a slice of apple in the microwave to put it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 0, 0,  [SEP] 1, Kettle, 0.759, 2.154, 1.429, 0, 0, 0, 57 [SEP] 2, ButterKnife, 0.888, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, ButterKnife, 2.221, 0.911, 1.468, 0, 0, 0, 83 [SEP] 4, Spoon, -0.694, 0.822, -1.206, 0, 90, 0, 107 [SEP] 5, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 48 [SEP] 6, Spatula, -0.007, 0.926, 1.299, 0, 270, 0, 59 [SEP] 7, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 107 [SEP] 8, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 83 [SEP] 9, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 83 [SEP] 10, Cup, 2.715, 0.723, -0.504, 0, 0, 0, 103 [SEP] 11, Cup, -0.055, 0.909, 1.044, 0, 0, 0, 59 [SEP] 12, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 48 [SEP] 13, SoapBottle, 1.896, 0.120, 1.236, 0, 0, 0, 68 [SEP] 14, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 107 [SEP] 15, Tomato, 2.591, 1.320, -0.644, 0, 0, 0, 103 [SEP] 16, Tomato, 2.838, 0.758, -0.504, 0, 0, 0, 103 [SEP] 17, Bowl, 1.141, 0.909, -0.6, 0, 0, 0, 48 [SEP] 18, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 19, SaltShaker, -0.240, 0.908, -0.330, 0, 0, 0, 48 [SEP] 20, SaltShaker, 1.254, 1.651, 1.429, 0, 0, 0, 75 [SEP] 21, PepperShaker, 0.601, 2.150, 1.545, 0, 0, 0, 57 [SEP] 22, Bread, 2.777, 1.077, -0.644, 0, 0, 0, 103 [SEP] 23, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 103 [SEP] 24, Mug, 0.215, 1.650, -0.693, 0, 180, 0, 88 [SEP] 25, SoapBottle, -0.246, 0.917, 1.044, 0, 0, 0, 59 [SEP] 26, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 48 [SEP] 27, Fork, 0.053, 0.766, -0.596, 0, 0, 0, 105 [SEP] 28, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 63 [SEP] 29, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 83 [SEP] 30, Egg, 0.123, 0.803, -0.707, 0, 0, 0, 105 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, -1.962, 0.455, 1.375, 0, 270, 0, 101 [SEP] 33, Cup, 0.518, 1.782, 1.520, 0, 180, 0, 106 [SEP] 34, Spatula, -0.734, 0.835, -1.473, 0, 0, 0, 107 [SEP] 35, Apple, 1.422, 0.980, 1.129, 0, 0, 0, 83 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 59 [SEP] 38, SaltShaker, 1.422, 0.908, 1.468, 0, 0, 0, 83 [SEP] 39, Knife, 1.955, 0.944, 1.044, 0, 0, 0, 83 [SEP] 40, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 107 [SEP] 41, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 59 [SEP] 42, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 107 [SEP] 43, Bowl, 2.221, 0.909, 1.129, 0, 0, 0, 83 [SEP] 44, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 59 [SEP] 45, Spoon, 2.156, 0.912, -0.769, 0, 0, 0, 48 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn around the face the sink. | STEP 12: Put the apple slice in the sink. | END


Input: Place a warmed apple in the recycling bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 0.634, 0.911, -0.769, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.621, 0.820, -1.103, 0, 90, 0, 108 [SEP] 3, DishSponge, 2.488, 0.911, 1.044, 0, 0, 0, 84 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 5, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 6, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 106 [SEP] 7, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 8, Fork, 1.688, 0.912, 1.468, 0, 0, 0, 84 [SEP] 9, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 49 [SEP] 10, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 106 [SEP] 11, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 83 [SEP] 12, Egg, -1.962, 0.461, 1.417, 0, 270, 0, 102 [SEP] 13, Knife, -0.007, 0.944, 1.299, 0, 90, 0, 60 [SEP] 14, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 60 [SEP] 15, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 106 [SEP] 17, SaltShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 18, SaltShaker, 0.480, 1.650, -0.735, 0, 180, 0, 88 [SEP] 19, PepperShaker, 1.254, 1.651, 1.390, 0, 0, 0, 76 [SEP] 20, PepperShaker, -0.911, 0.817, -1.257, 0, 90, 0, 108 [SEP] 21, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 49 [SEP] 22, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 60 [SEP] 23, Mug, 2.962, 0.720, -0.504, 0, 0, 0, 104 [SEP] 24, Apple, 1.155, 0.980, 1.383, 0, 0, 0, 84 [SEP] 25, Apple, -0.151, 0.980, 1.468, 0, 0, 0, 60 [SEP] 26, SoapBottle, -1.056, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 2.488, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, -0.785, 0.821, -1.400, 0, 0, 0, 108 [SEP] 29, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 64 [SEP] 30, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 84 [SEP] 31, Egg, -0.694, 0.858, -1.257, 0, 90, 0, 108 [SEP] 32, Kettle, 1.563, 0.115, 1.193, 0, 0, 0, 78 [SEP] 33, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 106 [SEP] 34, Cup, -0.939, 0.818, -1.110, 0, 0, 0, 108 [SEP] 35, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 84 [SEP] 36, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 84 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 1.422, 0.992, 1.299, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.141, 0.908, -0.515, 0, 0, 0, 49 [SEP] 40, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 41, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 104 [SEP] 42, PepperShaker, 2.600, 1.651, 1.351, 0, 0, 0, 74 [SEP] 43, ButterKnife, -0.839, 0.820, -1.206, 0, 180, 0, 108 [SEP] 44, Bowl, 2.548, 0.112, 1.117, 0, 0, 0, 53 [SEP] 45, DishSponge, 0.812, 2.153, 1.429, 0, 0, 0, 58 [SEP] 46, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Approach the counter to the left of the stove. | STEP 2: Pick up the apple from the counter. | STEP 3: Approach the microwave above the stove. | STEP 4: Put the apple in the microwave, turn the microwave on and wait before removing the apple.  | STEP 5: Turn to your left and walk to the recycling bin. | STEP 6: Place the apple in the recycling bin. | END


Input: Place a microwaved apple in a garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 0.634, 0.911, -0.769, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.621, 0.820, -1.103, 0, 90, 0, 108 [SEP] 3, DishSponge, 2.488, 0.911, 1.044, 0, 0, 0, 84 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 5, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 6, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 106 [SEP] 7, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 8, Fork, 1.688, 0.912, 1.468, 0, 0, 0, 84 [SEP] 9, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 49 [SEP] 10, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 106 [SEP] 11, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 83 [SEP] 12, Egg, -1.962, 0.461, 1.417, 0, 270, 0, 102 [SEP] 13, Knife, -0.007, 0.944, 1.299, 0, 90, 0, 60 [SEP] 14, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 60 [SEP] 15, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 106 [SEP] 17, SaltShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 18, SaltShaker, 0.480, 1.650, -0.735, 0, 180, 0, 88 [SEP] 19, PepperShaker, 1.254, 1.651, 1.390, 0, 0, 0, 76 [SEP] 20, PepperShaker, -0.911, 0.817, -1.257, 0, 90, 0, 108 [SEP] 21, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 49 [SEP] 22, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 60 [SEP] 23, Mug, 2.962, 0.720, -0.504, 0, 0, 0, 104 [SEP] 24, Apple, 1.155, 0.980, 1.383, 0, 0, 0, 84 [SEP] 25, Apple, -0.151, 0.980, 1.468, 0, 0, 0, 60 [SEP] 26, SoapBottle, -1.056, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 2.488, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, -0.785, 0.821, -1.400, 0, 0, 0, 108 [SEP] 29, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 64 [SEP] 30, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 84 [SEP] 31, Egg, -0.694, 0.858, -1.257, 0, 90, 0, 108 [SEP] 32, Kettle, 1.563, 0.115, 1.193, 0, 0, 0, 78 [SEP] 33, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 106 [SEP] 34, Cup, -0.939, 0.818, -1.110, 0, 0, 0, 108 [SEP] 35, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 84 [SEP] 36, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 84 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 1.422, 0.992, 1.299, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.141, 0.908, -0.515, 0, 0, 0, 49 [SEP] 40, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 41, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 104 [SEP] 42, PepperShaker, 2.600, 1.651, 1.351, 0, 0, 0, 74 [SEP] 43, ButterKnife, -0.839, 0.820, -1.206, 0, 180, 0, 108 [SEP] 44, Bowl, 2.548, 0.112, 1.117, 0, 0, 0, 53 [SEP] 45, DishSponge, 0.812, 2.153, 1.429, 0, 0, 0, 58 [SEP] 46, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top. | STEP 3: Turn right and walk to the microwave above the stove top. | STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the blue garbage can in the corner of the room. | STEP 6: Put the apple in the garbage can. | END


Input: Move a pen from a dresser to a small table below a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.5, 0, 270, 0,  [SEP] 1, Mug, -0.507, 0.541, -3.694, 0, 0, 0, 32 [SEP] 2, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 23 [SEP] 3, CellPhone, -0.862, 0.800, -4.354, 0, 0, 0, 38 [SEP] 4, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 32 [SEP] 5, KeyChain, -3.613, 0.982, -3.070, 0, 0, 0, 41 [SEP] 6, Book, -3.539, 0.980, -4.276, 0, 0, 0, 41 [SEP] 7, Book, -3.760, 0.980, -4.276, 0, 0, 0, 41 [SEP] 8, Pillow, -2.770, 0.722, -1.506, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.453, 0.803, -3.811, 0, 0, 0, 38 [SEP] 10, Book, -3.580, 0.046, -3.278, 0, 0, 0, 40 [SEP] 11, CellPhone, -3.694, 0.225, -4.163, 0, 0, 0, 45 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.694, 0.614, -3.461, 0, 0, 0, 42 [SEP] 14, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 41 [SEP] 15, KeyChain, -3.470, 0.615, -3.091, 0, 0, 0, 42 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -3.539, 0.983, -3.673, 0, 0, 0, 41 [SEP] 19, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.979, -4.075, 0, 0, 0, 41 [SEP] 21, Pen, -3.539, 0.986, -3.874, 0, 0, 0, 41 [SEP] 22, Mug, -3.613, 0.977, -3.271, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the brown dresser which is in front of you. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the left side of the desk on your right. | STEP 4: Put the pen on the front of the small table below the desk. | END


Input: Move a pen from the dresser to the shelves. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.5, 0, 270, 0,  [SEP] 1, Mug, -0.507, 0.541, -3.694, 0, 0, 0, 32 [SEP] 2, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 23 [SEP] 3, CellPhone, -0.862, 0.800, -4.354, 0, 0, 0, 38 [SEP] 4, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 32 [SEP] 5, KeyChain, -3.613, 0.982, -3.070, 0, 0, 0, 41 [SEP] 6, Book, -3.539, 0.980, -4.276, 0, 0, 0, 41 [SEP] 7, Book, -3.760, 0.980, -4.276, 0, 0, 0, 41 [SEP] 8, Pillow, -2.770, 0.722, -1.506, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.453, 0.803, -3.811, 0, 0, 0, 38 [SEP] 10, Book, -3.580, 0.046, -3.278, 0, 0, 0, 40 [SEP] 11, CellPhone, -3.694, 0.225, -4.163, 0, 0, 0, 45 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.694, 0.614, -3.461, 0, 0, 0, 42 [SEP] 14, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 41 [SEP] 15, KeyChain, -3.470, 0.615, -3.091, 0, 0, 0, 42 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -3.539, 0.983, -3.673, 0, 0, 0, 41 [SEP] 19, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.979, -4.075, 0, 0, 0, 41 [SEP] 21, Pen, -3.539, 0.986, -3.874, 0, 0, 0, 41 [SEP] 22, Mug, -3.613, 0.977, -3.271, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn left, move to the dresser, right of the CD. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn right, move to the desk, near the clock. | STEP 4: Put the pen on top of the shelves. | END


Input: Place the spatula from the counter 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, 0.931, 0.0, 0, 180, 0,  [SEP] 1, Pan, 1.512, 0.204, -1.480, 0, 270, 0, 61 [SEP] 2, Potato, -0.689, 1.100, -1.289, 0, 0, 0, 51 [SEP] 3, Potato, 0.989, 1.100, -1.181, 0, 0, 0, 51 [SEP] 4, DishSponge, -1.106, 2.027, -1.337, 0, 0, 0, 58 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 51 [SEP] 6, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 53 [SEP] 7, Kettle, 0.890, 0.200, -1.267, 0, 0, 0, 62 [SEP] 8, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 47 [SEP] 9, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 54 [SEP] 10, Fork, 0.065, 1.043, 0.415, 0, 0, 0, 53 [SEP] 11, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 51 [SEP] 12, Spatula, 0.255, 1.058, 0.630, 0, 0, 0, 53 [SEP] 13, Egg, 0.980, 1.108, 0.080, 0, 90, 0, 49 [SEP] 14, Egg, 1.238, 1.101, -1.289, 0, 0, 0, 51 [SEP] 15, Cup, -1.145, 1.716, -1.331, 0, 0, 0, 65 [SEP] 16, Cup, -0.222, 0.203, -1.625, 0, 0, 0, 60 [SEP] 17, Tomato, -1.419, 1.540, 2.063, 0, 90, 0, 66 [SEP] 18, Tomato, -1.300, 1.279, 2.242, 0, 90, 0, 66 [SEP] 19, SoapBottle, -0.775, 1.047, -1.505, 0, 0, 0, 51 [SEP] 20, Bowl, 0.065, 1.042, 0.738, 0, 0, 0, 53 [SEP] 21, Bowl, 1.188, 1.563, -1.538, 0, 0, 0, 55 [SEP] 22, Lettuce, -1.095, 1.023, 2.153, 0, 90, 0, 66 [SEP] 23, Apple, -0.432, 1.090, -1.505, 0, 0, 0, 51 [SEP] 24, Apple, 1.211, 0.936, 0.304, 0, 90, 0, 48 [SEP] 25, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 49 [SEP] 26, Apple, -1.268, 1.991, 2.063, 0, 90, 0, 66 [SEP] 27, Potato, -1.342, 1.542, 2.242, 0, 90, 0, 66 [SEP] 28, Fork, -0.603, 1.047, -1.397, 0, 0, 0, 51 [SEP] 29, Kettle, 0.890, 0.200, -1.484, 0, 0, 0, 62 [SEP] 30, Pan, -0.624, 1.564, -1.545, 0, 270, 0, 56 [SEP] 31, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 49 [SEP] 32, SaltShaker, 0.446, 1.038, 0.630, 0, 0, 0, 53 [SEP] 33, Egg, -1.034, 1.018, 1.885, 0, 90, 0, 66 [SEP] 34, Cup, -1.381, 1.489, 1.885, 0, 90, 0, 66 [SEP] 35, Spatula, 1.514, 1.058, 0.589, 0, 0, 0, 53 [SEP] 36, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 53 [SEP] 37, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 66 [SEP] 38, ButterKnife, 1.612, 1.043, 0.522, 0, 0, 0, 53 [SEP] 39, PepperShaker, -0.401, 0.198, -1.409, 0, 0, 0, 60 [SEP] 40, DishSponge, 0.936, 1.053, 0.331, 0, 90, 0, 49 [SEP] 41, Plate, 1.158, 0.212, -1.556, 0, 0, 0, 62 [SEP] 42, Bread, 1.072, 1.120, -1.612, 0, 0, 0, 51 [SEP] 43, Spoon, 1.181, 1.044, 0.589, 0, 0, 0, 53 [SEP] 44, Pot, 1.743, 1.021, -1.264, 0, 90, 0, 57 [SEP] 45, Mug, -0.323, 1.560, -1.767, 0, 0, 0, 56 [SEP] 46, Bowl, -0.670, 0.202, -1.481, 0, 0, 0, 60 [SEP] 47, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 48, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 49, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 50, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 52, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 53, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 54, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 55, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 56, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 57, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 63, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 64, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 65, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 66, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 67, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 68, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 69, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 70, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 74, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 75, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 76, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 77, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 78, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 79, NorthWall, , , , , , ,  [SEP] 80, EastWall, , , , , , ,  [SEP] 81, SouthWall, , , , , , ,  [SEP] 82, WestWall, , , , , , ,

Output: STEP 1: Turn left towards the coffee maker on the counter to your left. | STEP 2: Pick up the spatula from the counter. | STEP 3: Take a step to the left to face the sink. | STEP 4: Place the spatula in the sink. | END


Input: Transport a white ball from a fridge to a trash-can. 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, 2.0, 0, 180, 0,  [SEP] 1, Pan, -0.398, 1.564, -1.693, 0, 90, 0, 48 [SEP] 2, Pan, -1.184, 2.027, -1.337, 0, 0, 0, 50 [SEP] 3, ButterKnife, 1.612, 1.043, 0.738, 0, 0, 0, 45 [SEP] 4, Kettle, 0.979, 0.200, -1.339, 0, 0, 0, 54 [SEP] 5, Spatula, 1.514, 1.058, 0.589, 0, 0, 0, 45 [SEP] 6, Egg, 0.936, 1.108, 0.231, 0, 90, 0, 41 [SEP] 7, Egg, -0.346, 1.101, -1.505, 0, 0, 0, 43 [SEP] 8, Cup, 1.512, 1.020, -1.191, 0, 0, 0, 49 [SEP] 9, Cup, 1.238, 1.047, -1.397, 0, 0, 0, 43 [SEP] 10, SoapBottle, -1.339, 0.203, -1.265, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.743, 1.020, -1.630, 0, 0, 0, 49 [SEP] 12, Bowl, 1.068, 0.198, -1.556, 0, 0, 0, 54 [SEP] 13, Bowl, 0.885, 1.563, -1.764, 0, 0, 0, 47 [SEP] 14, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 45 [SEP] 15, Apple, 0.980, 1.097, 0.131, 0, 90, 0, 41 [SEP] 16, Apple, 0.980, 1.097, 0.381, 0, 90, 0, 41 [SEP] 17, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 41 [SEP] 18, Apple, -1.169, 1.271, 1.885, 0, 90, 0, 58 [SEP] 19, Potato, -1.064, 1.017, 2.331, 0, 90, 0, 58 [SEP] 20, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 45 [SEP] 21, Kettle, 0.906, 1.047, -1.289, 0, 0, 0, 43 [SEP] 22, Pan, 0.120, 1.053, -1.630, 0, 0, 0, 46 [SEP] 23, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 58 [SEP] 24, SaltShaker, -0.030, 1.038, 0.415, 0, 0, 0, 45 [SEP] 25, Egg, 1.854, 0.177, 2.414, 0, 270, 0, 59 [SEP] 26, Cup, -1.096, 1.716, -1.300, 0, 0, 0, 57 [SEP] 27, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 28, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 41 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, -0.177, 1.046, -1.107, 0, 0, 0, 43 [SEP] 31, PepperShaker, -1.261, 2.023, -1.627, 0, 0, 0, 50 [SEP] 32, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 54 [SEP] 33, Plate, -1.235, 1.241, 2.242, 0, 90, 0, 58 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 1.790, 1.044, 0.091, 0, 0, 0, 45 [SEP] 36, Pot, -1.342, 1.490, 1.885, 0, 180, 0, 58 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 1.211, 0.899, 0.231, 0, 90, 0, 40 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: Turn left and head to the trash-can in the corner on your right. | STEP 2: Take out the white ball from the trash-can. | STEP 3: Turn left and head to the fridge. | STEP 4: Open the fridge, put the ball inside, close it, open it, take the ball out, and close it again. | STEP 5: Turn around and head to the trash-can in the corner. | STEP 6: Put the white ball in the trash-can. | END


Input: Place a chilled egg in 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, 0.25, 0.931, 2.0, 0, 180, 0,  [SEP] 1, Pan, -0.398, 1.564, -1.693, 0, 90, 0, 48 [SEP] 2, Pan, -1.184, 2.027, -1.337, 0, 0, 0, 50 [SEP] 3, ButterKnife, 1.612, 1.043, 0.738, 0, 0, 0, 45 [SEP] 4, Kettle, 0.979, 0.200, -1.339, 0, 0, 0, 54 [SEP] 5, Spatula, 1.514, 1.058, 0.589, 0, 0, 0, 45 [SEP] 6, Egg, 0.936, 1.108, 0.231, 0, 90, 0, 41 [SEP] 7, Egg, -0.346, 1.101, -1.505, 0, 0, 0, 43 [SEP] 8, Cup, 1.512, 1.020, -1.191, 0, 0, 0, 49 [SEP] 9, Cup, 1.238, 1.047, -1.397, 0, 0, 0, 43 [SEP] 10, SoapBottle, -1.339, 0.203, -1.265, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.743, 1.020, -1.630, 0, 0, 0, 49 [SEP] 12, Bowl, 1.068, 0.198, -1.556, 0, 0, 0, 54 [SEP] 13, Bowl, 0.885, 1.563, -1.764, 0, 0, 0, 47 [SEP] 14, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 45 [SEP] 15, Apple, 0.980, 1.097, 0.131, 0, 90, 0, 41 [SEP] 16, Apple, 0.980, 1.097, 0.381, 0, 90, 0, 41 [SEP] 17, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 41 [SEP] 18, Apple, -1.169, 1.271, 1.885, 0, 90, 0, 58 [SEP] 19, Potato, -1.064, 1.017, 2.331, 0, 90, 0, 58 [SEP] 20, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 45 [SEP] 21, Kettle, 0.906, 1.047, -1.289, 0, 0, 0, 43 [SEP] 22, Pan, 0.120, 1.053, -1.630, 0, 0, 0, 46 [SEP] 23, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 58 [SEP] 24, SaltShaker, -0.030, 1.038, 0.415, 0, 0, 0, 45 [SEP] 25, Egg, 1.854, 0.177, 2.414, 0, 270, 0, 59 [SEP] 26, Cup, -1.096, 1.716, -1.300, 0, 0, 0, 57 [SEP] 27, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 28, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 41 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, -0.177, 1.046, -1.107, 0, 0, 0, 43 [SEP] 31, PepperShaker, -1.261, 2.023, -1.627, 0, 0, 0, 50 [SEP] 32, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 54 [SEP] 33, Plate, -1.235, 1.241, 2.242, 0, 90, 0, 58 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 1.790, 1.044, 0.091, 0, 0, 0, 45 [SEP] 36, Pot, -1.342, 1.490, 1.885, 0, 180, 0, 58 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 1.211, 0.899, 0.231, 0, 90, 0, 40 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the trash can on the left. | STEP 2: Take the egg out of the trash can. | STEP 3: Turn left and go across the room to the fridge. | STEP 4: Open the fridge and place the egg on the second shelf. Close the door, wait a moment, and take the egg out of the fridge. | STEP 5: Turn around and move towards the trash can across the room. | STEP 6: Put the egg in the trash can. | END


Input: move a newspaper to the TV stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.5, 0, 90, 0,  [SEP] 1, Newspaper, -6.002, 0.145, 4.745, 0, 0, 0, 46 [SEP] 2, Watch, -0.433, 0.793, 2.377, 0, 270, 0, 41 [SEP] 3, Watch, -5.821, 0.533, 6.418, 0, 135, 0, 57 [SEP] 4, KeyChain, -5.536, 0.534, 6.703, 0, 45, 0, 57 [SEP] 5, KeyChain, -0.631, 0.408, 3.306, 0, 180, 0, 39 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 39 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -5.923, 0.453, 4.152, 0, 0, 0, 51 [SEP] 9, Vase, -0.687, 0.802, 2.252, 0, 270, 0, 41 [SEP] 10, Newspaper, -0.710, 0.365, 4.828, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.498, 0.534, 6.441, 0, 45, 0, 57 [SEP] 14, CreditCard, -2.277, 0.146, 7.327, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -3.462, 0.453, 7.221, 0, 90, 0, 48 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.985, 0.881, 4.349, 0, 0, 0, 49 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 39 [SEP] 23, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.998, 0.454, 4.942, 0, 90, 0, 51 [SEP] 26, Statue, -2.283, 0.543, 4.480, 0, 270, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: Move to the right where the dark wood shelves are | STEP 2: Pick up the newspaper on the shelf | STEP 3: Carry the newspaper to the left side of the TV stand | STEP 4: place the newspaper on the left side of the TV stand in front of the TV | END


Input: move the newspaper from the shelf to the tv stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.5, 0, 90, 0,  [SEP] 1, Newspaper, -6.002, 0.145, 4.745, 0, 0, 0, 46 [SEP] 2, Watch, -0.433, 0.793, 2.377, 0, 270, 0, 41 [SEP] 3, Watch, -5.821, 0.533, 6.418, 0, 135, 0, 57 [SEP] 4, KeyChain, -5.536, 0.534, 6.703, 0, 45, 0, 57 [SEP] 5, KeyChain, -0.631, 0.408, 3.306, 0, 180, 0, 39 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 39 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -5.923, 0.453, 4.152, 0, 0, 0, 51 [SEP] 9, Vase, -0.687, 0.802, 2.252, 0, 270, 0, 41 [SEP] 10, Newspaper, -0.710, 0.365, 4.828, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.498, 0.534, 6.441, 0, 45, 0, 57 [SEP] 14, CreditCard, -2.277, 0.146, 7.327, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -3.462, 0.453, 7.221, 0, 90, 0, 48 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.985, 0.881, 4.349, 0, 0, 0, 49 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 39 [SEP] 23, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.998, 0.454, 4.942, 0, 90, 0, 51 [SEP] 26, Statue, -2.283, 0.543, 4.480, 0, 270, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: Turn left and walk to the middle of the room. turn right at the shelves | STEP 2: pick up the newspaper from the shelf | STEP 3: turn right and walk towards to the television | STEP 4: place the newspaper next to the tv | END


Input: Move two clocks from a desk to a dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -1.25, 0, 0, 0,  [SEP] 1, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 43 [SEP] 2, CellPhone, -3.694, 0.614, -3.276, 0, 0, 0, 47 [SEP] 3, CellPhone, -3.613, 0.981, -4.276, 0, 0, 0, 46 [SEP] 4, Pen, -0.596, 0.548, -3.731, 0, 0, 0, 37 [SEP] 5, Pencil, -0.657, 0.807, -4.246, 0, 0, 0, 43 [SEP] 6, Pencil, -1.474, 0.803, -3.811, 0, 0, 0, 43 [SEP] 7, CreditCard, -0.502, 0.349, -3.844, 0, 0, 0, 37 [SEP] 8, CreditCard, -3.637, 0.044, -3.371, 0, 0, 0, 45 [SEP] 9, KeyChain, -0.418, 0.543, -3.731, 0, 0, 0, 37 [SEP] 10, KeyChain, -3.526, 0.227, -3.185, 0, 0, 0, 48 [SEP] 11, Book, -3.613, 0.620, -1.793, 0, 0, 0, 28 [SEP] 12, Book, -3.760, 0.980, -3.673, 0, 0, 0, 46 [SEP] 13, Laptop, -2.770, 0.618, -2.080, 0, 0, 0, 28 [SEP] 14, AlarmClock, -0.453, 0.803, -3.920, 0, 0, 0, 43 [SEP] 15, Book, -3.402, 0.620, -0.356, 0, 0, 0, 28 [SEP] 16, CellPhone, -3.466, 0.981, -3.271, 0, 0, 0, 46 [SEP] 17, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 46 [SEP] 18, CreditCard, -1.066, 0.800, -4.137, 0, 0, 0, 43 [SEP] 19, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 43 [SEP] 20, KeyChain, -3.582, 0.615, -3.369, 0, 0, 0, 47 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -1.270, 0.803, -4.029, 0, 0, 0, 43 [SEP] 24, Pillow, -2.981, 0.722, -1.218, 0, 0, 0, 28 [SEP] 25, CD, -3.693, 0.808, -3.558, 0, 0, 0, 53 [SEP] 26, Pen, -3.687, 0.986, -4.075, 0, 0, 0, 46 [SEP] 27, Mug, -3.539, 0.977, -3.673, 0, 0, 0, 46 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser | STEP 4: Place the clock on top of the dresser | STEP 5: Go to the desk | STEP 6: Pick up a clock from the desk | STEP 7: Go to the dresser | STEP 8: Place the clock on the dresser to the left of the first clock | END


Input: To heat an egg and put it on the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.0, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 3, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 104 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, DishSponge, -0.246, 0.911, 1.468, 0, 0, 0, 56 [SEP] 6, ButterKnife, -0.836, 0.820, -1.328, 0, 0, 0, 104 [SEP] 7, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 8, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 56 [SEP] 9, Spatula, -0.839, 0.835, -1.411, 0, 180, 0, 104 [SEP] 10, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 72 [SEP] 11, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 12, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 80 [SEP] 13, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 102 [SEP] 15, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 104 [SEP] 16, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 85 [SEP] 17, PepperShaker, 1.141, 0.908, -0.430, 0, 0, 0, 45 [SEP] 18, PepperShaker, 1.955, 0.908, 1.299, 0, 0, 0, 80 [SEP] 19, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 100 [SEP] 20, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Mug, 2.487, 1.650, 1.546, 0, 0, 0, 46 [SEP] 22, SoapBottle, 2.188, 1.660, 1.546, 0, 0, 0, 69 [SEP] 23, Plate, 2.715, 1.021, -0.578, 0, 0, 0, 100 [SEP] 24, Fork, 1.209, 0.771, 1.122, 0, 90, 0, 90 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 56 [SEP] 27, Egg, -0.682, 0.858, -1.183, 0, 0, 0, 104 [SEP] 28, Kettle, 2.837, 0.115, 1.156, 0, 0, 0, 77 [SEP] 29, Tomato, 3.260, 0.871, -0.514, 0, 0, 0, 100 [SEP] 30, Cup, 0.053, 0.763, -0.762, 0, 0, 0, 102 [SEP] 31, Spatula, 0.888, 0.926, -0.6, 0, 90, 0, 45 [SEP] 32, Apple, 2.715, 1.357, -0.644, 0, 0, 0, 100 [SEP] 33, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 56 [SEP] 34, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.896, 0.111, 1.077, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 80 [SEP] 37, Potato, 1.955, 0.946, 1.468, 0, 0, 0, 80 [SEP] 38, PepperShaker, -0.983, 0.817, -1.360, 0, 90, 0, 104 [SEP] 39, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 45 [SEP] 40, Bowl, 2.653, 0.724, -0.504, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.215, 1.655, -0.810, 0, 180, 0, 85 [SEP] 42, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 43, Mug, 2.962, 1.558, -0.644, 0, 0, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Walk to the small table ahead of you.  | STEP 2: Pick up the egg in front of the butter knife.  | STEP 3: Turn around, walk to the stove, look up at the microwave above the stove.  | STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door.  | STEP 5: Turn left, turn left at the window, walk to the small table ahead of you.  | STEP 6: Put the egg down on the table to the right of the pen.  | END


Input: Heat up the egg on the table using the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.0, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 3, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 104 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, DishSponge, -0.246, 0.911, 1.468, 0, 0, 0, 56 [SEP] 6, ButterKnife, -0.836, 0.820, -1.328, 0, 0, 0, 104 [SEP] 7, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 8, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 56 [SEP] 9, Spatula, -0.839, 0.835, -1.411, 0, 180, 0, 104 [SEP] 10, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 72 [SEP] 11, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 12, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 80 [SEP] 13, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 102 [SEP] 15, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 104 [SEP] 16, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 85 [SEP] 17, PepperShaker, 1.141, 0.908, -0.430, 0, 0, 0, 45 [SEP] 18, PepperShaker, 1.955, 0.908, 1.299, 0, 0, 0, 80 [SEP] 19, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 100 [SEP] 20, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Mug, 2.487, 1.650, 1.546, 0, 0, 0, 46 [SEP] 22, SoapBottle, 2.188, 1.660, 1.546, 0, 0, 0, 69 [SEP] 23, Plate, 2.715, 1.021, -0.578, 0, 0, 0, 100 [SEP] 24, Fork, 1.209, 0.771, 1.122, 0, 90, 0, 90 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 56 [SEP] 27, Egg, -0.682, 0.858, -1.183, 0, 0, 0, 104 [SEP] 28, Kettle, 2.837, 0.115, 1.156, 0, 0, 0, 77 [SEP] 29, Tomato, 3.260, 0.871, -0.514, 0, 0, 0, 100 [SEP] 30, Cup, 0.053, 0.763, -0.762, 0, 0, 0, 102 [SEP] 31, Spatula, 0.888, 0.926, -0.6, 0, 90, 0, 45 [SEP] 32, Apple, 2.715, 1.357, -0.644, 0, 0, 0, 100 [SEP] 33, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 56 [SEP] 34, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.896, 0.111, 1.077, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 80 [SEP] 37, Potato, 1.955, 0.946, 1.468, 0, 0, 0, 80 [SEP] 38, PepperShaker, -0.983, 0.817, -1.360, 0, 90, 0, 104 [SEP] 39, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 45 [SEP] 40, Bowl, 2.653, 0.724, -0.504, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.215, 1.655, -0.810, 0, 180, 0, 85 [SEP] 42, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 43, Mug, 2.962, 1.558, -0.644, 0, 0, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Move forward to the round table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it. | STEP 4: Heat the egg in the microwave and remove it. | STEP 5: Turn to the left, move forward, turn to the left again and walk to the table. | STEP 6: Put the egg on the table. | END


Input: examine a pen by the light of the lamp on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -3.25, 0, 0, 0,  [SEP] 1, Mug, -3.687, 0.979, -3.271, 0, 0, 0, 40 [SEP] 2, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 40 [SEP] 3, CD, -3.526, 0.614, -3.276, 0, 0, 0, 41 [SEP] 4, CellPhone, -2.770, 0.620, -1.506, 0, 0, 0, 22 [SEP] 5, CellPhone, -2.559, 0.620, -1.793, 0, 0, 0, 22 [SEP] 6, Pen, -3.834, 0.986, -3.472, 0, 0, 0, 40 [SEP] 7, Pen, -3.638, 0.424, -3.370, 0, 0, 0, 48 [SEP] 8, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 40 [SEP] 9, Book, -3.694, 0.226, -2.999, 0, 270, 0, 42 [SEP] 10, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 22 [SEP] 11, Laptop, -2.981, 0.618, -2.080, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.350, 0.189, -3.844, 0, 0, 0, 32 [SEP] 13, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 40 [SEP] 14, KeyChain, -0.596, 0.543, -3.749, 0, 0, 0, 31 [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, -0.240, 0.546, -3.657, 0, 0, 0, 31 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.474, 0.799, -3.920, 0, 0, 0, 37 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -0.453, 0.801, -4.029, 0, 0, 0, 37 [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 left and move forward to the dresser that is to the left of the bed | STEP 2: pick up the pen that is on the dresser | STEP 3: turn around and move forward to the table with the lamp | STEP 4: turn on the lamp | END


Input: Turn on a lamp with a pen.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -3.25, 0, 0, 0,  [SEP] 1, Mug, -3.687, 0.979, -3.271, 0, 0, 0, 40 [SEP] 2, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 40 [SEP] 3, CD, -3.526, 0.614, -3.276, 0, 0, 0, 41 [SEP] 4, CellPhone, -2.770, 0.620, -1.506, 0, 0, 0, 22 [SEP] 5, CellPhone, -2.559, 0.620, -1.793, 0, 0, 0, 22 [SEP] 6, Pen, -3.834, 0.986, -3.472, 0, 0, 0, 40 [SEP] 7, Pen, -3.638, 0.424, -3.370, 0, 0, 0, 48 [SEP] 8, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 40 [SEP] 9, Book, -3.694, 0.226, -2.999, 0, 270, 0, 42 [SEP] 10, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 22 [SEP] 11, Laptop, -2.981, 0.618, -2.080, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.350, 0.189, -3.844, 0, 0, 0, 32 [SEP] 13, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 40 [SEP] 14, KeyChain, -0.596, 0.543, -3.749, 0, 0, 0, 31 [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, -0.240, 0.546, -3.657, 0, 0, 0, 31 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.474, 0.799, -3.920, 0, 0, 0, 37 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -0.453, 0.801, -4.029, 0, 0, 0, 37 [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 left then left again then turn to the right and go to the brown dresser. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the lamp. | STEP 4: Use the pen to turn on the lamp.  | END