Input: Take the soap from the toilet tank, rinse it, put it in a bottom left drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 2.25, 0, 180, 0,  [SEP] 1, Cloth, -2.037, 0.811, 0.217, 0, 0, 0, 32 [SEP] 2, Cloth, -3.559, 0.190, 1.273, 0, 270, 0, 46 [SEP] 3, SoapBar, -2.829, 0.954, 3.246, 0, 270, 0, 44 [SEP] 4, SoapBar, -3.512, 0.191, 1.131, 0, 270, 0, 46 [SEP] 5, SoapBar, -3.293, 0.544, 0.878, 0, 0, 0, 24 [SEP] 6, Candle, -2.767, 0.953, 3.166, 0, 270, 0, 44 [SEP] 7, Candle, -2.249, 0.195, 0.112, 0, 0, 0, 26 [SEP] 8, SprayBottle, -1.767, 0.019, 0.165, 0, 0, 0, 38 [SEP] 9, HandTowel, -0.034, 1.537, 2.309, 0, 90, 0, 41 [SEP] 10, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 36 [SEP] 11, Cloth, -0.155, 0.811, 3.000, 0, 0, 0, 35 [SEP] 12, SoapBar, -3.700, 0.191, 1.556, 0, 270, 0, 46 [SEP] 13, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 44 [SEP] 14, Plunger, -2.530, 0.000, 3.026, 0, 0, 0,  [SEP] 15, Candle, -2.954, 0.954, 3.139, 0, 270, 0, 44 [SEP] 16, SoapBottle, -0.412, 0.813, 2.740, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -2.407, 0.146, 3.218, 0, 0, 270, 47 [SEP] 18, SprayBottle, -0.348, 0.813, 3.000, 0, 0, 0, 35 [SEP] 19, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0,  [SEP] 20, Drawer, -0.325, 0.319, 2.155, 0, 0, 0,  [SEP] 21, Mirror, 0.0, 1.473, 1.917, 0, 270, 0,  [SEP] 22, Drawer, -0.325, 0.319, 1.717, 0, 0, 0,  [SEP] 23, Drawer, -0.325, 0.319, 2.592, 0, 0, 0,  [SEP] 24, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0,  [SEP] 25, Drawer, -0.325, 0.619, 2.592, 0, 0, 0,  [SEP] 26, Drawer, -2.249, 0.319, 0.280, 0, 0, 0,  [SEP] 27, Drawer, -0.325, 0.319, 3.030, 0, 0, 0,  [SEP] 28, Mirror, 0.0, 1.473, 2.700, 0, 270, 0,  [SEP] 29, Drawer, -0.325, 0.619, 3.030, 0, 0, 0,  [SEP] 30, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0,  [SEP] 31, Sink, -2.539, 0.661, 0.252, 0, 0, 0,  [SEP] 32, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0,  [SEP] 33, Drawer, -2.844, 0.319, 0.280, 0, 0, 0,  [SEP] 34, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0,  [SEP] 35, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0,  [SEP] 36, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0,  [SEP] 37, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0,  [SEP] 38, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0,  [SEP] 39, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0,  [SEP] 40, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0,  [SEP] 41, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0,  [SEP] 42, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0,  [SEP] 43, Window, -4.127, 1.519, 1.495, 90, 270, 0,  [SEP] 44, Toilet, -2.842, 0.000, 2.755, 0, 180, 0,  [SEP] 45, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0,  [SEP] 46, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0,  [SEP] 47, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0,  [SEP] 48, Faucet, -2.540, 0.794, 0.111, 0, 0, 0,  [SEP] 49, Faucet, -0.111, 0.794, 1.921, 0, 270, 0,  [SEP] 50, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0,  [SEP] 51, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0,  [SEP] 52, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0,  [SEP] 53, Sink, -0.260, 0.661, 1.922, 0, 270, 0,  [SEP] 54, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, SouthWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,

Output: STEP 1: Turn right and head towards the toilet. | STEP 2: Pick up the bar of soap behind the candles on the toilet tank. | STEP 3: Turn right and head for the sink to the left of the shower. | STEP 4: Put the soap in the sink and rinse it. | STEP 5: Step back and open the drawer on the bottom far left under the sink. | STEP 6: Put the soap in the drawer and close the drawer. | END


Input: Putting a black mug with a fork in it on a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 1.25, 0, 90, 0,  [SEP] 1, Potato, -0.657, 0.926, 2.731, 0, 0, 0, 78 [SEP] 2, Potato, -1.770, 0.954, 0.348, 0, 0, 0, 55 [SEP] 3, DishSponge, -0.400, 0.900, 2.731, 0, 0, 0, 78 [SEP] 4, DishSponge, -0.921, 0.795, 0.392, 0, 0, 0, 73 [SEP] 5, Spoon, -2.377, 0.901, 2.441, 0, 0, 0, 76 [SEP] 6, Spoon, -2.583, 0.901, 2.706, 0, 90, 0, 76 [SEP] 7, Fork, -1.770, 0.662, 0.519, 0, 270, 0, 58 [SEP] 8, Fork, -2.864, 0.936, 3.209, 0, 0, 0, 62 [SEP] 9, Fork, -2.377, 0.662, 0.355, 0, 0, 0, 63 [SEP] 10, Egg, -2.805, 0.665, 4.352, 0, 90, 0, 72 [SEP] 11, Plate, -2.789, 0.904, 2.177, 0, 0, 0, 76 [SEP] 12, Plate, -1.193, 1.777, 0.251, 0, 0, 0, 52 [SEP] 13, SoapBottle, -0.143, 0.900, 3.133, 0, 0, 0, 78 [SEP] 14, Bowl, -0.244, 1.015, 0.235, 0, 0, 0, 74 [SEP] 15, SaltShaker, -0.139, 1.769, 0.251, 0, 0, 0, 52 [SEP] 16, PepperShaker, -0.802, 1.769, 0.160, 0, 0, 0, 53 [SEP] 17, Bread, -0.314, 0.957, 2.329, 0, 0, 0, 78 [SEP] 18, Lettuce, -2.480, 0.980, 2.573, 0, 0, 0, 76 [SEP] 19, Lettuce, -2.480, 0.980, 2.309, 0, 0, 0, 76 [SEP] 20, Mug, -2.888, 1.181, 4.427, 0, 90, 0, 72 [SEP] 21, Mug, -2.892, 0.895, 2.441, 0, 0, 0, 76 [SEP] 22, Apple, -2.925, 0.355, 4.575, 0, 90, 0, 72 [SEP] 23, Egg, -2.847, 0.665, 4.278, 0, 90, 0, 72 [SEP] 24, Plate, -2.738, 0.303, 4.427, 0, 90, 0, 72 [SEP] 25, Fork, -0.487, 0.662, 0.300, 0, 90, 0, 44 [SEP] 26, Bread, -2.805, 0.689, 4.501, 0, 90, 0, 72 [SEP] 27, Apple, -1.637, 0.984, 0.602, 0, 0, 0, 55 [SEP] 28, Lettuce, -2.847, 1.266, 4.278, 0, 180, 0, 72 [SEP] 29, Spatula, -0.228, 0.915, 3.133, 0, 0, 0, 78 [SEP] 30, Knife, -1.007, 0.821, 0.337, 0, 0, 0, 73 [SEP] 31, Potato, -0.400, 0.926, 2.932, 0, 0, 0, 78 [SEP] 32, Tomato, -2.995, 0.964, 2.177, 0, 0, 0, 76 [SEP] 33, Cup, -1.636, 1.773, 0.205, 0, 0, 0, 52 [SEP] 34, SaltShaker, -1.662, 0.658, 0.519, 0, 0, 0, 58 [SEP] 35, PepperShaker, -2.170, 0.924, 0.602, 0, 0, 0, 55 [SEP] 36, ButterKnife, -0.486, 0.900, 2.731, 0, 0, 0, 78 [SEP] 37, SoapBottle, -2.686, 0.900, 2.573, 0, 0, 0, 76 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -1.932, 0.661, 0.409, 0, 0, 0, 58 [SEP] 40, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 41, Spoon, -0.686, 0.929, 0.650, 0, 0, 0, 55 [SEP] 42, Mug, -0.657, 0.895, 2.329, 0, 0, 0, 78 [SEP] 43, Bowl, -1.801, 1.770, 0.297, 0, 90, 0, 50 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 79, NorthWall, , , , , , ,  [SEP] 80, EastWall, , , , , , ,  [SEP] 81, SouthWall, , , , , , ,  [SEP] 82, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the table with the coffee maker on it | STEP 2: Grab the fork that's on the table | STEP 3: Turn left and stop at the white table on the right | STEP 4: Put the fork in the black mug on the table | STEP 5: Grab the mug off of the table | STEP 6: Turn right and stop at the table with the coffee maker | STEP 7: Put the mug on the table | END


Input: Take the bat from the floor, put it on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.75, 0, 180, 0,  [SEP] 1, Mug, 2.557, 0.983, 0.723, 0, 180, 0, 31 [SEP] 2, CellPhone, 0.086, 0.694, -0.109, 0, 0, 0, 23 [SEP] 3, Pen, -1.603, 0.668, -1.482, 0, 0, 0, 41 [SEP] 4, Pen, -1.648, 0.668, 1.556, 0, 0, 0, 43 [SEP] 5, CreditCard, 2.456, 0.449, -0.969, 0, 119.999, 0, 44 [SEP] 6, CreditCard, 2.609, 0.449, -0.837, 0, 119.999, 0, 44 [SEP] 7, Book, -0.448, 0.693, 0.336, 0, 0, 0, 23 [SEP] 8, KeyChain, -1.514, 0.664, -1.094, 0, 0, 0, 41 [SEP] 9, Laptop, -0.984, 0.691, 0.782, 0, 0, 0, 23 [SEP] 10, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0,  [SEP] 11, CreditCard, 2.342, 0.449, -0.903, 0, 119.999, 0, 44 [SEP] 12, Pen, 2.644, 0.990, 0.155, 0, 180, 0, 31 [SEP] 13, Pencil, 2.819, 0.992, 1.292, 0, 180, 0, 31 [SEP] 14, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300,  [SEP] 15, AlarmClock, 2.732, 0.987, 0.439, 0, 180, 0, 31 [SEP] 16, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270,  [SEP] 17, Pillow, -0.181, 0.779, -0.332, 0, 0, 0, 23 [SEP] 18, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 23 [SEP] 19, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 44 [SEP] 20, CD, -1.562, 0.356, -1.25, 0, 0, 0, 42 [SEP] 21, Mug, 2.557, 0.983, 0.439, 0, 0, 0, 31 [SEP] 22, Curtains, -0.020, 2.923, -1.853, 0, 0, 0,  [SEP] 23, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0,  [SEP] 24, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0,  [SEP] 25, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0,  [SEP] 26, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0,  [SEP] 27, Painting, 1.524, 1.516, -1.853, 90, 0, 0,  [SEP] 28, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0,  [SEP] 29, Mirror, 0.575, 1.351, 2.197, 0, 0, 0,  [SEP] 30, Window, -0.013, 1.687, -1.919, 90, 0, 0,  [SEP] 31, Dresser, 2.819, 0.000, 1.008, 0, 270, 0,  [SEP] 32, Drawer, 2.572, 0.901, 1.784, 0, 270, 0,  [SEP] 33, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0,  [SEP] 34, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0,  [SEP] 35, Drawer, 2.572, 0.901, 1.263, 0, 270, 0,  [SEP] 36, Drawer, 2.572, 0.901, 0.748, 0, 270, 0,  [SEP] 37, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0,  [SEP] 38, Drawer, 2.572, 0.901, 0.230, 0, 270, 0,  [SEP] 39, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0,  [SEP] 40, Drawer, -1.533, 0.459, 1.478, 0, 90, 0,  [SEP] 41, SideTable, -1.599, 0.001, -1.249, 0, 90, 0,  [SEP] 42, Drawer, -1.533, 0.459, -1.250, 0, 90, 0,  [SEP] 43, SideTable, -1.599, 0.001, 1.479, 0, 90, 0,  [SEP] 44, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0,  [SEP] 45, Shelf, -1.552, 0.040, -1.400, 0, 90, 0,  [SEP] 46, Shelf, -1.552, 0.040, -1.133, 0, 90, 0,  [SEP] 47, Shelf, -1.552, 0.040, 1.328, 0, 90, 0,  [SEP] 48, Shelf, -1.552, 0.040, 1.595, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn around, head straight to the mirror | STEP 2: Take the black baseball bat from the floor | STEP 3: Turn around, head across the room | STEP 4: Put the baseball bat on the bed | END


Input: Pick up the black baseball bat and put it on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.75, 0, 180, 0,  [SEP] 1, Mug, 2.557, 0.983, 0.723, 0, 180, 0, 31 [SEP] 2, CellPhone, 0.086, 0.694, -0.109, 0, 0, 0, 23 [SEP] 3, Pen, -1.603, 0.668, -1.482, 0, 0, 0, 41 [SEP] 4, Pen, -1.648, 0.668, 1.556, 0, 0, 0, 43 [SEP] 5, CreditCard, 2.456, 0.449, -0.969, 0, 119.999, 0, 44 [SEP] 6, CreditCard, 2.609, 0.449, -0.837, 0, 119.999, 0, 44 [SEP] 7, Book, -0.448, 0.693, 0.336, 0, 0, 0, 23 [SEP] 8, KeyChain, -1.514, 0.664, -1.094, 0, 0, 0, 41 [SEP] 9, Laptop, -0.984, 0.691, 0.782, 0, 0, 0, 23 [SEP] 10, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0,  [SEP] 11, CreditCard, 2.342, 0.449, -0.903, 0, 119.999, 0, 44 [SEP] 12, Pen, 2.644, 0.990, 0.155, 0, 180, 0, 31 [SEP] 13, Pencil, 2.819, 0.992, 1.292, 0, 180, 0, 31 [SEP] 14, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300,  [SEP] 15, AlarmClock, 2.732, 0.987, 0.439, 0, 180, 0, 31 [SEP] 16, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270,  [SEP] 17, Pillow, -0.181, 0.779, -0.332, 0, 0, 0, 23 [SEP] 18, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 23 [SEP] 19, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 44 [SEP] 20, CD, -1.562, 0.356, -1.25, 0, 0, 0, 42 [SEP] 21, Mug, 2.557, 0.983, 0.439, 0, 0, 0, 31 [SEP] 22, Curtains, -0.020, 2.923, -1.853, 0, 0, 0,  [SEP] 23, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0,  [SEP] 24, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0,  [SEP] 25, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0,  [SEP] 26, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0,  [SEP] 27, Painting, 1.524, 1.516, -1.853, 90, 0, 0,  [SEP] 28, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0,  [SEP] 29, Mirror, 0.575, 1.351, 2.197, 0, 0, 0,  [SEP] 30, Window, -0.013, 1.687, -1.919, 90, 0, 0,  [SEP] 31, Dresser, 2.819, 0.000, 1.008, 0, 270, 0,  [SEP] 32, Drawer, 2.572, 0.901, 1.784, 0, 270, 0,  [SEP] 33, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0,  [SEP] 34, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0,  [SEP] 35, Drawer, 2.572, 0.901, 1.263, 0, 270, 0,  [SEP] 36, Drawer, 2.572, 0.901, 0.748, 0, 270, 0,  [SEP] 37, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0,  [SEP] 38, Drawer, 2.572, 0.901, 0.230, 0, 270, 0,  [SEP] 39, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0,  [SEP] 40, Drawer, -1.533, 0.459, 1.478, 0, 90, 0,  [SEP] 41, SideTable, -1.599, 0.001, -1.249, 0, 90, 0,  [SEP] 42, Drawer, -1.533, 0.459, -1.250, 0, 90, 0,  [SEP] 43, SideTable, -1.599, 0.001, 1.479, 0, 90, 0,  [SEP] 44, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0,  [SEP] 45, Shelf, -1.552, 0.040, -1.400, 0, 90, 0,  [SEP] 46, Shelf, -1.552, 0.040, -1.133, 0, 90, 0,  [SEP] 47, Shelf, -1.552, 0.040, 1.328, 0, 90, 0,  [SEP] 48, Shelf, -1.552, 0.040, 1.595, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the right of the yellow bed. | STEP 2: Pick up the black baseball bat on the floor. | STEP 3: Turn around and walk to the left of the bed. | STEP 4: Put the black baseball bat on the bed. | END


Input: Move the keys from the brown table to the red sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.893, 2.0, 0, 90, 0,  [SEP] 1, Plate, -3.682, 0.658, 4.806, 0, 0, 0, 38 [SEP] 2, Newspaper, -5.245, 0.484, 2.191, 0, 0, 0, 44 [SEP] 3, Watch, -1.521, 0.822, 1.508, 0, 205.696, 0, 43 [SEP] 4, Watch, -2.742, 0.516, 4.633, 0, 0, 0, 36 [SEP] 5, KeyChain, -4.060, 0.433, 2.390, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.534, 0.823, 1.906, 0, 0, 0, 43 [SEP] 7, RemoteControl, -3.909, 0.433, 2.225, 0, 0, 0, 42 [SEP] 8, RemoteControl, -3.757, 0.433, 1.896, 0, 0, 0, 42 [SEP] 9, Box, -3.788, 0.833, 4.349, 0, 0, 0, 38 [SEP] 10, Laptop, -1.179, 0.820, 1.790, 0, 115.696, 0, 43 [SEP] 11, Box, -4.009, 0.613, 2.705, 0, 0, 0, 42 [SEP] 12, KeyChain, -3.576, 0.643, 4.349, 0, 0, 0, 38 [SEP] 13, Newspaper, -0.801, 0.828, 1.565, 0, 164.379, 0, 43 [SEP] 14, CreditCard, -1.540, 0.821, 2.050, 0, 63.501, 0, 43 [SEP] 15, RemoteControl, -1.999, 0.823, 1.448, 0, 0, 0, 43 [SEP] 16, Laptop, -1.396, 0.82, 1.142, 0, 0, 0, 43 [SEP] 17, Plate, -4.060, 0.448, 1.896, 0, 0, 0, 42 [SEP] 18, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 39 [SEP] 19, Statue, -2.694, 0.631, 4.605, 0, 0, 0, 35 [SEP] 20, Vase, -2.427, 0.627, 4.605, 0, 0, 0, 35 [SEP] 21, Watch, -3.893, 0.641, 4.806, 0, 0, 0, 38 [SEP] 22, Television, -3.794, 1.152, 4.554, 0, 180, 0,  [SEP] 23, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0,  [SEP] 24, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0,  [SEP] 25, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0,  [SEP] 26, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0,  [SEP] 27, Painting, -4.156, 1.656, -0.002, 90, 180, 0,  [SEP] 28, Painting, -1.623, 1.565, -0.002, 90, 180, 0,  [SEP] 29, Window, -6.040, 1.550, 2.102, 90, 270, 0,  [SEP] 30, Window, -6.040, 1.531, 0.859, 90, 270, 0,  [SEP] 31, Window, -6.040, 1.531, 4.236, 90, 270, 0,  [SEP] 32, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0,  [SEP] 33, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0,  [SEP] 34, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0,  [SEP] 35, SideTable, -2.561, -0.002, 4.623, 0, 180, 0,  [SEP] 36, Drawer, -2.560, 0.532, 4.446, 0, 180, 0,  [SEP] 37, SideTable, -5.676, -0.002, 3.949, 0, 0, 0,  [SEP] 38, SideTable, -3.793, 0.013, 4.463, 0, 0, 0,  [SEP] 39, Sofa, -3.540, -0.020, 0.460, 0, 0, 0,  [SEP] 40, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0,  [SEP] 41, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0,  [SEP] 42, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0,  [SEP] 43, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0,  [SEP] 44, Sofa, -5.470, 0.007, 2.504, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the side of the brown table closer to the red sofa. | STEP 2: Pickup the keys from the table. | STEP 3: Turn around and face the red sofa. | STEP 4: Put the keys on the sofa to the right of the newspaper. | END


Input: Move keys from the table to the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.893, 2.0, 0, 90, 0,  [SEP] 1, Plate, -3.682, 0.658, 4.806, 0, 0, 0, 38 [SEP] 2, Newspaper, -5.245, 0.484, 2.191, 0, 0, 0, 44 [SEP] 3, Watch, -1.521, 0.822, 1.508, 0, 205.696, 0, 43 [SEP] 4, Watch, -2.742, 0.516, 4.633, 0, 0, 0, 36 [SEP] 5, KeyChain, -4.060, 0.433, 2.390, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.534, 0.823, 1.906, 0, 0, 0, 43 [SEP] 7, RemoteControl, -3.909, 0.433, 2.225, 0, 0, 0, 42 [SEP] 8, RemoteControl, -3.757, 0.433, 1.896, 0, 0, 0, 42 [SEP] 9, Box, -3.788, 0.833, 4.349, 0, 0, 0, 38 [SEP] 10, Laptop, -1.179, 0.820, 1.790, 0, 115.696, 0, 43 [SEP] 11, Box, -4.009, 0.613, 2.705, 0, 0, 0, 42 [SEP] 12, KeyChain, -3.576, 0.643, 4.349, 0, 0, 0, 38 [SEP] 13, Newspaper, -0.801, 0.828, 1.565, 0, 164.379, 0, 43 [SEP] 14, CreditCard, -1.540, 0.821, 2.050, 0, 63.501, 0, 43 [SEP] 15, RemoteControl, -1.999, 0.823, 1.448, 0, 0, 0, 43 [SEP] 16, Laptop, -1.396, 0.82, 1.142, 0, 0, 0, 43 [SEP] 17, Plate, -4.060, 0.448, 1.896, 0, 0, 0, 42 [SEP] 18, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 39 [SEP] 19, Statue, -2.694, 0.631, 4.605, 0, 0, 0, 35 [SEP] 20, Vase, -2.427, 0.627, 4.605, 0, 0, 0, 35 [SEP] 21, Watch, -3.893, 0.641, 4.806, 0, 0, 0, 38 [SEP] 22, Television, -3.794, 1.152, 4.554, 0, 180, 0,  [SEP] 23, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0,  [SEP] 24, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0,  [SEP] 25, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0,  [SEP] 26, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0,  [SEP] 27, Painting, -4.156, 1.656, -0.002, 90, 180, 0,  [SEP] 28, Painting, -1.623, 1.565, -0.002, 90, 180, 0,  [SEP] 29, Window, -6.040, 1.550, 2.102, 90, 270, 0,  [SEP] 30, Window, -6.040, 1.531, 0.859, 90, 270, 0,  [SEP] 31, Window, -6.040, 1.531, 4.236, 90, 270, 0,  [SEP] 32, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0,  [SEP] 33, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0,  [SEP] 34, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0,  [SEP] 35, SideTable, -2.561, -0.002, 4.623, 0, 180, 0,  [SEP] 36, Drawer, -2.560, 0.532, 4.446, 0, 180, 0,  [SEP] 37, SideTable, -5.676, -0.002, 3.949, 0, 0, 0,  [SEP] 38, SideTable, -3.793, 0.013, 4.463, 0, 0, 0,  [SEP] 39, Sofa, -3.540, -0.020, 0.460, 0, 0, 0,  [SEP] 40, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0,  [SEP] 41, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0,  [SEP] 42, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0,  [SEP] 43, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0,  [SEP] 44, Sofa, -5.470, 0.007, 2.504, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Walk around to the coffee table on the sofa's side. | STEP 2: Grab keys from the table. | STEP 3: Look at the red sofa behind you. | STEP 4: Put the keys on the sofa. | END


Input: Put a cold slice of lettuce in the trash can next to the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.900, -2.25, 0, 0, 0,  [SEP] 1, Glassbottle, -0.508, 0.916, -2.764, 0, 0, 0, 61 [SEP] 2, Pen, -2.324, 0.926, -0.963, 0, 0, 0, 86 [SEP] 3, Potato, -1.204, 1.661, -3.936, 0, 0, 0, 74 [SEP] 4, Potato, -0.441, 1.422, -0.769, 0, 270, 0, 78 [SEP] 5, DishSponge, -0.995, 1.969, -3.773, 0, 0, 0, 62 [SEP] 6, DishSponge, -2.324, 0.923, -2.115, 0, 0, 0, 86 [SEP] 7, ButterKnife, -2.324, 0.923, -2.345, 0, 0, 0, 86 [SEP] 8, ButterKnife, -2.438, 0.923, -1.884, 0, 0, 0, 86 [SEP] 9, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 59 [SEP] 10, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 58 [SEP] 11, Spatula, -0.350, 0.812, -1.934, 0, 270, 0, 79 [SEP] 12, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 86 [SEP] 13, Spoon, -2.096, 0.924, -2.115, 0, 0, 0, 86 [SEP] 14, Spoon, -0.150, 0.916, -3.570, 0, 0, 0, 61 [SEP] 15, Knife, -2.438, 0.946, -2.345, 0, 0, 0, 86 [SEP] 16, Knife, -2.552, 0.946, -1.193, 0, 0, 0, 86 [SEP] 17, Plate, -2.780, 0.925, -2.345, 0, 0, 0, 86 [SEP] 18, Egg, -0.388, 1.723, -0.979, 0, 270, 0, 78 [SEP] 19, Egg, -0.441, 1.131, -1.084, 0, 270, 0, 78 [SEP] 20, SoapBottle, -0.344, 0.079, -1.804, 0, 0, 0, 66 [SEP] 21, SoapBottle, -2.096, 0.922, -1.423, 0, 0, 0, 86 [SEP] 22, Tomato, -1.975, 0.090, -3.763, 0, 0, 0, 77 [SEP] 23, Bowl, -0.392, 1.389, -0.560, 0, 270, 0, 78 [SEP] 24, Bowl, -0.295, 1.097, -0.979, 0, 270, 0, 78 [SEP] 25, Lettuce, -2.780, 1.016, -1.423, 0, 0, 0, 86 [SEP] 26, SaltShaker, -0.690, 0.742, -3.615, 0, 0, 0, 60 [SEP] 27, SaltShaker, -0.508, 0.743, -3.238, 0, 0, 0, 72 [SEP] 28, PepperShaker, -0.154, 1.966, -2.420, 0, 0, 0, 68 [SEP] 29, Mug, -0.499, 0.076, -1.941, 0, 90, 0, 56 [SEP] 30, Apple, -1.309, 1.703, -3.804, 0, 0, 0, 74 [SEP] 31, Apple, -2.438, 0.996, -0.963, 0, 0, 0, 86 [SEP] 32, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 86 [SEP] 33, Glassbottle, -2.780, 0.924, -1.884, 0, 0, 0, 86 [SEP] 34, Egg, -0.302, 0.831, -1.786, 0, 270, 0, 79 [SEP] 35, Pen, -2.780, 0.926, -1.193, 0, 0, 0, 86 [SEP] 36, Fork, -0.398, 0.797, -2.082, 0, 180, 0, 79 [SEP] 37, SoapBottle, -0.211, 1.526, -2.703, 0, 0, 0, 73 [SEP] 38, Pencil, -0.436, 0.916, -2.764, 0, 0, 0, 61 [SEP] 39, WineBottle, -2.438, 0.924, -1.423, 0, 0, 0, 86 [SEP] 40, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 61 [SEP] 41, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 61 [SEP] 42, Tomato, -2.552, 0.987, -2.115, 0, 0, 0, 86 [SEP] 43, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 86 [SEP] 44, Cup, -1.549, 1.968, -3.851, 0, 0, 0, 70 [SEP] 45, Pot, -0.392, 1.390, -0.979, 0, 270, 0, 78 [SEP] 46, SaltShaker, -0.211, 1.524, -3.230, 0, 0, 0, 73 [SEP] 47, Potato, -0.228, 1.722, -0.560, 0, 270, 0, 78 [SEP] 48, PepperShaker, -0.306, 0.077, -2.109, 0, 0, 0, 66 [SEP] 49, ButterKnife, -0.371, 0.903, -3.443, 0, 0, 0, 61 [SEP] 50, DishSponge, -2.666, 0.923, -1.884, 0, 0, 0, 86 [SEP] 51, Spoon, -2.096, 0.924, -2.345, 0, 0, 0, 86 [SEP] 52, Plate, -0.671, 0.918, -3.697, 0, 0, 0, 61 [SEP] 53, Knife, -2.552, 0.946, -0.963, 0, 0, 0, 86 [SEP] 54, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 75 [SEP] 55, Bowl, -0.295, 1.097, -0.560, 0, 270, 0, 78 [SEP] 56, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 57, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 58, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 59, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 60, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 61, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 62, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 63, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 64, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 65, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 66, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 67, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 68, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 69, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 70, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 71, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 72, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 73, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 74, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 75, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 76, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 77, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 78, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 79, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 80, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 81, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 82, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 83, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 84, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 85, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 86, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 87, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 88, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 89, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 90, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 91, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 92, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Walk right toward the wall, then turn right and walk to the green island bar.  | STEP 2: Pick up the knife closest to the wine bottle. | STEP 3: Move to your right at the bar.  | STEP 4: Slice the head of lettuce on the right side of the bar.  | STEP 5: Turn to your left and walk to the refrigerator.  | STEP 6: Put the knife in the bottom drawer of the refrigerator.  | STEP 7: Turn around and walk back to the green bar.  | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and walk back to the refrigerator.  | STEP 10: Put the slice of lettuce in the bottom drawer of the refrigerator, leave it until it gets cold, then take it out.  | STEP 11: Turn to your right and walk toward the stove, then turn left, then right and face the silver trash can next to the stove.  | STEP 12: Put the slice of lettuce in the trash can.  | END


Input: Place the clock on the bedside table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.0, 0, 0, 0,  [SEP] 1, CD, 0.952, 0.082, -2.375, 0, 0, 0, 36 [SEP] 2, CD, -0.431, 0.619, 1.066, 0, 180, 0, 33 [SEP] 3, Pencil, -1.144, 0.681, -2.553, 0, 0, 0, 34 [SEP] 4, Pencil, -1.247, 0.380, -2.399, 0, 0, 0, 39 [SEP] 5, KeyChain, -0.276, 0.621, 0.833, 0, 180, 0, 33 [SEP] 6, Book, -1.263, 0.674, -2.464, 0, 0, 0, 34 [SEP] 7, Book, -0.118, 0.555, -1.880, 0, 0, 0, 21 [SEP] 8, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 9, Book, -0.666, 0.555, -2.103, 0, 0, 0, 21 [SEP] 10, KeyChain, 0.033, 0.620, 0.910, 0, 270, 0, 33 [SEP] 11, Pillow, -0.117, 0.653, -1.211, 0, 0, 0, 21 [SEP] 12, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 13, Pencil, 0.033, 0.625, 0.755, 0, 0, 0, 33 [SEP] 14, CellPhone, -0.586, 0.619, 1.066, 0, 180, 0, 33 [SEP] 15, CreditCard, -1.144, 0.675, -2.419, 0, 0, 0, 34 [SEP] 16, Pen, -0.431, 0.625, 0.833, 0, 180, 0, 33 [SEP] 17, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 33 [SEP] 18, AlarmClock, -0.121, 0.621, 0.755, 0, 180, 0, 33 [SEP] 19, CD, 0.188, 0.618, 0.599, 0, 180, 0, 33 [SEP] 20, Mug, -0.276, 0.618, 0.988, 0, 180, 0, 33 [SEP] 21, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 22, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 23, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 24, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 25, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 26, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 27, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 28, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 29, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 30, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 31, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 32, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 33, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 34, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 35, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 36, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 37, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 38, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 39, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 40, , , , , , , ,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn right then face the black table to your left. | STEP 2: Take the clock off the table in front of you. | STEP 3: Turn left then face your bed side table on your left. | STEP 4: Place the clock on top of your bedside table in front of you. | END


Input: place a cooked egg 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, -1.75, 0.900, 2.5, 0, 90, 0,  [SEP] 1, ButterKnife, -0.538, 1.047, 2.817, 0, 0, 0, 48 [SEP] 2, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 53 [SEP] 3, Pot, -0.827, 1.129, 0.206, 0, 0, 0, 70 [SEP] 4, Spoon, -0.785, 1.049, 3.266, 0, 0, 0, 48 [SEP] 5, Spoon, -2.450, 0.096, 0.545, 0, 90, 0, 51 [SEP] 6, Spatula, -0.785, 1.063, 2.593, 0, 0, 0, 48 [SEP] 7, Plate, -3.572, 1.285, 3.132, 0, 90, 0, 65 [SEP] 8, SoapBottle, -0.538, 1.047, 2.144, 0, 0, 0, 48 [SEP] 9, SoapBottle, -0.415, 1.047, 2.369, 0, 0, 0, 48 [SEP] 10, Tomato, -3.696, 0.153, 1.978, 0, 0, 0, 69 [SEP] 11, Tomato, -1.642, 0.972, 0.567, 0, 0, 0, 70 [SEP] 12, Bowl, -1.562, 0.046, 0.381, 0, 0, 0, 63 [SEP] 13, SaltShaker, -0.168, 1.043, 2.369, 0, 0, 0, 48 [SEP] 14, PepperShaker, -2.509, 0.899, 0.544, 0, 0, 0, 57 [SEP] 15, PepperShaker, -0.785, 1.044, 3.042, 0, 0, 0, 48 [SEP] 16, Bread, -0.908, 1.133, 3.266, 0, 0, 0, 48 [SEP] 17, Bread, -0.785, 1.133, 1.920, 0, 0, 0, 48 [SEP] 18, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 64 [SEP] 19, Mug, -1.195, 0.044, 0.608, 0, 0, 0, 52 [SEP] 20, Apple, -2.262, 1.192, 0.473, 0, 0, 0, 58 [SEP] 21, Fork, -0.168, 1.048, 2.144, 0, 0, 0, 48 [SEP] 22, SoapBottle, -0.785, 1.047, 2.369, 0, 0, 0, 48 [SEP] 23, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 44 [SEP] 24, Ladle, -0.715, 1.164, 0.478, 0, 0, 0, 60 [SEP] 25, Potato, -3.742, 1.155, 0.662, 0, 0, 0, 55 [SEP] 26, Plate, -1.601, 0.047, 0.608, 0, 0, 0, 63 [SEP] 27, Bread, -3.44, 0.998, 2.920, 0, 90, 0, 65 [SEP] 28, Lettuce, -2.639, 1.202, 0.567, 0, 0, 0, 58 [SEP] 29, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 70 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -0.168, 1.077, 1.920, 0, 0, 0, 48 [SEP] 32, Cup, -1.465, 0.929, 0.221, 0, 0, 0, 70 [SEP] 33, SaltShaker, -2.089, 0.091, 0.579, 0, 0, 0, 50 [SEP] 34, Knife, -0.538, 1.080, 1.920, 0, 0, 0, 48 [SEP] 35, Bowl, -0.538, 1.045, 2.593, 0, 0, 0, 48 [SEP] 36, PepperShaker, -3.742, 1.121, 0.284, 0, 0, 0, 55 [SEP] 37, ButterKnife, -1.199, 0.931, 0.428, 0, 0, 0, 70 [SEP] 38, Apple, -0.785, 1.114, 2.817, 0, 0, 0, 48 [SEP] 39, Tomato, -2.388, 1.165, 0.190, 0, 0, 0, 58 [SEP] 40, DishSponge, -1.199, 0.931, 0.567, 0, 0, 0, 70 [SEP] 41, Spoon, -3.851, 1.126, 0.473, 0, 90, 0, 55 [SEP] 42, Mug, -3.440, 1.557, 3.061, 0, 90, 0, 65 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,

Output: STEP 1: move forward to the table | STEP 2: pick up the egg from the table | STEP 3: turn around to the oven | STEP 4: cook the egg in the oven and take it out | STEP 5: turn around and head for the table | STEP 6: place the egg on the table | END


Input: Pick up the hand from the table and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.75, 0, 270, 0,  [SEP] 1, TissueBox, 1.183, 0.475, 0.267, 0, 180, 0, 35 [SEP] 2, TissueBox, 1.466, 0.479, 0.186, 0, 180, 0, 35 [SEP] 3, Newspaper, -0.347, 0.321, 1.669, 0, 91.372, 0, 42 [SEP] 4, Statue, 4.007, 0.878, 1.076, 0, 270, 0, 44 [SEP] 5, Pencil, 1.324, 0.480, 0.267, 0, 180, 0, 35 [SEP] 6, Pencil, 3.876, 0.768, 0.578, 0, 0, 0, 45 [SEP] 7, Pen, 2.008, 0.458, -0.729, 0, 0, 0, 36 [SEP] 8, KeyChain, 3.901, 0.766, 1.055, 0, 0, 0, 45 [SEP] 9, KeyChain, 2.656, 0.323, 1.727, 0, 90, 0, 34 [SEP] 10, CreditCard, 1.905, 0.840, -0.623, 0, 0, 0, 37 [SEP] 11, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 12, Newspaper, 1.749, 0.472, 0.186, 0, 180, 0, 35 [SEP] 13, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 35 [SEP] 14, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 40 [SEP] 15, TissueBox, 1.800, 0.454, -0.653, 0, 0, 0, 36 [SEP] 16, KeyChain, 0.967, 0.336, 1.673, 0, 0, 0, 25 [SEP] 17, Pen, -0.606, 0.463, -0.615, 0, 0, 0, 41 [SEP] 18, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0,  [SEP] 19, Pencil, 3.852, 0.769, 0.960, 0, 90, 0, 45 [SEP] 20, RemoteControl, 1.380, 0.337, 1.746, 0, 0, 0, 43 [SEP] 21, CreditCard, 3.926, 0.766, 0.960, 0, 0, 0, 45 [SEP] 22, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 25 [SEP] 23, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 41 [SEP] 24, Statue, 1.324, 0.483, 0.594, 0, 180, 0, 35 [SEP] 25, Sofa, 1.174, 0.0, 1.865, 0, 0, 0,  [SEP] 26, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0,  [SEP] 27, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0,  [SEP] 28, Television, 1.897, 1.281, -0.838, 0, 0, 0,  [SEP] 29, Painting, 4.070, 1.950, 0.848, 90, 270, 0,  [SEP] 30, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0,  [SEP] 31, Window, 0.023, 2.072, 2.484, 90, 180, 0,  [SEP] 32, Window, 1.570, 2.072, 2.484, 90, 180, 0,  [SEP] 33, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0,  [SEP] 34, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0,  [SEP] 35, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0,  [SEP] 36, Shelf, 1.905, 0.588, -0.730, 0, 0, 0,  [SEP] 37, TVStand, 1.904, -0.000, -0.770, 0, 0, 0,  [SEP] 38, Shelf, -0.289, 0.200, -0.732, 0, 0, 0,  [SEP] 39, TVStand, -0.290, -0.000, -0.772, 0, 0, 0,  [SEP] 40, Shelf, 1.905, 0.200, -0.730, 0, 0, 0,  [SEP] 41, Shelf, -0.289, 0.588, -0.732, 0, 0, 0,  [SEP] 42, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0,  [SEP] 43, Sofa, 1.193, 0.008, 1.865, 0, 180, 0,  [SEP] 44, SideTable, 3.946, 0.000, 0.865, 0, 270, 0,  [SEP] 45, Drawer, 3.882, 0.774, 0.864, 0, 270, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn to the right twice and move forward to the black end table. | STEP 2: Pick up the metallic hand from the table. | STEP 3: Turn to the left and approach the lamp. | STEP 4: Turn on the lamp. | END


Input: Examine a watering can by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.916, 0.75, 0, 0, 0,  [SEP] 1, Statue, -3.260, 0.595, -0.622, 0, 0, 0, 52 [SEP] 2, Newspaper, -0.113, 0.916, 2.188, 0, 0, 0, 62 [SEP] 3, KeyChain, -3.104, 0.563, 2.012, 0, 180, 0, 57 [SEP] 4, KeyChain, -0.005, 0.540, -2.291, 0, 90, 0, 40 [SEP] 5, CellPhone, 3.103, 0.333, 0.316, 0, 180, 0, 49 [SEP] 6, CreditCard, -2.643, 0.358, -1.804, 0, 29.999, 0, 39 [SEP] 7, CreditCard, -0.244, 0.411, 0.829, 0, 0, 0, 63 [SEP] 8, RemoteControl, 3.121, 0.592, 0.232, 0, 180, 0, 45 [SEP] 9, Pillow, -2.812, 0.623, 1.806, 0, 270, 0, 57 [SEP] 10, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 62 [SEP] 11, Box, 3.160, 0.782, -0.640, 0, 180, 0, 48 [SEP] 12, Statue, -0.204, 0.915, 2.431, 0, 0, 0, 62 [SEP] 13, CreditCard, 3.103, 0.082, -0.622, 0, 180, 0, 47 [SEP] 14, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 39 [SEP] 15, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0,  [SEP] 16, Newspaper, -0.145, 0.164, 2.419, 0, 0, 0, 67 [SEP] 17, Vase, -2.168, 1.195, -2.183, 0, 0, 0,  [SEP] 18, CellPhone, 3.103, 0.083, 0.268, 0, 180, 0, 49 [SEP] 19, RemoteControl, -0.295, 0.910, 2.188, 0, 0, 0, 62 [SEP] 20, Vase, -1.046, 1.195, -2.151, 0, 0, 0,  [SEP] 21, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 57 [SEP] 22, KeyChain, -0.204, 0.909, 1.946, 0, 0, 0, 62 [SEP] 23, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0,  [SEP] 24, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0,  [SEP] 25, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0,  [SEP] 26, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0,  [SEP] 27, Television, 0.069, 1.406, 1.698, 0, 270, 0,  [SEP] 28, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0,  [SEP] 29, Painting, -1.561, 1.408, -2.318, 90, 180, 0,  [SEP] 30, Painting, 3.367, 1.789, -0.949, 90, 270, 0,  [SEP] 31, Painting, -3.488, 1.386, -0.507, 90, 270, 0,  [SEP] 32, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0,  [SEP] 33, Window, 1.133, 1.218, -2.740, 90, 0, 0,  [SEP] 34, Window, -3.368, 1.180, -1.539, 90, 90, 0,  [SEP] 35, Window, 2.898, 1.218, -2.740, 90, 0, 0,  [SEP] 36, Window, 2.006, 1.218, -2.740, 90, 0, 0,  [SEP] 37, Window, -0.193, 1.157, -2.563, 90, 0, 0,  [SEP] 38, Window, -2.970, 1.157, -2.563, 90, 0, 0,  [SEP] 39, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0,  [SEP] 40, SideTable, -0.170, 0.027, -2.279, 0, 0, 0,  [SEP] 41, Drawer, -0.173, 0.465, -2.135, 0, 0, 0,  [SEP] 42, Drawer, 3.104, 0.167, 1.400, 0, 270, 0,  [SEP] 43, SideTable, 3.163, 0.032, 1.400, 0, 270, 0,  [SEP] 44, Drawer, 3.103, 0.418, 1.401, 0, 270, 0,  [SEP] 45, SideTable, 3.163, 0.032, 0.364, 0, 270, 0,  [SEP] 46, Drawer, -3.241, 0.418, -0.490, 0, 90, 0,  [SEP] 47, Drawer, 3.104, 0.167, -0.574, 0, 270, 0,  [SEP] 48, SideTable, 3.163, 0.032, -0.574, 0, 270, 0,  [SEP] 49, Drawer, 3.104, 0.167, 0.364, 0, 270, 0,  [SEP] 50, Drawer, 3.104, 0.419, -0.574, 0, 270, 0,  [SEP] 51, Drawer, -3.241, 0.167, -0.489, 0, 90, 0,  [SEP] 52, SideTable, -3.300, 0.032, -0.489, 0, 90, 0,  [SEP] 53, Drawer, 3.104, 0.419, 0.364, 0, 270, 0,  [SEP] 54, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0,  [SEP] 55, DogBed, 2.739, 0.032, 2.260, 0, 45, 0,  [SEP] 56, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0,  [SEP] 57, Sofa, -2.957, 0.032, 1.393, 0, 90, 0,  [SEP] 58, Drawer, -0.189, 0.232, 0.954, 0, 270, 0,  [SEP] 59, Drawer, -0.415, 0.854, 1.921, 0, 270, 0,  [SEP] 60, Drawer, -0.415, 0.351, 1.414, 0, 270, 0,  [SEP] 61, Drawer, -0.415, 0.603, 1.414, 0, 270, 0,  [SEP] 62, Dresser, -0.052, 0.028, 1.667, 0, 270, 0,  [SEP] 63, Drawer, -0.190, 0.484, 0.954, 0, 270, 0,  [SEP] 64, Drawer, -0.190, 0.736, 0.954, 0, 270, 0,  [SEP] 65, Drawer, -0.415, 0.603, 1.921, 0, 270, 0,  [SEP] 66, Drawer, -0.415, 0.603, 2.384, 0, 270, 0,  [SEP] 67, Drawer, -0.415, 0.351, 2.384, 0, 270, 0,  [SEP] 68, Drawer, -0.415, 0.854, 2.384, 0, 270, 0,  [SEP] 69, Drawer, -0.415, 0.351, 1.921, 0, 270, 0,  [SEP] 70, Drawer, -0.415, 0.854, 1.414, 0, 270, 0,  [SEP] 71, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0,  [SEP] 72, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk toward the watering can by the floor lamp in the other room. | STEP 2: Pick up the watering can from the floor. | STEP 3: Turn left and walk in front of the lamp on the end table at the other end of the room. | STEP 4: Turn on the lamp. | END


Input: pick up the knife, cut apple, place apple in pot, pick up pot, place pot in the sink  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -1.75, 0, 180, 0,  [SEP] 1, CreditCard, 0.324, 0.907, -2.253, 0, 0, 0, 61 [SEP] 2, CreditCard, -0.473, 1.108, 0.757, 0, 0, 0, 59 [SEP] 3, Plate, 0.217, 1.108, -0.506, 0, 0, 0, 59 [SEP] 4, Tomato, -2.081, 1.542, 1.260, 0, 90, 0, 92 [SEP] 5, Tomato, -1.693, 0.950, -2.036, 0, 0, 0, 84 [SEP] 6, SoapBottle, -1.989, 0.048, 1.885, 0, 270, 0, 90 [SEP] 7, SoapBottle, 1.893, 0.554, -2.666, 0, 180, 0, 89 [SEP] 8, PepperShaker, 1.064, 0.138, -2.479, 0, 0, 0, 79 [SEP] 9, Bread, -0.197, 1.184, -0.001, 0, 0, 0, 59 [SEP] 10, Bread, -0.059, 1.184, -0.759, 0, 0, 0, 59 [SEP] 11, Lettuce, 1.098, 0.990, -2.330, 0, 0, 0, 61 [SEP] 12, Apple, -2.040, 1.553, 1.092, 0, 90, 0, 92 [SEP] 13, Apple, -0.070, 1.841, -2.546, 0, 0, 0, 85 [SEP] 14, Knife, 0.582, 0.936, -2.407, 0, 0, 0, 61 [SEP] 15, Knife, -1.908, 0.795, -1.414, 0, 90, 0, 94 [SEP] 16, Fork, -1.740, 0.154, -0.197, 0, 90, 0, 82 [SEP] 17, Mug, -0.898, 1.651, -2.532, 0, 180, 0, 73 [SEP] 18, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 93 [SEP] 19, Pot, -0.059, 1.115, -0.253, 0, 0, 0, 59 [SEP] 20, ButterKnife, -1.733, 0.911, -2.483, 0, 0, 0, 84 [SEP] 21, ButterKnife, 0.217, 1.111, -0.001, 0, 0, 0, 59 [SEP] 22, Kettle, 0.563, 0.141, -2.436, 0, 0, 0, 76 [SEP] 23, Glassbottle, -2.100, 0.912, 0.044, 0, 0, 0, 84 [SEP] 24, Book, -0.335, 1.110, -0.759, 0, 0, 0, 59 [SEP] 25, Glassbottle, 0.840, 0.911, -2.253, 0, 0, 0, 61 [SEP] 26, Knife, -1.438, 0.936, -2.483, 0, 0, 0, 84 [SEP] 27, Bread, -0.197, 1.184, 0.251, 0, 0, 0, 59 [SEP] 28, Fork, 1.064, 0.646, -2.417, 0, 0, 0, 64 [SEP] 29, Potato, 0.582, 0.941, -2.560, 0, 0, 0, 61 [SEP] 30, SoapBottle, -0.197, 1.112, 0.504, 0, 0, 0, 59 [SEP] 31, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 54 [SEP] 32, Pan, -1.805, 0.135, -1.389, 0, 180, 0, 60 [SEP] 33, Plate, -1.586, 0.908, -2.329, 0, 0, 0, 84 [SEP] 34, Tomato, -1.797, 0.808, -1.242, 0, 90, 0, 94 [SEP] 35, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 89 [SEP] 36, Egg, 0.324, 0.945, -2.330, 0, 0, 0, 61 [SEP] 37, CreditCard, -1.574, 0.908, -1.309, 0, 0, 0, 84 [SEP] 38, Statue, -0.059, 1.110, 0.504, 0, 90, 0, 59 [SEP] 39, WineBottle, -0.995, 0.912, -2.483, 0, 0, 0, 84 [SEP] 40, Pot, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 41, Spatula, 0.217, 1.126, 0.251, 0, 0, 0, 59 [SEP] 42, PaperTowelRoll, -1.774, 1.015, -2.146, 0, 0, 0, 84 [SEP] 43, Cup, -2.163, 0.538, 1.085, 0, 90, 0, 92 [SEP] 44, Vase, 1.098, 0.908, -2.560, 0, 0, 0, 61 [SEP] 45, Bowl, -0.225, 1.787, -2.546, 0, 0, 0, 85 [SEP] 46, SaltShaker, 0.711, 0.907, -2.637, 0, 0, 0, 61 [SEP] 47, PepperShaker, -0.898, 1.652, -2.676, 0, 0, 0, 73 [SEP] 48, Lettuce, -1.937, 0.991, -0.513, 0, 0, 0, 84 [SEP] 49, ButterKnife, -0.059, 1.111, -0.506, 0, 0, 0, 59 [SEP] 50, Apple, -2.018, 0.820, -1.414, 0, 90, 0, 94 [SEP] 51, DishSponge, -1.401, 1.657, -2.641, 0, 0, 0, 75 [SEP] 52, Spoon, -0.473, 1.112, 0.504, 0, 0, 0, 59 [SEP] 53, Mug, 1.891, 0.875, -2.563, 0, 180, 0, 86 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: turn right, turn left to the sink | STEP 2: pick up knife from the sink | STEP 3: cut apple with the knife | STEP 4: look down at the sink | STEP 5: place the knife in the sink | STEP 6: look up at apple in the sink | STEP 7: pick up the apple from the sink | STEP 8: turn around , walk straight, turn right to the stove | STEP 9: place the apple into the pot on the stove | STEP 10: pick up the pot from the stove | STEP 11: turn around, turn left to the sink | STEP 12: place the pot in to the sink | END


Input: Put a heated piece of apple on the counter.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Potato, -0.137, 0.793, -2.116, 0, 0, 0, 79 [SEP] 2, Potato, -0.160, 0.959, 0.991, 0, 0, 0, 84 [SEP] 3, DishSponge, -1.072, 0.913, -2.224, 0, 0, 0, 67 [SEP] 4, ButterKnife, -0.668, 0.913, -2.101, 0, 0, 0, 67 [SEP] 5, WineBottle, 1.669, 0.881, 2.429, 0, 0, 0, 88 [SEP] 6, Spatula, 1.738, 0.928, -1.446, 0, 0, 0, 67 [SEP] 7, Spatula, 1.919, 0.928, -1.797, 0, 0, 0, 67 [SEP] 8, Spoon, -0.064, 0.765, -1.981, 0, 90, 0, 79 [SEP] 9, Spoon, 0.522, 0.931, 1.220, 0, 0, 0, 84 [SEP] 10, Egg, -0.160, 0.980, 1.220, 0, 0, 0, 84 [SEP] 11, Egg, -1.610, 1.237, -0.495, 0, 90, 0, 75 [SEP] 12, Cup, -0.137, 0.764, -1.981, 0, 0, 0, 79 [SEP] 13, Plate, 1.690, 0.123, -1.397, 0, 270, 0, 61 [SEP] 14, SoapBottle, -0.113, 0.912, -1.725, 0, 0, 0, 67 [SEP] 15, SoapBottle, 1.871, 1.656, -1.866, 0, 270, 0, 57 [SEP] 16, Bowl, 1.919, 0.910, -1.212, 0, 0, 0, 67 [SEP] 17, SaltShaker, 1.670, 0.549, 2.327, 0, 0, 0, 87 [SEP] 18, PepperShaker, -0.890, 0.909, -2.188, 0, 0, 0, 67 [SEP] 19, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 84 [SEP] 20, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 84 [SEP] 21, Mug, 1.256, 0.114, -1.968, 0, 0, 0, 59 [SEP] 22, Mug, -0.283, 0.759, -1.981, 0, 90, 0, 79 [SEP] 23, Apple, -1.380, 1.254, -0.910, 0, 90, 0, 75 [SEP] 24, Apple, 1.958, 0.157, 0.083, 0, 0, 0, 68 [SEP] 25, Apple, -0.160, 0.997, 0.305, 0, 0, 0, 84 [SEP] 26, Potato, 1.466, 0.942, -1.680, 0, 0, 0, 67 [SEP] 27, Bowl, 1.828, 0.910, -1.446, 0, 0, 0, 67 [SEP] 28, SoapBottle, 1.462, 0.551, 2.379, 0, 0, 0, 87 [SEP] 29, Fork, 0.294, 0.927, 0.762, 0, 90, 0, 84 [SEP] 30, Ladle, 1.909, 1.702, -1.673, 0, 270, 0, 57 [SEP] 31, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 84 [SEP] 32, Lettuce, 0.522, 1.011, 0.991, 0, 0, 0, 84 [SEP] 33, WineBottle, 1.771, 0.881, 2.537, 0, 0, 0, 93 [SEP] 34, Spatula, -0.047, 0.941, 0.076, 0, 0, 0, 84 [SEP] 35, Plate, -1.438, 1.187, -0.495, 0, 90, 0, 75 [SEP] 36, SaltShaker, -1.109, 0.909, -2.079, 0, 0, 0, 67 [SEP] 37, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 49 [SEP] 38, Cup, -1.495, 1.183, -0.910, 0, 90, 0, 75 [SEP] 39, PepperShaker, 0.034, 2.147, -2.094, 0, 0, 0, 52 [SEP] 40, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 48 [SEP] 41, ButterKnife, 0.457, 0.913, -2.085, 0, 0, 0, 67 [SEP] 42, Tomato, -0.047, 0.982, 0.991, 0, 0, 0, 84 [SEP] 43, DishSponge, 0.294, 0.930, 1.220, 0, 0, 0, 84 [SEP] 44, Egg, 0.294, 0.984, 0.991, 0, 0, 0, 84 [SEP] 45, Spoon, 0.066, 0.931, 0.534, 0, 0, 0, 84 [SEP] 46, Knife, 0.002, 0.936, -1.689, 0, 0, 0, 67 [SEP] 47, Mug, -0.047, 0.921, 0.762, 0, 0, 0, 84 [SEP] 48, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 49, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 50, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 51, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 52, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 58, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 59, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 60, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 61, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 62, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 63, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 64, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 65, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 66, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 67, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 68, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 69, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 70, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 71, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 72, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 73, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 74, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 75, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 76, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 77, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 78, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 79, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 81, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 82, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 83, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 84, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 85, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 86, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 87, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 88, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 89, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 90, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 91, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 92, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 93, , , , , , , ,  [SEP] 94, NorthWall, , , , , , ,  [SEP] 95, EastWall, , , , , , ,  [SEP] 96, SouthWall, , , , , , ,  [SEP] 97, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the counter on the right of the sink. | STEP 2: Pick up the gray knife on the counter.  | STEP 3: Turn around and go to the left side of the island. | STEP 4: Cut the apple on the counter into three parts. | STEP 5: Turn right and go to the refrigerator on the right.  | STEP 6: Place the knife on middle shelf in the refrigerator. | STEP 7: Turn right and go back to the island with the apple.  | STEP 8: Take one piece of apple from the counter. | STEP 9: Turn right to go to the microwave on the right.  | STEP 10: Remove the apple from the microwave after heating it.  | STEP 11: Turn right and go back to the island.  | STEP 12: Place the apple piece on the counter on the left of  the rest of the apple.  | END


Input: Put a knife in a pan as well as move the pan from the stove to the counter to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -2.75, 0, 270, 0,  [SEP] 1, ButterKnife, -0.854, 0.913, -3.729, 0, 0, 0, 39 [SEP] 2, Spatula, -2.753, 0.728, -0.785, 0, 135, 0, 83 [SEP] 3, Spatula, -1.707, 0.805, -3.832, 0, 90, 0, 81 [SEP] 4, Spoon, -0.530, 0.748, -1.408, 0, 90, 0, 62 [SEP] 5, Fork, -0.530, 0.746, -0.685, 0, 90, 0, 65 [SEP] 6, Fork, -0.530, 0.746, -3.024, 0, 90, 0, 69 [SEP] 7, Cup, -0.373, 0.081, -2.967, 0, 0, 0, 50 [SEP] 8, Cup, -3.079, 1.013, -2.187, 0, 90, 0, 80 [SEP] 9, Plate, -1.214, 0.078, -3.712, 0, 0, 0, 54 [SEP] 10, Knife, -0.471, 0.778, -2.913, 0, 270, 0, 69 [SEP] 11, Knife, -3.140, 0.946, -2.926, 0, 0, 0, 61 [SEP] 12, PepperShaker, -3.300, 0.713, -0.665, 0, 225, 0, 83 [SEP] 13, PepperShaker, -0.014, 0.912, -1.432, 0, 0, 0, 66 [SEP] 14, Lettuce, -3.130, 1.486, -1.941, 0, 90, 0, 80 [SEP] 15, Mug, -3.014, 0.881, -2.470, 0, 0, 0, 80 [SEP] 16, Apple, -2.721, 0.756, -0.552, 0, 135, 0, 83 [SEP] 17, Apple, -0.065, 1.055, -0.851, 0, 270, 0, 76 [SEP] 18, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 39 [SEP] 19, Egg, -3.130, 0.677, -1.817, 0, 90, 0, 80 [SEP] 20, Cup, -3.027, 0.641, -2.187, 0, 90, 0, 80 [SEP] 21, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 39 [SEP] 22, Fork, -2.928, 0.714, -0.922, 0, 0, 0, 83 [SEP] 23, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 71 [SEP] 24, Potato, -0.284, 0.123, -0.030, 0, 270, 0, 78 [SEP] 25, Lettuce, -3.022, 0.804, -0.741, 0, 225, 0, 83 [SEP] 26, Tomato, -1.058, 0.963, -3.878, 0, 0, 0, 39 [SEP] 27, Apple, -3.182, 1.056, -2.187, 0, 90, 0, 80 [SEP] 28, SoapBottle, -0.176, 0.915, -1.493, 0, 0, 0, 66 [SEP] 29, Spatula, -0.338, 0.930, -0.507, 0, 0, 0, 66 [SEP] 30, SaltShaker, -2.300, 1.291, -3.848, 0, 0, 0, 52 [SEP] 31, Knife, -3.024, 0.779, -2.912, 0, 270, 0, 61 [SEP] 32, PepperShaker, -1.523, 0.079, -3.595, 0, 0, 0, 55 [SEP] 33, ButterKnife, -2.581, 0.713, -0.496, 0, 270, 0, 83 [SEP] 34, Plate, -3.225, 0.911, -3.227, 0, 0, 0, 39 [SEP] 35, DishSponge, -3.140, 0.913, -2.825, 0, 0, 0, 39 [SEP] 36, Spoon, -3.255, 0.714, -0.709, 0, 225, 0, 83 [SEP] 37, Mug, -2.678, 0.708, -0.211, 0, 0, 0, 83 [SEP] 38, Bowl, -2.439, 0.714, -0.433, 0, 270, 0, 83 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk across the room then turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left and step to the left to face the stove. | STEP 4: Place the knife in the pan on the stove. | STEP 5: Pick up the pan with a knife in it on the stove. | STEP 6: Turn to the right and walk forward to face the sink. | STEP 7: Place the pan with a knife in it on the counter to the right of the sink. | END


Input: To put a knife and pan to the right of the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -2.75, 0, 270, 0,  [SEP] 1, ButterKnife, -0.854, 0.913, -3.729, 0, 0, 0, 39 [SEP] 2, Spatula, -2.753, 0.728, -0.785, 0, 135, 0, 83 [SEP] 3, Spatula, -1.707, 0.805, -3.832, 0, 90, 0, 81 [SEP] 4, Spoon, -0.530, 0.748, -1.408, 0, 90, 0, 62 [SEP] 5, Fork, -0.530, 0.746, -0.685, 0, 90, 0, 65 [SEP] 6, Fork, -0.530, 0.746, -3.024, 0, 90, 0, 69 [SEP] 7, Cup, -0.373, 0.081, -2.967, 0, 0, 0, 50 [SEP] 8, Cup, -3.079, 1.013, -2.187, 0, 90, 0, 80 [SEP] 9, Plate, -1.214, 0.078, -3.712, 0, 0, 0, 54 [SEP] 10, Knife, -0.471, 0.778, -2.913, 0, 270, 0, 69 [SEP] 11, Knife, -3.140, 0.946, -2.926, 0, 0, 0, 61 [SEP] 12, PepperShaker, -3.300, 0.713, -0.665, 0, 225, 0, 83 [SEP] 13, PepperShaker, -0.014, 0.912, -1.432, 0, 0, 0, 66 [SEP] 14, Lettuce, -3.130, 1.486, -1.941, 0, 90, 0, 80 [SEP] 15, Mug, -3.014, 0.881, -2.470, 0, 0, 0, 80 [SEP] 16, Apple, -2.721, 0.756, -0.552, 0, 135, 0, 83 [SEP] 17, Apple, -0.065, 1.055, -0.851, 0, 270, 0, 76 [SEP] 18, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 39 [SEP] 19, Egg, -3.130, 0.677, -1.817, 0, 90, 0, 80 [SEP] 20, Cup, -3.027, 0.641, -2.187, 0, 90, 0, 80 [SEP] 21, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 39 [SEP] 22, Fork, -2.928, 0.714, -0.922, 0, 0, 0, 83 [SEP] 23, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 71 [SEP] 24, Potato, -0.284, 0.123, -0.030, 0, 270, 0, 78 [SEP] 25, Lettuce, -3.022, 0.804, -0.741, 0, 225, 0, 83 [SEP] 26, Tomato, -1.058, 0.963, -3.878, 0, 0, 0, 39 [SEP] 27, Apple, -3.182, 1.056, -2.187, 0, 90, 0, 80 [SEP] 28, SoapBottle, -0.176, 0.915, -1.493, 0, 0, 0, 66 [SEP] 29, Spatula, -0.338, 0.930, -0.507, 0, 0, 0, 66 [SEP] 30, SaltShaker, -2.300, 1.291, -3.848, 0, 0, 0, 52 [SEP] 31, Knife, -3.024, 0.779, -2.912, 0, 270, 0, 61 [SEP] 32, PepperShaker, -1.523, 0.079, -3.595, 0, 0, 0, 55 [SEP] 33, ButterKnife, -2.581, 0.713, -0.496, 0, 270, 0, 83 [SEP] 34, Plate, -3.225, 0.911, -3.227, 0, 0, 0, 39 [SEP] 35, DishSponge, -3.140, 0.913, -2.825, 0, 0, 0, 39 [SEP] 36, Spoon, -3.255, 0.714, -0.709, 0, 225, 0, 83 [SEP] 37, Mug, -2.678, 0.708, -0.211, 0, 0, 0, 83 [SEP] 38, Bowl, -2.439, 0.714, -0.433, 0, 270, 0, 83 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the counter with the knife and the tomato.  | STEP 2: Pick up the knife to the left of the tomato.  | STEP 3: Turn and walk to the stove on the right.  | STEP 4: Put the knight down in the pan on the back right burner of the stove.  | STEP 5: Pick up the pan from the stove.  | STEP 6: Turn and walk to the left of the sink.  | STEP 7: Place the pan on the counter to the right of the sink.  | END


Input: Place a box with keys inside on the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.927, 1.5, 0, 270, 0,  [SEP] 1, Newspaper, -5.939, 0.641, 3.617, 0, 0, 0, 70 [SEP] 2, KeyChain, -3.732, 0.278, 3.451, 0, 0, 0, 71 [SEP] 3, Box, -6.062, 0.823, 1.510, 0, 0, 0, 70 [SEP] 4, Box, -2.806, 0.481, 2.000, 0, 270, 0, 74 [SEP] 5, Statue, -6.589, 1.022, 5.172, 0, 180, 0, 31 [SEP] 6, KeyChain, -2.154, 0.398, 5.134, 0, 180, 0, 40 [SEP] 7, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 25 [SEP] 8, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 42 [SEP] 9, Vase, -2.321, 0.727, 5.168, 0, 0, 0, 57 [SEP] 10, Newspaper, -4.540, 1.273, 5.134, 0, 0, 0, 38 [SEP] 11, CreditCard, -3.530, 0.286, 3.312, 0, 0, 0, 71 [SEP] 12, RemoteControl, -3.100, 0.184, 1.601, 0, 325.579, 0, 69 [SEP] 13, Laptop, -5.939, 0.639, 3.266, 0, 0, 0, 70 [SEP] 14, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 73 [SEP] 15, Vase, -4.540, 0.956, 5.134, 0, 0, 0, 39 [SEP] 16, Statue, -0.941, 1.284, 0.149, 0, 0, 0, 49 [SEP] 17, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 49 [SEP] 18, Plate, -5.572, 0.634, 1.699, 0, 0, 0, 70 [SEP] 19, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 39 [SEP] 20, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 52 [SEP] 21, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 44 [SEP] 22, Statue, -3.851, 0.930, 5.169, 0, 0, 0, 30 [SEP] 23, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 53 [SEP] 24, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 70 [SEP] 25, Shelf, -1.776, 0.988, 0.184, 0, 180, 0,  [SEP] 26, Chair, -5.413, 0.024, 1.780, 0, 0, 0,  [SEP] 27, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0,  [SEP] 28, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0,  [SEP] 29, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0,  [SEP] 30, Shelf, -3.937, 0.988, 5.170, 0, 0, 0,  [SEP] 31, Shelf, -6.572, 1.144, 5.170, 0, 0, 0,  [SEP] 32, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0,  [SEP] 33, Shelf, -5.606, 0.444, 5.170, 0, 0, 0,  [SEP] 34, Drawer, -6.324, 0.823, 5.001, 0, 0, 0,  [SEP] 35, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0,  [SEP] 36, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0,  [SEP] 37, Drawer, -1.093, 0.233, 0.462, 0, 0, 0,  [SEP] 38, Shelf, -4.672, 1.317, 5.170, 0, 0, 0,  [SEP] 39, Shelf, -4.672, 0.998, 5.170, 0, 0, 0,  [SEP] 40, Shelf, -2.221, 0.444, 5.170, 0, 0, 0,  [SEP] 41, Drawer, -6.324, 0.508, 5.001, 0, 0, 0,  [SEP] 42, Shelf, -1.041, 0.998, 0.184, 0, 180, 0,  [SEP] 43, Drawer, -4.264, 0.233, 0.462, 0, 0, 0,  [SEP] 44, Shelf, -0.810, 1.688, 0.185, 0, 180, 0,  [SEP] 45, Shelf, -2.671, 0.610, 0.272, 0, 90, 0,  [SEP] 46, Drawer, -2.681, 0.233, 0.462, 0, 0, 0,  [SEP] 47, Drawer, -2.940, 0.508, 5.001, 0, 0, 0,  [SEP] 48, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0,  [SEP] 49, Shelf, -1.041, 1.317, 0.184, 0, 180, 0,  [SEP] 50, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0,  [SEP] 51, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0,  [SEP] 52, Shelf, -4.903, 1.688, 5.170, 0, 0, 0,  [SEP] 53, Shelf, -3.187, 1.144, 5.170, 0, 0, 0,  [SEP] 54, Drawer, -2.940, 0.823, 5.001, 0, 0, 0,  [SEP] 55, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0,  [SEP] 56, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0,  [SEP] 57, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0,  [SEP] 58, Chair, -6.296, 0.024, 1.672, 0, 180, 0,  [SEP] 59, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0,  [SEP] 60, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0,  [SEP] 61, Television, -3.503, 1.506, 0.001, 0, 0, 0,  [SEP] 62, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0,  [SEP] 63, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0,  [SEP] 64, Painting, -5.769, 1.394, -0.026, 90, 180, 0,  [SEP] 65, Window, 0.001, 1.246, 2.471, 90, 270, 0,  [SEP] 66, Window, 0.001, 1.246, 3.558, 90, 270, 0,  [SEP] 67, Window, 0.001, 1.246, 1.368, 90, 270, 0,  [SEP] 68, Painting, -0.967, 1.396, 5.268, 90, 180, 0,  [SEP] 69, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0,  [SEP] 70, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0,  [SEP] 71, Sofa, -3.328, 0.023, 3.632, 0, 180, 0,  [SEP] 72, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0,  [SEP] 73, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0,  [SEP] 74, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk past the coffee table to stand in front of the leftmost cushion of the sofa. | STEP 2: Pick up the keys from the sofa. | STEP 3: Turn around and carry the keys to the coffee table, so you're facing the table and the sofa is to your left. | STEP 4: Place the keys in the open box on the coffee table. | STEP 5: Pick up the box with the keys in it from the table. | STEP 6: Carry the box to stand facing the center point of the sofa. | STEP 7: Place the box on the right cushion of the sofa. | END


Input: put the sauce pan with a spoon in it in the lower right kitchen cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 2.75, 0, 0, 0,  [SEP] 1, Potato, 2.643, 0.806, 4.081, 0, 329.999, 0, 51 [SEP] 2, Potato, 1.848, 1.068, 1.900, 0, 136.999, 0, 50 [SEP] 3, DishSponge, 2.976, 0.764, 3.895, 0, 270, 0, 51 [SEP] 4, ButterKnife, 2.875, 1.026, -0.541, 0, 0, 0, 50 [SEP] 5, Spatula, 2.874, 0.816, -0.313, 0, 90, 0, 60 [SEP] 6, Fork, -0.418, 1.028, 1.821, 0, 0, 0, 53 [SEP] 7, Egg, -0.997, 0.121, 2.842, 0, 0, 0, 105 [SEP] 8, Cup, 2.599, 0.763, 3.445, 0, 0, 0, 51 [SEP] 9, Knife, 2.671, 0.789, 3.885, 0, 329.999, 0, 51 [SEP] 10, Knife, 1.925, 0.789, 4.044, 0, 270, 0, 51 [SEP] 11, Tomato, -0.920, 1.081, 2.556, 0, 0, 0, 53 [SEP] 12, SoapBottle, -0.794, 1.026, 0.323, 0, 0, 0, 53 [SEP] 13, SoapBottle, -1.187, 1.026, 1.612, 0, 0, 0, 53 [SEP] 14, Bowl, -0.714, 0.814, 1.181, 0, 90, 0, 107 [SEP] 15, PepperShaker, 2.761, 0.796, -0.792, 0, 0, 0, 59 [SEP] 16, Bread, 2.346, 0.832, 4.074, 0, 225, 0, 51 [SEP] 17, Bread, 2.239, 0.832, 4.484, 0, 329.999, 0, 51 [SEP] 18, Lettuce, 2.441, 0.822, 3.540, 0, 329.999, 0, 51 [SEP] 19, Mug, 2.106, 1.856, -1.876, 0, 0, 0, 96 [SEP] 20, Mug, -0.577, 0.811, 1.570, 0, 270, 0, 107 [SEP] 21, Apple, -1.102, 1.077, 1.243, 0, 0, 0, 53 [SEP] 22, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 23, Glassbottle, -0.418, 1.028, 0.600, 0, 0, 0, 53 [SEP] 24, Knife, 2.175, 0.789, 4.447, 0, 329.999, 0, 51 [SEP] 25, SoapBottle, 2.503, 0.763, 3.917, 0, 225, 0, 51 [SEP] 26, Egg, 2.276, 0.808, 3.747, 0, 270, 0, 51 [SEP] 27, Fork, -1.045, 1.028, 1.821, 0, 180, 0, 53 [SEP] 28, Potato, -1.102, 1.069, 1.058, 0, 0, 0, 53 [SEP] 29, Ladle, 2.439, 1.066, 1.056, 0, 136.999, 0, 50 [SEP] 30, Tomato, -0.877, 1.495, -0.405, 0, 90, 0, 94 [SEP] 31, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 54 [SEP] 32, WineBottle, -0.794, 1.028, 2.556, 0, 0, 0, 53 [SEP] 33, Plate, -0.987, 0.786, -0.627, 0, 90, 0, 94 [SEP] 34, Spatula, 1.819, 0.816, 1.308, 0, 227.0, 0, 64 [SEP] 35, PaperTowelRoll, 2.451, 0.868, 3.747, 0, 270, 0, 51 [SEP] 36, Lettuce, -0.418, 1.085, 2.066, 0, 0, 0, 53 [SEP] 37, Apple, -0.922, 1.492, -0.073, 0, 90, 0, 94 [SEP] 38, SaltShaker, -0.519, 0.797, 2.007, 0, 0, 0, 55 [SEP] 39, PepperShaker, 2.101, 0.760, 3.747, 0, 270, 0, 51 [SEP] 40, ButterKnife, 2.525, 0.764, 4.32, 0, 0, 0, 51 [SEP] 41, Bread, 2.875, 1.094, -1.151, 0, 0, 0, 50 [SEP] 42, Cup, 1.926, 0.763, 3.747, 0, 270, 0, 51 [SEP] 43, DishSponge, 2.469, 0.800, 0.606, 0, 317.0, 0, 62 [SEP] 44, Bowl, -0.782, 0.814, 1.492, 0, 90, 0, 107 [SEP] 45, Spoon, 2.695, 0.802, 0.754, 0, 47.0, 0, 62 [SEP] 46, Mug, -0.987, 0.781, -0.406, 0, 0, 0, 94 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 111, , , , , , , ,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: turn around and walk to the left side of the kitchen counter. | STEP 2: grab the spoon on the counter. | STEP 3: turn around and walk to the stove | STEP 4: place the spoon in the sauce pan | STEP 5: pick up the sauce pan | STEP 6: turn to face the left side of the lower kitchen cabinets | STEP 7: put the sauce pan in the far right lower cabinet | END


Input: Place the statue on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.908, 7.75, 0, 180, 0,  [SEP] 1, Plate, -3.709, 0.798, 2.371, 0, 0, 0, 52 [SEP] 2, Plate, -3.13, 0.549, 8.321, 0, 90, 0, 58 [SEP] 3, TissueBox, -3.155, 0.783, 2.061, 0, 0, 0, 52 [SEP] 4, TissueBox, -2.810, 0.535, 8.471, 0, 180, 0, 58 [SEP] 5, Watch, -0.377, 0.676, 8.392, 0, 329.437, 0, 48 [SEP] 6, Statue, -2.324, 0.791, 1.751, 0, 0, 0, 52 [SEP] 7, Box, -2.047, 0.910, 2.681, 0, 0, 0, 52 [SEP] 8, Box, -1.699, 0.583, 7.334, 0, 90, 0, 45 [SEP] 9, KeyChain, -3.788, 0.329, 4.514, 0, 90, 0, 50 [SEP] 10, Plate, -3.432, 0.797, 2.681, 0, 0, 0, 52 [SEP] 11, Candle, -0.354, 0.676, 0.163, 0, 329.437, 0, 47 [SEP] 12, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 45 [SEP] 13, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 48 [SEP] 14, TissueBox, -2.878, 0.783, 2.216, 0, 0, 0, 52 [SEP] 15, Laptop, -3.155, 0.780, 1.751, 0, 0, 0, 52 [SEP] 16, Newspaper, -3.026, 0.456, 5.930, 0, 0, 0, 49 [SEP] 17, CreditCard, -3.600, 0.326, 4.718, 0, 0, 0, 50 [SEP] 18, RemoteControl, -2.047, 0.782, 1.906, 0, 0, 0, 52 [SEP] 19, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 20, Candle, -3.289, 0.536, 8.534, 0, 180, 0, 58 [SEP] 21, Statue, -2.324, 0.883, 2.216, 0, 0, 0, 52 [SEP] 22, Watch, -3.289, 0.533, 8.659, 0, 180, 0, 58 [SEP] 23, Statue, -3.432, 0.792, 1.751, 0, 0, 0, 52 [SEP] 24, Mirror, -5.489, 1.825, 6.505, 0, 0, 0,  [SEP] 25, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0,  [SEP] 26, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0,  [SEP] 27, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0,  [SEP] 28, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0,  [SEP] 29, Television, -3.114, 0.996, 8.693, 1.686, 180, 0,  [SEP] 30, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0,  [SEP] 31, Painting, -5.954, 1.526, 1.153, 90, 270, 0,  [SEP] 32, Window, 0.157, 1.203, 6.895, 90, 90, 0,  [SEP] 33, Window, -4.855, 1.203, -0.158, 90, 180, 0,  [SEP] 34, Window, 0.157, 1.203, 4.923, 90, 90, 0,  [SEP] 35, Window, 0.157, 1.203, 2.986, 90, 90, 0,  [SEP] 36, Window, 0.157, 1.203, 1.088, 90, 90, 0,  [SEP] 37, Window, -2.942, 1.203, -0.158, 90, 180, 0,  [SEP] 38, Window, -1.057, 1.203, -0.158, 90, 180, 0,  [SEP] 39, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0,  [SEP] 40, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0,  [SEP] 41, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738,  [SEP] 42, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735,  [SEP] 43, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736,  [SEP] 44, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738,  [SEP] 45, Sofa, -1.706, 0.002, 6.448, 0, 270, 0,  [SEP] 46, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0,  [SEP] 47, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0,  [SEP] 48, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0,  [SEP] 49, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0,  [SEP] 50, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0,  [SEP] 51, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0,  [SEP] 52, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0,  [SEP] 53, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0,  [SEP] 54, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0,  [SEP] 55, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0,  [SEP] 56, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0,  [SEP] 57, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0,  [SEP] 58, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, EastWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,  [SEP] 62, WestWall, , , , , , ,

Output: STEP 1: Walk over to the table. | STEP 2: Grab the statue | STEP 3: Walk over to the coffee table | STEP 4: Place the statue on the coffee table. | END


Input: Put a statue on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.908, 7.75, 0, 180, 0,  [SEP] 1, Plate, -3.709, 0.798, 2.371, 0, 0, 0, 52 [SEP] 2, Plate, -3.13, 0.549, 8.321, 0, 90, 0, 58 [SEP] 3, TissueBox, -3.155, 0.783, 2.061, 0, 0, 0, 52 [SEP] 4, TissueBox, -2.810, 0.535, 8.471, 0, 180, 0, 58 [SEP] 5, Watch, -0.377, 0.676, 8.392, 0, 329.437, 0, 48 [SEP] 6, Statue, -2.324, 0.791, 1.751, 0, 0, 0, 52 [SEP] 7, Box, -2.047, 0.910, 2.681, 0, 0, 0, 52 [SEP] 8, Box, -1.699, 0.583, 7.334, 0, 90, 0, 45 [SEP] 9, KeyChain, -3.788, 0.329, 4.514, 0, 90, 0, 50 [SEP] 10, Plate, -3.432, 0.797, 2.681, 0, 0, 0, 52 [SEP] 11, Candle, -0.354, 0.676, 0.163, 0, 329.437, 0, 47 [SEP] 12, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 45 [SEP] 13, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 48 [SEP] 14, TissueBox, -2.878, 0.783, 2.216, 0, 0, 0, 52 [SEP] 15, Laptop, -3.155, 0.780, 1.751, 0, 0, 0, 52 [SEP] 16, Newspaper, -3.026, 0.456, 5.930, 0, 0, 0, 49 [SEP] 17, CreditCard, -3.600, 0.326, 4.718, 0, 0, 0, 50 [SEP] 18, RemoteControl, -2.047, 0.782, 1.906, 0, 0, 0, 52 [SEP] 19, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 20, Candle, -3.289, 0.536, 8.534, 0, 180, 0, 58 [SEP] 21, Statue, -2.324, 0.883, 2.216, 0, 0, 0, 52 [SEP] 22, Watch, -3.289, 0.533, 8.659, 0, 180, 0, 58 [SEP] 23, Statue, -3.432, 0.792, 1.751, 0, 0, 0, 52 [SEP] 24, Mirror, -5.489, 1.825, 6.505, 0, 0, 0,  [SEP] 25, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0,  [SEP] 26, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0,  [SEP] 27, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0,  [SEP] 28, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0,  [SEP] 29, Television, -3.114, 0.996, 8.693, 1.686, 180, 0,  [SEP] 30, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0,  [SEP] 31, Painting, -5.954, 1.526, 1.153, 90, 270, 0,  [SEP] 32, Window, 0.157, 1.203, 6.895, 90, 90, 0,  [SEP] 33, Window, -4.855, 1.203, -0.158, 90, 180, 0,  [SEP] 34, Window, 0.157, 1.203, 4.923, 90, 90, 0,  [SEP] 35, Window, 0.157, 1.203, 2.986, 90, 90, 0,  [SEP] 36, Window, 0.157, 1.203, 1.088, 90, 90, 0,  [SEP] 37, Window, -2.942, 1.203, -0.158, 90, 180, 0,  [SEP] 38, Window, -1.057, 1.203, -0.158, 90, 180, 0,  [SEP] 39, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0,  [SEP] 40, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0,  [SEP] 41, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738,  [SEP] 42, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735,  [SEP] 43, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736,  [SEP] 44, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738,  [SEP] 45, Sofa, -1.706, 0.002, 6.448, 0, 270, 0,  [SEP] 46, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0,  [SEP] 47, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0,  [SEP] 48, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0,  [SEP] 49, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0,  [SEP] 50, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0,  [SEP] 51, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0,  [SEP] 52, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0,  [SEP] 53, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0,  [SEP] 54, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0,  [SEP] 55, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0,  [SEP] 56, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0,  [SEP] 57, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0,  [SEP] 58, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, EastWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,  [SEP] 62, WestWall, , , , , , ,

Output: STEP 1: Go forward and cross the entire room and then turn right and then right again to face the statue on the table near the remote. | STEP 2: Pick the statue up from the table. | STEP 3: Go left and then right and cross the room to turn to the right to face the table with the plant on it that is in front of the couch. | STEP 4: Put the statue on the table. | END


Input: Wash a cold tomato and put it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.5, 0, 180, 0,  [SEP] 1, Ladle, -2.540, 1.893, 1.978, 0, 0, 0, 42 [SEP] 2, DishSponge, -2.648, 0.121, 1.510, 0, 0, 0, 59 [SEP] 3, ButterKnife, -1.207, 0.823, 0.508, 0, 0, 0, 48 [SEP] 4, Fork, -1.709, 0.824, 0.518, 0, 0, 0, 48 [SEP] 5, Spoon, -1.189, 0.699, 0.377, 0, 90, 0, 52 [SEP] 6, Egg, -1.412, 0.721, 0.253, 0, 0, 0, 75 [SEP] 7, Egg, -0.229, 0.080, 2.708, 0, 0, 0, 68 [SEP] 8, Cup, -2.881, 1.436, 0.674, 0, 0, 0, 57 [SEP] 9, Cup, -2.892, 1.445, 1.957, 0, 90, 0, 66 [SEP] 10, Plate, -2.375, 0.828, 0.203, 0, 0, 0, 48 [SEP] 11, Knife, -1.374, 0.849, 0.498, 0, 0, 0, 48 [SEP] 12, Tomato, -0.262, 0.106, 2.539, 0, 0, 0, 68 [SEP] 13, Tomato, -2.892, 1.495, 2.485, 0, 90, 0, 66 [SEP] 14, SoapBottle, -2.491, 0.821, 0.500, 0, 0, 0, 48 [SEP] 15, SaltShaker, -2.581, 0.818, 0.953, 0, 0, 0, 48 [SEP] 16, PepperShaker, -1.709, 0.818, 0.046, 0, 0, 0, 48 [SEP] 17, Lettuce, -2.837, 1.529, 2.133, 0, 90, 0, 66 [SEP] 18, Lettuce, -2.837, 1.227, 2.045, 0, 90, 0, 66 [SEP] 19, Apple, -0.395, 0.129, 2.539, 0, 90, 0, 68 [SEP] 20, Apple, -2.781, 0.897, 2.133, 0, 90, 0, 66 [SEP] 21, Fork, -2.023, 0.698, 0.295, 0, 180, 0, 75 [SEP] 22, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 61 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.000, 0.123, 0.401, 0, 0, 0, 60 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -2.782, 0.874, 2.309, 0, 90, 0, 66 [SEP] 27, Potato, -2.671, 1.484, 1.957, 0, 90, 0, 66 [SEP] 28, SaltShaker, -2.172, 0.120, 0.518, 0, 180, 0, 60 [SEP] 29, Plate, -2.691, 1.439, 0.255, 0, 45, 0, 54 [SEP] 30, Spatula, -2.608, 0.838, 0.203, 0, 0, 0, 48 [SEP] 31, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 48 [SEP] 32, Egg, -0.362, 0.080, 2.674, 0, 0, 0, 68 [SEP] 33, Cup, -2.837, 0.825, 2.485, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 66 [SEP] 36, PepperShaker, -0.477, 0.818, 0.658, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.504, 0.823, 0.871, 0, 0, 0, 48 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -2.563, 0.693, 1.511, 0, 0, 0, 53 [SEP] 40, Mug, -2.810, 0.916, 1.178, 0, 270, 0, 67 [SEP] 41, Bowl, -2.810, 0.918, 1.337, 0, 90, 0, 67 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the fridge. | STEP 2: Take a tomato from the fridge. | STEP 3: Turn around and walk to the stool then turn right and walk to the sink. | STEP 4: Wash the tomato off in the sink on the left then pick it up. | STEP 5: Turn right to face the microwave. | STEP 6: Put the tomato on the counter to the left of the sponge. | END


Input: Put a washed tomato next to the microwave on the counter.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.5, 0, 180, 0,  [SEP] 1, Ladle, -2.540, 1.893, 1.978, 0, 0, 0, 42 [SEP] 2, DishSponge, -2.648, 0.121, 1.510, 0, 0, 0, 59 [SEP] 3, ButterKnife, -1.207, 0.823, 0.508, 0, 0, 0, 48 [SEP] 4, Fork, -1.709, 0.824, 0.518, 0, 0, 0, 48 [SEP] 5, Spoon, -1.189, 0.699, 0.377, 0, 90, 0, 52 [SEP] 6, Egg, -1.412, 0.721, 0.253, 0, 0, 0, 75 [SEP] 7, Egg, -0.229, 0.080, 2.708, 0, 0, 0, 68 [SEP] 8, Cup, -2.881, 1.436, 0.674, 0, 0, 0, 57 [SEP] 9, Cup, -2.892, 1.445, 1.957, 0, 90, 0, 66 [SEP] 10, Plate, -2.375, 0.828, 0.203, 0, 0, 0, 48 [SEP] 11, Knife, -1.374, 0.849, 0.498, 0, 0, 0, 48 [SEP] 12, Tomato, -0.262, 0.106, 2.539, 0, 0, 0, 68 [SEP] 13, Tomato, -2.892, 1.495, 2.485, 0, 90, 0, 66 [SEP] 14, SoapBottle, -2.491, 0.821, 0.500, 0, 0, 0, 48 [SEP] 15, SaltShaker, -2.581, 0.818, 0.953, 0, 0, 0, 48 [SEP] 16, PepperShaker, -1.709, 0.818, 0.046, 0, 0, 0, 48 [SEP] 17, Lettuce, -2.837, 1.529, 2.133, 0, 90, 0, 66 [SEP] 18, Lettuce, -2.837, 1.227, 2.045, 0, 90, 0, 66 [SEP] 19, Apple, -0.395, 0.129, 2.539, 0, 90, 0, 68 [SEP] 20, Apple, -2.781, 0.897, 2.133, 0, 90, 0, 66 [SEP] 21, Fork, -2.023, 0.698, 0.295, 0, 180, 0, 75 [SEP] 22, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 61 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.000, 0.123, 0.401, 0, 0, 0, 60 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -2.782, 0.874, 2.309, 0, 90, 0, 66 [SEP] 27, Potato, -2.671, 1.484, 1.957, 0, 90, 0, 66 [SEP] 28, SaltShaker, -2.172, 0.120, 0.518, 0, 180, 0, 60 [SEP] 29, Plate, -2.691, 1.439, 0.255, 0, 45, 0, 54 [SEP] 30, Spatula, -2.608, 0.838, 0.203, 0, 0, 0, 48 [SEP] 31, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 48 [SEP] 32, Egg, -0.362, 0.080, 2.674, 0, 0, 0, 68 [SEP] 33, Cup, -2.837, 0.825, 2.485, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 66 [SEP] 36, PepperShaker, -0.477, 0.818, 0.658, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.504, 0.823, 0.871, 0, 0, 0, 48 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -2.563, 0.693, 1.511, 0, 0, 0, 53 [SEP] 40, Mug, -2.810, 0.916, 1.178, 0, 270, 0, 67 [SEP] 41, Bowl, -2.810, 0.918, 1.337, 0, 90, 0, 67 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the fridge. | STEP 2: Pick up the tomato in the fridge.  | STEP 3: Bring the tomato to the sink on the left. | STEP 4: Wash the tomato in the left sink.  | STEP 5: Bring the washed tomato to the microwave on the left. | STEP 6: Put the washed tomato down on the counter, next to the microwave. | END


Input: Put the cell phone in the bowl on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -1.0, 0, 0, 0,  [SEP] 1, Mug, 1.423, 0.727, 1.562, 0, 0, 0, 42 [SEP] 2, CellPhone, 0.021, 0.696, -1.794, 0, 0, 0, 44 [SEP] 3, CellPhone, 1.205, 0.782, 0.107, 0, 0, 0, 31 [SEP] 4, Pencil, -0.095, 0.693, -1.616, 0, 0, 0, 44 [SEP] 5, CreditCard, 1.016, 0.728, 1.066, 0, 0, 0, 42 [SEP] 6, CreditCard, 1.310, 1.138, 1.558, 0, 270, 0, 39 [SEP] 7, KeyChain, 0.078, 0.389, -1.593, 0, 270, 0, 46 [SEP] 8, KeyChain, 1.405, 1.139, 1.558, 0, 270, 0, 39 [SEP] 9, Pillow, 0.704, 0.849, -0.440, 0, 0, 0, 31 [SEP] 10, Pillow, 0.704, 0.849, 0.107, 0, 0, 0, 31 [SEP] 11, Book, 1.152, 0.730, 1.396, 0, 0, 0, 42 [SEP] 12, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 13, CellPhone, 0.955, 0.782, 0.107, 0, 0, 0, 31 [SEP] 14, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 15, Bowl, 1.342, 1.138, 1.246, 0, 270, 0, 39 [SEP] 16, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 17, Laptop, 0.704, 0.776, -1.537, 0, 0, 0, 31 [SEP] 18, CreditCard, -0.213, 0.690, -1.838, 0, 0, 0, 44 [SEP] 19, KeyChain, 0.164, 0.389, -1.593, 0, 270, 0, 46 [SEP] 20, AlarmClock, 1.084, 0.729, 1.727, 0, 0, 0, 42 [SEP] 21, Pencil, -0.213, 0.696, -1.616, 0, 0, 0, 44 [SEP] 22, Pillow, 1.205, 0.849, -0.714, 0, 0, 0, 31 [SEP] 23, CD, 1.098, 0.315, 1.808, 0, 0, 0, 43 [SEP] 24, Pen, 1.173, 0.081, 1.595, 0, 0, 0, 40 [SEP] 25, Mug, 1.405, 1.136, 1.402, 0, 0, 0, 39 [SEP] 26, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 27, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 28, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 29, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 30, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 31, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 32, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 33, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 34, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 35, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 36, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 37, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 38, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 39, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 40, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 41, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 42, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 43, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 44, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 45, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 46, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the bed. | STEP 2: Pick up the nearest cell phone on the bed. | STEP 3: Go to the desk, to the left of the bed. | STEP 4: Put the cell phone in the bowl, on the desk. | STEP 5: Pick up the bowl with the cell phone in it. | STEP 6: Turn down, to look toward the desk. | STEP 7: Place the bowl on the right front corner of the desk. | END


Input: Put a bowl with a phone in it on the right side of the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -1.0, 0, 0, 0,  [SEP] 1, Mug, 1.423, 0.727, 1.562, 0, 0, 0, 42 [SEP] 2, CellPhone, 0.021, 0.696, -1.794, 0, 0, 0, 44 [SEP] 3, CellPhone, 1.205, 0.782, 0.107, 0, 0, 0, 31 [SEP] 4, Pencil, -0.095, 0.693, -1.616, 0, 0, 0, 44 [SEP] 5, CreditCard, 1.016, 0.728, 1.066, 0, 0, 0, 42 [SEP] 6, CreditCard, 1.310, 1.138, 1.558, 0, 270, 0, 39 [SEP] 7, KeyChain, 0.078, 0.389, -1.593, 0, 270, 0, 46 [SEP] 8, KeyChain, 1.405, 1.139, 1.558, 0, 270, 0, 39 [SEP] 9, Pillow, 0.704, 0.849, -0.440, 0, 0, 0, 31 [SEP] 10, Pillow, 0.704, 0.849, 0.107, 0, 0, 0, 31 [SEP] 11, Book, 1.152, 0.730, 1.396, 0, 0, 0, 42 [SEP] 12, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 13, CellPhone, 0.955, 0.782, 0.107, 0, 0, 0, 31 [SEP] 14, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 15, Bowl, 1.342, 1.138, 1.246, 0, 270, 0, 39 [SEP] 16, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 17, Laptop, 0.704, 0.776, -1.537, 0, 0, 0, 31 [SEP] 18, CreditCard, -0.213, 0.690, -1.838, 0, 0, 0, 44 [SEP] 19, KeyChain, 0.164, 0.389, -1.593, 0, 270, 0, 46 [SEP] 20, AlarmClock, 1.084, 0.729, 1.727, 0, 0, 0, 42 [SEP] 21, Pencil, -0.213, 0.696, -1.616, 0, 0, 0, 44 [SEP] 22, Pillow, 1.205, 0.849, -0.714, 0, 0, 0, 31 [SEP] 23, CD, 1.098, 0.315, 1.808, 0, 0, 0, 43 [SEP] 24, Pen, 1.173, 0.081, 1.595, 0, 0, 0, 40 [SEP] 25, Mug, 1.405, 1.136, 1.402, 0, 0, 0, 39 [SEP] 26, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 27, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 28, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 29, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 30, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 31, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 32, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 33, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 34, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 35, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 36, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 37, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 38, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 39, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 40, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 41, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 42, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 43, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 44, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 45, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 46, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and face the left end of the bed. | STEP 2: Pick up the closest phone on the bed. | STEP 3: Go left and stand in front of the desk. | STEP 4: Put the phone in the bowl. | STEP 5: Pick up the bowl with the phone from the desk. | STEP 6: Move a couple of steps back from the desk. | STEP 7: Put the bowl with the phone in it on the far right side of the desk. | END