Input: Put a chilled pan 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, 0.75, 0, 90, 0,  [SEP] 1, Potato, -0.167, 0.977, 2.478, 0, 90, 0, 45 [SEP] 2, DishSponge, 0.629, 0.794, 2.529, 0, 0, 0, 69 [SEP] 3, Spoon, -0.282, 0.938, 2.548, 0, 0, 0, 45 [SEP] 4, Egg, 1.276, 0.837, 2.750, 0, 0, 0, 69 [SEP] 5, Egg, 2.301, 0.980, 0.361, 0, 0, 0, 56 [SEP] 6, SoapBottle, -0.396, 0.938, 2.757, 0, 0, 0, 45 [SEP] 7, Tomato, 0.629, 0.841, 2.750, 0, 0, 0, 69 [SEP] 8, Tomato, -0.053, 0.983, 2.827, 0, 0, 0, 45 [SEP] 9, Bowl, 2.165, 1.500, 0.448, 0, 0, 0, 43 [SEP] 10, Bowl, 1.156, 0.078, 2.523, 0, 0, 0, 51 [SEP] 11, SaltShaker, 0.566, 0.076, 2.484, 0, 0, 0, 52 [SEP] 12, PepperShaker, 0.495, 0.076, 2.562, 0, 0, 0, 52 [SEP] 13, PepperShaker, 1.855, 1.498, 2.843, 0, 0, 0, 46 [SEP] 14, Egg, 2.257, 0.980, 2.821, 0, 0, 0, 45 [SEP] 15, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 45 [SEP] 16, Fork, -0.272, 0.791, 1.217, 0, 0, 0, 72 [SEP] 17, SoapBottle, 2.002, 0.082, 2.057, 0, 0, 0, 41 [SEP] 18, Ladle, 0.037, 0.790, 2.197, 0, 270, 0, 44 [SEP] 19, Ladle, -0.041, 0.125, 2.129, 0, 0, 0, 39 [SEP] 20, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 72 [SEP] 21, SaltShaker, 1.790, 0.932, 2.821, 0, 0, 0, 45 [SEP] 22, Potato, 2.304, 0.977, 2.260, 0, 180, 0, 45 [SEP] 23, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 40 [SEP] 24, WineBottle, 1.844, 0.938, 1.964, 0, 0, 0, 45 [SEP] 25, Spatula, 1.065, 0.810, 2.695, 0, 270, 0, 69 [SEP] 26, Knife, -0.138, 0.772, 2.197, 0, 270, 0, 44 [SEP] 27, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 56 [SEP] 28, Apple, 0.735, 0.845, 2.529, 0, 0, 0, 69 [SEP] 29, ButterKnife, 1.917, 0.938, 0.361, 0, 180, 0, 56 [SEP] 30, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 49 [SEP] 31, PepperShaker, 2.301, 0.933, 0.806, 0, 0, 0, 56 [SEP] 32, Cup, 2.241, 1.501, 0.725, 0, 0, 0, 53 [SEP] 33, DishSponge, 2.282, 1.500, 2.425, 0, 0, 0, 38 [SEP] 34, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 72 [SEP] 35, Spoon, 1.919, 0.746, 2.060, 0, 0, 0, 60 [SEP] 36, Mug, 2.205, 1.943, 1.468, 0, 0, 0, 50 [SEP] 37, Bowl, -0.294, 1.032, 2.068, 0, 90, 0, 70 [SEP] 38, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 39, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 40, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 41, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 42, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 43, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 44, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 45, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 46, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 47, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 48, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 49, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 50, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 51, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 52, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 54, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 55, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 56, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 57, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 58, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 59, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 60, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 61, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 62, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 63, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 64, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 65, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 66, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 67, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 68, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 69, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 70, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 71, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 72, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 73, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 74, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 75, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Move to the left and face the left side of the stove. | STEP 2: Pick the pan up from the back of the stove. | STEP 3: Turn to the right and then the left to face the fridge. | STEP 4: Put the pan in the fridge and shut the door and then open the door and pick the pan up again. | STEP 5: Turn around and face the white table behind. | STEP 6: Put the pan down on the table. | END


Input: Move a spoon and cup from a table to a sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.914, 2.75, 0, 90, 0,  [SEP] 1, DishSponge, -3.368, 0.915, 1.607, 0, 0, 0, 58 [SEP] 2, ButterKnife, -0.994, 0.891, 0.049, 0, 90, 0, 85 [SEP] 3, ButterKnife, -3.463, 0.915, 1.273, 0, 0, 0, 58 [SEP] 4, WineBottle, -2.126, 0.916, 4.231, 0, 0, 0, 49 [SEP] 5, WineBottle, -3.540, 1.460, 3.224, 0, 0, 0, 56 [SEP] 6, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 55 [SEP] 7, Kettle, -2.840, 0.081, 3.663, 0, 0, 0, 61 [SEP] 8, Spatula, -3.185, 0.760, 1.202, 0, 90, 0, 50 [SEP] 9, Spatula, -3.654, 0.930, 1.106, 0, 90, 0, 58 [SEP] 10, Spoon, -1.921, 0.790, 3.737, 0, 180, 0, 79 [SEP] 11, Spoon, -1.787, 0.892, 0.152, 0, 90, 0, 85 [SEP] 12, Spoon, -1.523, 0.892, 0.049, 0, 90, 0, 85 [SEP] 13, Cup, -0.556, 1.273, 4.027, 0, 180, 0, 75 [SEP] 14, Knife, -3.176, 0.939, 1.189, 0, 90, 0, 58 [SEP] 15, Knife, -1.523, 0.915, 0.461, 0, 270, 0, 85 [SEP] 16, Tomato, -0.994, 0.960, 0.152, 0, 90, 0, 85 [SEP] 17, SoapBottle, -1.161, 0.087, 3.756, 0, 270, 0, 81 [SEP] 18, Bowl, -3.505, 1.545, 2.120, 0, 90, 0, 80 [SEP] 19, SaltShaker, -3.463, 0.911, 3.827, 0, 0, 0, 49 [SEP] 20, PepperShaker, -1.127, 0.887, 0.255, 0, 90, 0, 85 [SEP] 21, PepperShaker, -1.523, 0.887, 0.564, 0, 90, 0, 85 [SEP] 22, Lettuce, -1.259, 0.977, 0.049, 0, 90, 0, 85 [SEP] 23, Mug, -1.666, 0.784, 3.625, 0, 0, 0, 79 [SEP] 24, Mug, -1.985, 0.784, 3.662, 0, 90, 0, 79 [SEP] 25, Apple, -3.081, 0.975, 1.607, 0, 0, 0, 58 [SEP] 26, Egg, -1.666, 0.824, 3.811, 0, 0, 0, 79 [SEP] 27, Knife, -2.402, 0.939, 3.890, 0, 0, 0, 49 [SEP] 28, Fork, -1.259, 0.892, 0.152, 0, 90, 0, 85 [SEP] 29, Bread, -0.994, 0.972, 0.358, 0, 90, 0, 85 [SEP] 30, Potato, -3.368, 0.948, 1.189, 0, 0, 0, 58 [SEP] 31, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 49 [SEP] 32, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 52 [SEP] 33, Kettle, -3.424, 0.966, 1.971, 0, 0, 0, 57 [SEP] 34, WineBottle, -3.573, 1.460, 2.846, 0, 0, 0, 56 [SEP] 35, Bowl, -3.654, 0.914, 1.440, 0, 0, 0, 58 [SEP] 36, Tomato, -3.654, 0.984, 3.663, 0, 0, 0, 49 [SEP] 37, Cup, -1.523, 0.891, -0.053, 0, 90, 0, 85 [SEP] 38, Spatula, -1.711, 0.930, 4.062, 0, 90, 0, 49 [SEP] 39, SoapBottle, -1.608, 0.915, 4.231, 0, 0, 0, 49 [SEP] 40, Lettuce, -1.259, 0.977, 0.358, 0, 180, 0, 85 [SEP] 41, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 49 [SEP] 42, Apple, -2.905, 0.975, 4.106, 0, 0, 0, 49 [SEP] 43, SaltShaker, -1.919, 0.911, 4.146, 0, 0, 0, 49 [SEP] 44, PepperShaker, -3.176, 0.912, 1.440, 0, 0, 0, 58 [SEP] 45, ButterKnife, -1.787, 0.891, 0.152, 0, 90, 0, 85 [SEP] 46, DishSponge, -3.231, 0.083, 1.278, 0, 0, 0, 68 [SEP] 47, Spoon, -3.272, 0.916, 1.357, 0, 0, 0, 58 [SEP] 48, Mug, -0.440, 1.536, 4.067, 0, 180, 0, 75 [SEP] 49, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 50, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 51, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 52, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 53, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 54, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 55, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 56, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 57, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 58, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 59, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 60, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 61, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 62, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 63, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 64, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 65, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 66, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 67, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 68, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 69, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 70, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 71, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 72, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 73, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 74, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 75, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 76, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 77, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 78, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 79, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 80, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 81, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 82, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 83, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 84, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 85, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 86, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Go to the white table | STEP 2: Pick up the spoon and cup from the table | STEP 3: Go to the sink | STEP 4: Place the spoon and cup in the sink | END


Input: To pick up a pencil and turn the lamp on.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Bowl, -1.259, 0.794, -1.696, 0, 0, 0, 46 [SEP] 2, Bowl, -1.283, 1.824, -1.431, 0, 0, 0, 33 [SEP] 3, Pencil, -0.376, 0.796, -1.760, 0, 0, 0, 46 [SEP] 4, Pencil, -0.585, 0.840, -2.072, 0, 0, 0, 29 [SEP] 5, Pen, 0.459, 0.682, -1.635, 0, 0, 0, 45 [SEP] 6, KeyChain, -0.773, 0.793, -1.322, 0, 53.910, 0, 46 [SEP] 7, KeyChain, -0.911, 0.793, -0.385, 0, 0, 0, 46 [SEP] 8, Book, 0.953, 0.578, -0.891, 0, 0, 0, 47 [SEP] 9, Book, -1.194, 0.794, -0.600, 0, 0, 0, 46 [SEP] 10, AlarmClock, -1.194, 0.794, -0.385, 0, 0, 0, 46 [SEP] 11, AlarmClock, -0.315, 0.838, -2.107, 0, 0, 0, 29 [SEP] 12, Book, -0.66, 0.783, -1.69, 0, 312.959, 0, 46 [SEP] 13, Pencil, -1.283, 1.462, -1.431, 0, 0, 0, 30 [SEP] 14, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 46 [SEP] 15, Pen, -1.265, 0.798, -1.243, 0, 0, 0, 46 [SEP] 16, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180,  [SEP] 17, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 47 [SEP] 18, Pillow, 1.387, 0.666, -0.166, 0, 0, 0, 47 [SEP] 19, CellPhone, 1.676, 0.578, -1.373, 0, 0, 0, 47 [SEP] 20, KeyChain, 1.536, 0.039, 0.595, 0, 0, 0, 42 [SEP] 21, AlarmClock, 0.305, 0.673, 1.257, 0, 0, 0, 38 [SEP] 22, CreditCard, 0.323, 0.673, -1.537, 0, 0, 0, 45 [SEP] 23, CD, 1.588, 0.039, 0.328, 0, 0, 0, 42 [SEP] 24, Bowl, -1.265, 0.794, -1.028, 0, 0, 0, 46 [SEP] 25, Bed, 1.242, -0.001, -0.881, 0, 180, 0,  [SEP] 26, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0,  [SEP] 27, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168,  [SEP] 28, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0,  [SEP] 29, Shelf, -0.469, 0.828, -2.038, 0, 0, 0,  [SEP] 30, Shelf, -1.286, 1.451, -1.343, 0, 0, 0,  [SEP] 31, Shelf, -1.286, 1.451, -0.602, 0, 0, 0,  [SEP] 32, Shelf, -1.286, 1.814, -0.602, 0, 0, 0,  [SEP] 33, Shelf, -1.286, 1.814, -1.343, 0, 0, 0,  [SEP] 34, Painting, 1.111, 1.628, -1.865, 90, 0, 0,  [SEP] 35, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0,  [SEP] 36, Mirror, -1.383, 1.565, 0.512, 0, 270, 0,  [SEP] 37, Window, -0.472, 1.396, -2.252, 90, 0, 0,  [SEP] 38, SideTable, 0.304, -0.001, 1.225, 0, 180, 0,  [SEP] 39, Drawer, 0.304, 0.165, 1.159, 0, 180, 0,  [SEP] 40, Drawer, 0.304, 0.457, 1.159, 0, 180, 0,  [SEP] 41, Blinds, -0.453, 2.156, -2.242, 0, 0, 0,  [SEP] 42, Safe, 1.623, 5.960, 0.448, 0, 270, 0,  [SEP] 43, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0,  [SEP] 44, Drawer, 0.416, 0.532, -1.553, 0, 0, 0,  [SEP] 45, SideTable, 0.413, 0.000, -1.684, 0, 0, 0,  [SEP] 46, Desk, -0.788, 0.000, -1.032, 0, 90, 0,  [SEP] 47, , , , , , , ,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the desk.  | STEP 2: Pick up the pencil in front of the magazine.  | STEP 3: Turn right and walk to the drawers in front of you with the lamp on it.  | STEP 4: Turn the lamp on that's on the drawers.  | END


Input: Put a basketball 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, 1.5, 0.900, -0.75, 0, 180, 0,  [SEP] 1, CD, 2.170, 0.458, -0.484, 0, 0, 0, 28 [SEP] 2, CD, 2.282, 0.048, 2.606, 0, 0, 0, 26 [SEP] 3, CellPhone, -0.225, 0.927, -0.604, 0, 0, 0, 35 [SEP] 4, Pen, -0.509, 0.930, -0.604, 0, 0, 0, 35 [SEP] 5, Pencil, -0.131, 0.928, -0.818, 0, 0, 0, 35 [SEP] 6, CreditCard, -0.603, 0.925, -0.604, 0, 0, 0, 35 [SEP] 7, AlarmClock, -0.320, 0.925, -1.245, 0, 0, 0, 35 [SEP] 8, Box, 2.15, 0.14, 0.494, 0, 12.243, 0,  [SEP] 9, Book, -0.414, 0.926, -0.391, 0, 0, 0, 35 [SEP] 10, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0,  [SEP] 11, Pen, 2.190, 0.848, -0.221, 0, 180, 0, 30 [SEP] 12, Pillow, 0.333, 0.617, 0.971, 0, 0, 0, 20 [SEP] 13, Pencil, -0.404, 0.670, -0.376, 0, 0, 0, 36 [SEP] 14, CellPhone, -0.148, 0.552, 0.678, 0, 0, 0, 20 [SEP] 15, KeyChain, 2.333, 0.843, -0.090, 0, 0, 0, 30 [SEP] 16, CreditCard, 2.238, 0.842, -0.484, 0, 0, 0, 30 [SEP] 17, AlarmClock, -0.509, 0.925, -1.459, 0, 0, 0, 35 [SEP] 18, CD, -0.131, 0.924, -1.032, 0, 0, 0, 35 [SEP] 19, Laptop, -0.309, 0.548, 2.140, 0, 0, 0, 20 [SEP] 20, Bed, 0.009, -0.004, 1.577, 0, 0, 0,  [SEP] 21, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0,  [SEP] 22, Painting, -0.787, 1.809, -0.215, 90, 270, 0,  [SEP] 23, Painting, -0.787, 1.809, 1.023, 90, 270, 0,  [SEP] 24, Mirror, 2.118, 1.277, 2.749, 0, 0, 0,  [SEP] 25, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0,  [SEP] 26, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0,  [SEP] 27, Window, 0.665, 1.356, -1.911, 90, 0, 0,  [SEP] 28, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0,  [SEP] 29, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0,  [SEP] 30, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0,  [SEP] 31, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0,  [SEP] 32, Blinds, 0.695, 1.983, -1.867, 0, 0, 0,  [SEP] 33, Drawer, -0.079, 0.513, -0.394, 0, 90, 0,  [SEP] 34, Drawer, -0.079, 0.226, -0.394, 0, 90, 0,  [SEP] 35, Desk, -0.391, 0.001, -0.811, 0, 90, 0,  [SEP] 36, Drawer, -0.079, 0.762, -0.394, 0, 90, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn to your right and go to the small, open area between the desk and the bed.  | STEP 2: Pick up the basketball on the floor, between the desk and the bed.  | STEP 3: Move over to the bed to the right of you.  | STEP 4: Place the basketball on the bed. | END


Input: move rag from tub to back of toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.902, -0.75, 0, 270, 0,  [SEP] 1, Candle, -1.254, 1.087, 0.784, 0, 180, 0, 33 [SEP] 2, SoapBar, -2.496, 0.081, 0.502, 0, 0, 0, 18 [SEP] 3, SoapBar, -2.890, 0.182, -1.584, 0, 0, 0, 28 [SEP] 4, SprayBottle, -2.541, 0.082, 0.567, 0, 0, 0, 18 [SEP] 5, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 27 [SEP] 6, Candle, -1.777, 0.122, 0.696, 0, 0, 0, 20 [SEP] 7, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 31 [SEP] 8, SoapBar, -2.049, 0.081, 0.760, 0, 0, 0, 21 [SEP] 9, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 32 [SEP] 10, Cloth, 0.488, 0.034, 0.118, 0, 270, 0, 29 [SEP] 11, ToiletPaper, -0.865, 1.041, 0.945, 329.623, 0, 0, 33 [SEP] 12, SprayBottle, -2.004, 0.082, 0.825, 0, 0, 0, 21 [SEP] 13, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 14, SoapBottle, -2.813, 0.083, 0.760, 0, 0, 0, 16 [SEP] 15, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 16, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0,  [SEP] 17, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0,  [SEP] 18, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0,  [SEP] 19, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0,  [SEP] 20, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0,  [SEP] 21, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0,  [SEP] 22, Sink, -1.924, 0.930, 0.675, 0, 180, 0,  [SEP] 23, Faucet, -1.922, 1.015, 0.887, 0, 0, 0,  [SEP] 24, Mirror, -2.306, 1.526, 1.001, 0, 0, 0,  [SEP] 25, Faucet, -2.681, 1.015, 0.887, 0, 0, 0,  [SEP] 26, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0,  [SEP] 27, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0,  [SEP] 28, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0,  [SEP] 29, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0,  [SEP] 30, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0,  [SEP] 31, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0,  [SEP] 33, Toilet, -1.054, 0.001, 0.552, 0, 270, 0,  [SEP] 34, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0,  [SEP] 35, Faucet, 0.270, 0.670, 0.906, 0, 0, 0,  [SEP] 36, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0,  [SEP] 37, Sink, -2.681, 0.930, 0.675, 0, 180, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: turn around, walk across room to tub | STEP 2: pick up the purple rag that is in the tub | STEP 3: turn around to face the toilet | STEP 4: put the rag on the back of the toilet | END


Input: Pick up the credit card on the couch and turn on the light to see the credit card SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -6.25, 0.905, 2.5, 0, 180, 0,  [SEP] 1, Statue, -2.116, 1.107, 4.153, 0, 0, 0, 24 [SEP] 2, Watch, -0.309, 0.860, 3.780, 0, 0, 0, 45 [SEP] 3, KeyChain, -1.980, 0.455, 1.716, 0, 0, 0, 38 [SEP] 4, CreditCard, -6.567, 0.411, -0.091, 0, 56.714, 0, 39 [SEP] 5, CreditCard, -1.934, 0.501, 0.108, 0, 0, 0, 43 [SEP] 6, CreditCard, -4.216, 0.421, 1.396, 0, 0, 0, 41 [SEP] 7, RemoteControl, -1.565, 0.456, 1.612, 0, 0, 0, 38 [SEP] 8, RemoteControl, -0.366, 0.857, 3.663, 0, 0, 0, 45 [SEP] 9, Pillow, -2.525, 0.596, 0.578, 0, 0, 0, 43 [SEP] 10, Box, -1.7, 0.307, 4.296, 0, 0, 0, Floor|-03.53| [SEP] 11, Watch, -6.695, 0.412, 0.156, 0, 326.715, 0, 39 [SEP] 12, Pillow, -1.773, 0.549, 1.716, 0, 0, 0, 38 [SEP] 13, WateringCan, -0.269, 0.005, 2.366, 1.834, 0, 0, Floor|-03.53| [SEP] 14, Newspaper, -3.115, 0.501, 0.202, 0, 0, 0, 43 [SEP] 15, KeyChain, -2.289, 0.607, 4.151, 0, 90, 0, 26 [SEP] 16, Laptop, -1.638, 0.5, 0.296, 0, 0, 0, 43 [SEP] 17, RemoteControl, -2.229, 0.503, 0.296, 0, 0, 0, 43 [SEP] 18, CreditCard, -2.820, 0.501, 0.672, 0, 0, 0, 43 [SEP] 19, Statue, -2.56, 1.105, 4.226, 0, 0, 0, 24 [SEP] 20, Curtains, -0.089, 2.460, 2.111, 0, 0, 0,  [SEP] 21, Curtains, -1.146, 1.383, 4.530, 0, 0, 0,  [SEP] 22, Drawer, -2.288, 0.267, 4.112, 0, 180, 0,  [SEP] 23, Drawer, -2.836, 0.750, 4.111, 0, 180, 0,  [SEP] 24, Dresser, -2.560, 0.005, 4.224, 0, 180, 0,  [SEP] 25, Drawer, -2.834, 0.267, 4.113, 0, 180, 0,  [SEP] 26, Drawer, -2.288, 0.749, 4.110, 0, 180, 0,  [SEP] 27, LightSwitch, -7.0, 1.363, 2.605, 0, 74.999, 0,  [SEP] 28, Television, -2.554, 1.583, 4.300, 0, 180, 0,  [SEP] 29, FloorLamp, -0.301, 0.014, -0.129, 1.374, 0, 0,  [SEP] 30, Painting, 0.0, 1.583, 4.006, 90, 270, 0,  [SEP] 31, DeskLamp, -6.766, 0.411, -0.028, 0, 0, 0,  [SEP] 32, GarbageCan, -4.115, -0.032, -0.161, 0, 0, 0,  [SEP] 33, Painting, -3.704, 1.718, 4.600, 90, 180, 0,  [SEP] 34, Window, -0.037, 1.705, 2.096, 90, 270, 0,  [SEP] 35, Window, -1.157, 1.697, 4.593, 90, 180, 0,  [SEP] 36, HousePlant, -0.287, 0.395, 2.108, 0, 0, 0,  [SEP] 37, Chair, -6.022, 0.005, 0.092, 0, 338.430, 0,  [SEP] 38, Ottoman, -1.773, 0.004, 1.807, 0, 0, 0,  [SEP] 39, SideTable, -6.720, 0.006, 1.513, 0, 326.715, 0,  [SEP] 40, SideTable, -4.292, 0.006, 0.413, 0, 0, 0,  [SEP] 41, ArmChair, -4.384, 0.008, 1.395, 0, 90, 0,  [SEP] 42, SideTable, -0.253, 0.004, 2.102, 0, 0, 0,  [SEP] 43, Sofa, -2.524, 0.010, 0.263, 0, 0, 0,  [SEP] 44, Drawer, -0.357, 0.208, 3.798, 0, 0, 0,  [SEP] 45, Dresser, -0.271, 0.004, 4.011, 0, 270, 0,  [SEP] 46, Drawer, -0.359, 0.581, 3.795, 0, 0, 0,  [SEP] 47, Drawer, -0.357, 0.583, 4.225, 0, 0, 0,  [SEP] 48, Drawer, -0.358, 0.210, 4.221, 0, 0, 0,  [SEP] 49, DogBed, -0.844, 0.007, 0.138, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn left and move to the laptop on the couch | STEP 2: Pick up the credit card from the couch | STEP 3: Turn left and move to the lamp | STEP 4: Turn on the lamp | END


Input: Pick up soap from toilet, use it, wash hands, place it back. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, 3.25, 0, 0, 0,  [SEP] 1, SoapBar, -3.451, 0.826, 1.862, 0, 0, 0, 15 [SEP] 2, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 28 [SEP] 3, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 32 [SEP] 4, Candle, -1.211, 0.546, 2.039, 0, 0, 0, 16 [SEP] 5, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 33 [SEP] 6, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 7, SoapBar, -0.987, 1.044, 4.263, 0, 270, 0, 35 [SEP] 8, ToiletPaper, -1.401, 0.534, 1.780, 0, 0, 0, 16 [SEP] 9, Cloth, -1.509, 0.887, 1.744, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 36 [SEP] 11, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 27 [SEP] 12, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 13, SoapBottle, -2.192, 0.828, 1.756, 0, 0, 0, 15 [SEP] 14, SprayBottle, -1.086, 0.121, 3.608, 0, 0, 0, 34 [SEP] 15, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0,  [SEP] 16, Drawer, -1.307, 0.606, 1.890, 0, 0, 0,  [SEP] 17, Drawer, -1.307, 0.337, 1.890, 0, 0, 0,  [SEP] 18, Faucet, -4.646, 0.448, 1.689, 0, 0, 0,  [SEP] 19, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0,  [SEP] 20, Drawer, -3.029, 0.337, 1.890, 0, 0, 0,  [SEP] 21, Drawer, -2.169, 0.606, 1.890, 0, 0, 0,  [SEP] 22, Drawer, -3.029, 0.606, 1.890, 0, 0, 0,  [SEP] 23, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0,  [SEP] 24, Drawer, -2.169, 0.337, 1.890, 0, 0, 0,  [SEP] 25, Mirror, -2.177, 1.856, 1.390, 0, 0, 0,  [SEP] 26, Sink, -1.421, 0.837, 1.776, 0, 0, 0,  [SEP] 27, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0,  [SEP] 28, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0,  [SEP] 29, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0,  [SEP] 30, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0,  [SEP] 31, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0,  [SEP] 32, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0,  [SEP] 33, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0,  [SEP] 34, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0,  [SEP] 35, Toilet, -1.340, -0.000, 4.456, 0, 0, 0,  [SEP] 36, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0,  [SEP] 37, Faucet, -1.421, 0.954, 1.507, 0, 0, 0,  [SEP] 38, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0,  [SEP] 39, Faucet, -2.944, 0.954, 1.507, 0, 0, 0,  [SEP] 40, Sink, -2.943, 0.837, 1.776, 0, 0, 0,  [SEP] 41, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Go straight, turn right towards toilet. | STEP 2: Pick up soap near toilet. | STEP 3: Turn right, then turn left, go to sink. | STEP 4: Turn sink on, wash with soap. | STEP 5: Pick soap back up, turn left. | STEP 6: go straight, towards toilet, place soap back onto rack. | END


Input: Place a clean potato slice 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, 3.0, 0, 90, 0,  [SEP] 1, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 56 [SEP] 2, Ladle, 2.100, 0.803, 3.969, 0, 270, 0, 53 [SEP] 3, ButterKnife, 2.203, 0.764, 4.251, 0, 329.999, 0, 53 [SEP] 4, WineBottle, 2.706, 1.027, 0.068, 0, 0, 0, 52 [SEP] 5, WineBottle, 2.451, 0.765, 4.495, 0, 0, 0, 53 [SEP] 6, Glassbottle, -0.922, 1.442, -0.405, 0, 90, 0, 96 [SEP] 7, Spatula, -0.851, 0.831, 1.570, 0, 180, 0, 109 [SEP] 8, Spatula, -0.920, 1.042, 2.556, 0, 0, 0, 55 [SEP] 9, Spoon, 1.950, 1.028, 1.158, 0, 136.999, 0, 52 [SEP] 10, Plate, 2.875, 1.027, -1.151, 0, 0, 0, 52 [SEP] 11, Plate, -1.013, 1.442, -0.627, 0, 90, 0, 96 [SEP] 12, Tomato, 2.113, 0.818, 3.527, 0, 225, 0, 53 [SEP] 13, Tomato, -0.858, 0.383, -0.627, 0, 90, 0, 96 [SEP] 14, SoapBottle, 1.409, 1.025, -1.881, 0, 90, 0, 52 [SEP] 15, Bowl, 2.801, 0.762, 4.044, 0, 270, 0, 53 [SEP] 16, PepperShaker, 2.096, 0.798, 0.911, 0, 317.0, 0, 65 [SEP] 17, PepperShaker, 2.662, 0.760, 3.455, 0, 329.999, 0, 53 [SEP] 18, Bread, 2.959, 1.094, -0.236, 0, 0, 0, 52 [SEP] 19, Bread, 2.525, 0.832, 3.445, 0, 0, 0, 53 [SEP] 20, Lettuce, 2.346, 0.822, 4.074, 0, 225, 0, 53 [SEP] 21, Lettuce, 2.302, 0.822, 3.795, 0, 0, 0, 53 [SEP] 22, Mug, -1.069, 0.781, -0.516, 0, 90, 0, 96 [SEP] 23, Apple, -1.059, 1.492, -0.073, 0, 90, 0, 96 [SEP] 24, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 50 [SEP] 25, Glassbottle, 2.561, 0.033, -0.169, 0, 0, 0, 93 [SEP] 26, Knife, 2.706, 1.052, -0.541, 0, 0, 0, 52 [SEP] 27, SoapBottle, 3.062, 0.031, -0.638, 0, 0, 0, 93 [SEP] 28, Egg, -0.968, 1.486, -0.184, 0, 90, 0, 96 [SEP] 29, Fork, 2.650, 0.802, 0.210, 0, 0, 0, 63 [SEP] 30, Potato, -1.102, 1.069, 1.058, 0, 0, 0, 55 [SEP] 31, Ladle, -0.714, 0.855, 1.492, 0, 180, 0, 109 [SEP] 32, Tomato, -0.947, 0.839, -0.738, 0, 90, 0, 96 [SEP] 33, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 51 [SEP] 34, WineBottle, -1.102, 1.028, 1.243, 0, 0, 0, 55 [SEP] 35, Plate, -0.544, 1.027, 0.692, 0, 0, 0, 55 [SEP] 36, Spatula, 1.836, 0.816, 1.387, 0, 227.0, 0, 66 [SEP] 37, PaperTowelRoll, 2.525, 0.868, 4.495, 0, 180, 0, 53 [SEP] 38, Lettuce, 2.763, 0.822, 3.726, 0, 329.999, 0, 53 [SEP] 39, Apple, 2.626, 0.814, 4.044, 0, 270, 0, 53 [SEP] 40, SaltShaker, 2.243, 0.760, 3.657, 0, 225, 0, 53 [SEP] 41, PepperShaker, -0.374, 1.023, 1.079, 0, 0, 0, 55 [SEP] 42, ButterKnife, 2.840, 0.764, 4.359, 0, 225, 0, 53 [SEP] 43, Bread, 2.331, 0.832, 4.325, 0, 329.999, 0, 53 [SEP] 44, Cup, 2.671, 0.763, 3.885, 0, 329.999, 0, 53 [SEP] 45, DishSponge, -0.803, 0.800, 2.372, 0, 0, 0, 58 [SEP] 46, Bowl, -0.897, 2.288, -0.489, 0, 0, 0, 84 [SEP] 47, Spoon, 2.735, 0.765, 4.464, 0, 225, 0, 53 [SEP] 48, Mug, -1.059, 1.437, -0.295, 0, 90, 0, 96 [SEP] 49, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 50, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 51, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 52, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 53, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 54, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 55, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 56, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 57, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 58, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 59, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 60, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 62, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 63, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 64, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 65, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 66, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 67, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 68, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 69, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 70, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 71, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 72, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 73, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 74, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 75, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 76, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 77, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 78, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 79, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 80, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 81, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 82, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 83, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 84, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 85, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 86, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 87, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 88, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 89, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 90, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 91, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 92, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 93, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 94, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 95, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 96, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 97, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 98, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 99, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 100, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 101, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 102, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 103, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 104, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 105, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 106, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 107, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 108, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 109, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 110, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 111, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 112, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 113, , , , , , , ,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Move forward and face the table on your left. | STEP 2: Take the knife off the table in front of you. | STEP 3: Turn left then left again and face the sink to your right. | STEP 4: Slice the potato near the sink in front of you. | STEP 5: Turn right then face the sink on your left. | STEP 6: Place the knife in the sink in front of you. | STEP 7: Turn left and face the potato near the sink on your right. | STEP 8: Take a potato slice off the counter in front of you. | STEP 9: Turn right then face the sink on your left. | STEP 10: Place the potato in the sink in front of you, wash it and take it out. | STEP 11: Turn right, then right again and face the table to your left. | STEP 12: Place the potato slice on the table in front of you. | END


Input: Move the alarm clock to the under 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, 0.901, -0.5, 0, 90, 0,  [SEP] 1, CellPhone, 1.698, 0.694, -1.774, 0, 18.354, 0, 33 [SEP] 2, CellPhone, 1.490, 0.694, -1.806, 0, 18.354, 0, 33 [SEP] 3, Pen, 0.358, 0.699, -2.047, 0, 99.090, 0, 33 [SEP] 4, Pen, 1.747, 0.698, -1.409, 0, 0, 0, 33 [SEP] 5, KeyChain, -0.506, 0.369, 0.480, 0, 90, 0, 35 [SEP] 6, KeyChain, -0.028, 0.693, -2.202, 0, 99.090, 0, 33 [SEP] 7, Book, -2.046, 0.629, -0.198, 0, 0, 0, 24 [SEP] 8, Pillow, -1.346, 0.703, -0.748, 0, 0, 0, 24 [SEP] 9, AlarmClock, -0.487, 0.664, 0.470, 0, 180, 0, 36 [SEP] 10, AlarmClock, -0.413, 0.664, 0.643, 0, 180, 0, 36 [SEP] 11, Box, -0.015, 0.239, -2.091, 0, 0, 0,  [SEP] 12, Book, 1.622, 0.692, -1.409, 0, 0, 0, 33 [SEP] 13, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316,  [SEP] 14, Pen, -0.634, 0.668, 0.427, 0, 180, 0, 36 [SEP] 15, Pencil, 0.845, 0.697, -2.055, 0, 90, 0, 33 [SEP] 16, KeyChain, 1.622, 0.693, -0.739, 0, 90, 0, 33 [SEP] 17, Pillow, -2.046, 0.703, -1.023, 0, 0, 0, 24 [SEP] 18, CreditCard, 1.029, 0.692, -2.336, 0, 90, 0, 33 [SEP] 19, CellPhone, -1.521, 0.631, -1.297, 0, 0, 0, 24 [SEP] 20, Laptop, -1.346, 0.628, 0.076, 0, 0, 0, 24 [SEP] 21, CD, 1.402, 0.692, -1.676, 0, 18.354, 0, 33 [SEP] 22, Bowl, 0.172, 0.695, -2.306, 0, 99.090, 0, 33 [SEP] 23, AlarmClock, 0.661, 0.694, -2.266, 0, 90, 0, 33 [SEP] 24, Bed, -1.696, 0.004, -0.446, 0, 0, 0,  [SEP] 25, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0,  [SEP] 26, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0,  [SEP] 27, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0,  [SEP] 28, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0,  [SEP] 29, Mirror, 1.300, 1.422, 0.765, 0, 0, 0,  [SEP] 30, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0,  [SEP] 31, Window, 0.819, 1.496, -2.553, 90, 180, 0,  [SEP] 32, Shelf, 1.616, 0.561, -0.802, 0, 0, 0,  [SEP] 33, Desk, 0.617, -0.000, -1.511, 0, 0, 0,  [SEP] 34, Blinds, 0.796, 2.217, -2.476, 0, 0, 0,  [SEP] 35, Drawer, -0.558, 0.456, 0.462, 0, 180, 0,  [SEP] 36, SideTable, -0.557, -0.000, 0.529, 0, 180, 0,  [SEP] 37, Drawer, -0.558, 0.164, 0.462, 0, 180, 0,  [SEP] 38, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn left and face your bed side table in front of you. | STEP 2: Take the alarm clock from the table in front of you. | STEP 3: Turn right and face the desk in front of you. | STEP 4: Place the alarm clock under the desk in front of you. | STEP 5: Turn around and face the bed side table in front of you. | STEP 6: Take the alarm clock from the table in front of you. | STEP 7: Turn around and face the desk in front of you. | STEP 8: Place the alarm clock under the desk in front of you. | END


Input: Put the box on the coffee table on the couch with keys inside. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.927, 3.0, 0, 0, 0,  [SEP] 1, KeyChain, -3.226, 0.167, 0.319, 0, 0, 0, 48 [SEP] 2, CreditCard, -1.085, 0.269, 2.006, 0, 0, 0, 74 [SEP] 3, CreditCard, -1.961, 0.940, 0.114, 0, 180, 0, 27 [SEP] 4, Box, -2.737, 0.481, 1.999, 0, 270, 0, 76 [SEP] 5, Laptop, -5.939, 0.639, 1.861, 0, 0, 0, 72 [SEP] 6, Box, -6.062, 0.823, 3.617, 0, 0, 0, 72 [SEP] 7, Statue, -3.008, 0.305, 1.863, 0, 0, 0, 76 [SEP] 8, KeyChain, -2.457, 0.301, 2.223, 0, 270, 0, 76 [SEP] 9, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 27 [SEP] 10, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 44 [SEP] 11, Vase, -1.405, 0.961, 0.149, 0, 180, 0, 44 [SEP] 12, Newspaper, -0.941, 0.955, 0.220, 0, 180, 0, 44 [SEP] 13, CreditCard, -2.670, 0.485, 0.264, 0, 90, 0, 48 [SEP] 14, RemoteControl, -4.540, 1.275, 5.170, 0, 0, 0, 40 [SEP] 15, Laptop, -5.764, 0.634, 2.376, 0, 0, 0, 72 [SEP] 16, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 75 [SEP] 17, Vase, -5.448, 0.642, 2.564, 0, 0, 0, 72 [SEP] 18, Statue, -2.461, 0.310, 1.771, 0, 270, 0, 76 [SEP] 19, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 51 [SEP] 20, Plate, -0.904, 0.492, 0.264, 0, 90, 0, 47 [SEP] 21, Vase, -2.321, 0.723, 5.168, 0, 0, 0, 59 [SEP] 22, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 54 [SEP] 23, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 46 [SEP] 24, Statue, -6.062, 0.651, 2.212, 0, 0, 0, 72 [SEP] 25, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 55 [SEP] 26, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 72 [SEP] 27, Shelf, -1.776, 0.988, 0.184, 0, 180, 0,  [SEP] 28, Chair, -5.413, 0.024, 1.780, 0, 0, 0,  [SEP] 29, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0,  [SEP] 30, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0,  [SEP] 31, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0,  [SEP] 32, Shelf, -3.937, 0.988, 5.170, 0, 0, 0,  [SEP] 33, Shelf, -6.572, 1.144, 5.170, 0, 0, 0,  [SEP] 34, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0,  [SEP] 35, Shelf, -5.606, 0.444, 5.170, 0, 0, 0,  [SEP] 36, Drawer, -6.324, 0.823, 5.001, 0, 0, 0,  [SEP] 37, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0,  [SEP] 38, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0,  [SEP] 39, Drawer, -1.093, 0.233, 0.462, 0, 0, 0,  [SEP] 40, Shelf, -4.672, 1.317, 5.170, 0, 0, 0,  [SEP] 41, Shelf, -4.672, 0.998, 5.170, 0, 0, 0,  [SEP] 42, Shelf, -2.221, 0.444, 5.170, 0, 0, 0,  [SEP] 43, Drawer, -6.324, 0.508, 5.001, 0, 0, 0,  [SEP] 44, Shelf, -1.041, 0.998, 0.184, 0, 180, 0,  [SEP] 45, Drawer, -4.264, 0.233, 0.462, 0, 0, 0,  [SEP] 46, Shelf, -0.810, 1.688, 0.185, 0, 180, 0,  [SEP] 47, Shelf, -2.671, 0.610, 0.272, 0, 90, 0,  [SEP] 48, Drawer, -2.681, 0.233, 0.462, 0, 0, 0,  [SEP] 49, Drawer, -2.940, 0.508, 5.001, 0, 0, 0,  [SEP] 50, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0,  [SEP] 51, Shelf, -1.041, 1.317, 0.184, 0, 180, 0,  [SEP] 52, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0,  [SEP] 53, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0,  [SEP] 54, Shelf, -4.903, 1.688, 5.170, 0, 0, 0,  [SEP] 55, Shelf, -3.187, 1.144, 5.170, 0, 0, 0,  [SEP] 56, Drawer, -2.940, 0.823, 5.001, 0, 0, 0,  [SEP] 57, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0,  [SEP] 58, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0,  [SEP] 59, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0,  [SEP] 60, Chair, -6.296, 0.024, 1.672, 0, 180, 0,  [SEP] 61, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0,  [SEP] 62, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0,  [SEP] 63, Television, -3.503, 1.506, 0.001, 0, 0, 0,  [SEP] 64, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0,  [SEP] 65, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0,  [SEP] 66, Painting, -5.769, 1.394, -0.026, 90, 180, 0,  [SEP] 67, Window, 0.001, 1.246, 2.471, 90, 270, 0,  [SEP] 68, Window, 0.001, 1.246, 3.558, 90, 270, 0,  [SEP] 69, Window, 0.001, 1.246, 1.368, 90, 270, 0,  [SEP] 70, Painting, -0.967, 1.396, 5.268, 90, 180, 0,  [SEP] 71, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0,  [SEP] 72, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0,  [SEP] 73, Sofa, -3.328, 0.023, 3.632, 0, 180, 0,  [SEP] 74, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0,  [SEP] 75, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0,  [SEP] 76, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Move to the coffee table nearest to two arm chairs.  | STEP 2: Pick up the keys from the coffee table. | STEP 3: Move around to the left side of the coffee table. | STEP 4: Place the keys inside the box on the table. | STEP 5: Pick up the box from the coffee table. | STEP 6: Move around to the couch on the other side of the coffee table. | STEP 7: Place the box on the couch. | END


Input: Put a cleaned mug on the coffee machine.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, CreditCard, 0.240, 1.108, 1.933, 0, 315, 0, 64 [SEP] 3, Kettle, -2.773, 1.796, -0.731, 0, 0, 0, 43 [SEP] 4, Pot, -2.085, 0.912, -1.282, 0, 0, 0, 71 [SEP] 5, Spoon, -1.987, 0.748, -1.008, 0, 0, 0, 66 [SEP] 6, Spatula, -2.671, 0.761, 0.099, 0, 180, 0, 69 [SEP] 7, Spatula, -1.591, 0.866, -1.194, 0, 270, 0, 81 [SEP] 8, Cup, 0.241, 1.004, -1.314, 0, 0, 0, 84 [SEP] 9, Egg, -2.920, 0.413, 0.609, 0, 90, 0, 83 [SEP] 10, Knife, -2.542, 0.769, -0.027, 0, 90, 0, 69 [SEP] 11, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 81 [SEP] 12, SoapBottle, -2.728, 0.038, 1.396, 0, 0, 0, 82 [SEP] 13, SoapBottle, 0.490, 1.112, 1.075, 0, 315, 0, 64 [SEP] 14, Bowl, -2.810, 1.794, -0.376, 0, 0, 0, 43 [SEP] 15, Bowl, -0.550, 1.661, -1.360, 0, 0, 0, 59 [SEP] 16, Lettuce, -2.860, 0.899, 1.013, 0, 90, 0, 83 [SEP] 17, PepperShaker, -2.521, 0.907, 0.275, 0, 0, 0, 63 [SEP] 18, Bread, 0.644, 1.166, 1.229, 0, 315, 0, 64 [SEP] 19, Apple, -2.699, 0.089, 1.536, 0, 90, 0, 82 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.451, 1.057, -1.414, 0, 0, 0, 84 [SEP] 22, Fork, -0.276, 0.901, -1.118, 0, 0, 0, 71 [SEP] 23, Kettle, -1.684, 0.118, -1.068, 0, 0, 0, 48 [SEP] 24, CreditCard, 0.097, 0.743, -1.009, 0, 0, 0, 72 [SEP] 25, Bread, -2.740, 1.528, 1.013, 0, 90, 0, 83 [SEP] 26, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 81 [SEP] 27, SoapBottle, -2.521, 0.912, 0.106, 0, 0, 0, 63 [SEP] 28, Spatula, 0.133, 1.126, 1.737, 0, 315, 0, 64 [SEP] 29, Lettuce, 0.997, 0.990, -1.365, 0, 0, 0, 71 [SEP] 30, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 63 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, 0.057, 1.658, -1.284, 0, 0, 0, 58 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 35, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 81 [SEP] 36, Egg, -2.619, 0.413, 0.609, 0, 90, 0, 83 [SEP] 37, Spoon, -2.604, 0.912, -0.062, 0, 0, 0, 63 [SEP] 38, Knife, -1.332, 0.872, -1.194, 0, 270, 0, 81 [SEP] 39, Cup, -2.920, 0.377, 0.932, 0, 90, 0, 83 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.680, 1.672, 0.771, 0, 90, 0, 83 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn right and head to the microwave. | STEP 2: Open the cabinet above the microwave and pick up the dirty mug in there.  | STEP 3: Turn left and bring the dirty mug to the sink | STEP 4: Clean the mug in in the sink.  | STEP 5: Bring the cleaned mug to the coffee machine on the left.  | STEP 6: Put the mug on the coffee machine. | END


Input: Rinse a mug and place it on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, CreditCard, 0.240, 1.108, 1.933, 0, 315, 0, 64 [SEP] 3, Kettle, -2.773, 1.796, -0.731, 0, 0, 0, 43 [SEP] 4, Pot, -2.085, 0.912, -1.282, 0, 0, 0, 71 [SEP] 5, Spoon, -1.987, 0.748, -1.008, 0, 0, 0, 66 [SEP] 6, Spatula, -2.671, 0.761, 0.099, 0, 180, 0, 69 [SEP] 7, Spatula, -1.591, 0.866, -1.194, 0, 270, 0, 81 [SEP] 8, Cup, 0.241, 1.004, -1.314, 0, 0, 0, 84 [SEP] 9, Egg, -2.920, 0.413, 0.609, 0, 90, 0, 83 [SEP] 10, Knife, -2.542, 0.769, -0.027, 0, 90, 0, 69 [SEP] 11, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 81 [SEP] 12, SoapBottle, -2.728, 0.038, 1.396, 0, 0, 0, 82 [SEP] 13, SoapBottle, 0.490, 1.112, 1.075, 0, 315, 0, 64 [SEP] 14, Bowl, -2.810, 1.794, -0.376, 0, 0, 0, 43 [SEP] 15, Bowl, -0.550, 1.661, -1.360, 0, 0, 0, 59 [SEP] 16, Lettuce, -2.860, 0.899, 1.013, 0, 90, 0, 83 [SEP] 17, PepperShaker, -2.521, 0.907, 0.275, 0, 0, 0, 63 [SEP] 18, Bread, 0.644, 1.166, 1.229, 0, 315, 0, 64 [SEP] 19, Apple, -2.699, 0.089, 1.536, 0, 90, 0, 82 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.451, 1.057, -1.414, 0, 0, 0, 84 [SEP] 22, Fork, -0.276, 0.901, -1.118, 0, 0, 0, 71 [SEP] 23, Kettle, -1.684, 0.118, -1.068, 0, 0, 0, 48 [SEP] 24, CreditCard, 0.097, 0.743, -1.009, 0, 0, 0, 72 [SEP] 25, Bread, -2.740, 1.528, 1.013, 0, 90, 0, 83 [SEP] 26, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 81 [SEP] 27, SoapBottle, -2.521, 0.912, 0.106, 0, 0, 0, 63 [SEP] 28, Spatula, 0.133, 1.126, 1.737, 0, 315, 0, 64 [SEP] 29, Lettuce, 0.997, 0.990, -1.365, 0, 0, 0, 71 [SEP] 30, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 63 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, 0.057, 1.658, -1.284, 0, 0, 0, 58 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 35, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 81 [SEP] 36, Egg, -2.619, 0.413, 0.609, 0, 90, 0, 83 [SEP] 37, Spoon, -2.604, 0.912, -0.062, 0, 0, 0, 63 [SEP] 38, Knife, -1.332, 0.872, -1.194, 0, 270, 0, 81 [SEP] 39, Cup, -2.920, 0.377, 0.932, 0, 90, 0, 83 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.680, 1.672, 0.771, 0, 90, 0, 83 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn to the left, and then the right to face the microwave. | STEP 2: Open the top cabinet and take out a mug. | STEP 3: Take the mug and take a few steps to the right towards the sink. | STEP 4: Place the mug in the sink and turn on the water. Turn off the water and pick up the mug again. | STEP 5: Carry the mug and turn around and go to the right to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END


Input: Place a clean cup into the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, CreditCard, 0.240, 1.108, 1.933, 0, 315, 0, 64 [SEP] 3, Kettle, -2.773, 1.796, -0.731, 0, 0, 0, 43 [SEP] 4, Pot, -2.085, 0.912, -1.282, 0, 0, 0, 71 [SEP] 5, Spoon, -1.987, 0.748, -1.008, 0, 0, 0, 66 [SEP] 6, Spatula, -2.671, 0.761, 0.099, 0, 180, 0, 69 [SEP] 7, Spatula, -1.591, 0.866, -1.194, 0, 270, 0, 81 [SEP] 8, Cup, 0.241, 1.004, -1.314, 0, 0, 0, 84 [SEP] 9, Egg, -2.920, 0.413, 0.609, 0, 90, 0, 83 [SEP] 10, Knife, -2.542, 0.769, -0.027, 0, 90, 0, 69 [SEP] 11, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 81 [SEP] 12, SoapBottle, -2.728, 0.038, 1.396, 0, 0, 0, 82 [SEP] 13, SoapBottle, 0.490, 1.112, 1.075, 0, 315, 0, 64 [SEP] 14, Bowl, -2.810, 1.794, -0.376, 0, 0, 0, 43 [SEP] 15, Bowl, -0.550, 1.661, -1.360, 0, 0, 0, 59 [SEP] 16, Lettuce, -2.860, 0.899, 1.013, 0, 90, 0, 83 [SEP] 17, PepperShaker, -2.521, 0.907, 0.275, 0, 0, 0, 63 [SEP] 18, Bread, 0.644, 1.166, 1.229, 0, 315, 0, 64 [SEP] 19, Apple, -2.699, 0.089, 1.536, 0, 90, 0, 82 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.451, 1.057, -1.414, 0, 0, 0, 84 [SEP] 22, Fork, -0.276, 0.901, -1.118, 0, 0, 0, 71 [SEP] 23, Kettle, -1.684, 0.118, -1.068, 0, 0, 0, 48 [SEP] 24, CreditCard, 0.097, 0.743, -1.009, 0, 0, 0, 72 [SEP] 25, Bread, -2.740, 1.528, 1.013, 0, 90, 0, 83 [SEP] 26, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 81 [SEP] 27, SoapBottle, -2.521, 0.912, 0.106, 0, 0, 0, 63 [SEP] 28, Spatula, 0.133, 1.126, 1.737, 0, 315, 0, 64 [SEP] 29, Lettuce, 0.997, 0.990, -1.365, 0, 0, 0, 71 [SEP] 30, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 63 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, 0.057, 1.658, -1.284, 0, 0, 0, 58 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 35, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 81 [SEP] 36, Egg, -2.619, 0.413, 0.609, 0, 90, 0, 83 [SEP] 37, Spoon, -2.604, 0.912, -0.062, 0, 0, 0, 63 [SEP] 38, Knife, -1.332, 0.872, -1.194, 0, 270, 0, 81 [SEP] 39, Cup, -2.920, 0.377, 0.932, 0, 90, 0, 83 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.680, 1.672, 0.771, 0, 90, 0, 83 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn left, move to counter in front of microwave. | STEP 2: Open cabinet on upper left, pick up dirty cup. | STEP 3: Turn to the right, move to the counter in front of the sink. | STEP 4: Place dirty cup into the sink, rinse cup, pick cup up. | STEP 5: Turn to the left, move to the counter in front of the coffee maker. | STEP 6: Put the cup into the coffee maker. | END


Input: Place a warm mug into a coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Pan, 2.621, 1.026, -0.541, 0, 0, 0, 48 [SEP] 2, DishSponge, 2.267, 0.764, 4.288, 0, 329.999, 0, 49 [SEP] 3, ButterKnife, 2.175, 0.764, 4.447, 0, 329.999, 0, 49 [SEP] 4, ButterKnife, 2.535, 0.801, 0.731, 0, 317.0, 0, 60 [SEP] 5, WineBottle, 2.515, 0.765, 4.007, 0, 329.999, 0, 49 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 52 [SEP] 7, Spatula, 2.626, 0.779, 3.895, 0, 90, 0, 49 [SEP] 8, Spatula, 2.634, 0.779, 3.651, 0, 239.999, 0, 49 [SEP] 9, Egg, 2.626, 0.808, 3.895, 0, 270, 0, 49 [SEP] 10, Cup, 1.895, 1.859, -1.843, 0, 0, 0, 94 [SEP] 11, Cup, 2.735, 0.763, 4.464, 0, 225, 0, 49 [SEP] 12, Plate, 1.926, 0.764, 3.821, 0, 270, 0, 49 [SEP] 13, Plate, 2.302, 0.764, 3.97, 0, 0, 0, 49 [SEP] 14, PepperShaker, -0.544, 1.023, 0.692, 0, 0, 0, 51 [SEP] 15, PepperShaker, -0.873, 0.796, 0.373, 0, 0, 0, 50 [SEP] 16, Lettuce, 2.542, 0.822, 3.810, 0, 329.999, 0, 49 [SEP] 17, Lettuce, -1.045, 1.085, 1.943, 0, 0, 0, 51 [SEP] 18, Apple, 2.276, 0.814, 3.747, 0, 270, 0, 49 [SEP] 19, Apple, -1.187, 1.077, 1.612, 0, 0, 0, 51 [SEP] 20, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 46 [SEP] 21, Glassbottle, -0.947, 0.786, -0.516, 0, 90, 0, 92 [SEP] 22, Knife, 2.275, 0.789, 4.118, 0, 270, 0, 49 [SEP] 23, SoapBottle, 1.469, 1.025, -1.881, 0, 90, 0, 48 [SEP] 24, Egg, -0.906, 0.830, -0.627, 0, 90, 0, 92 [SEP] 25, Fork, 2.683, 1.027, 1.004, 0, 136.999, 0, 48 [SEP] 26, Potato, -1.059, 1.484, -0.627, 0, 90, 0, 92 [SEP] 27, Ladle, -0.731, 0.839, 1.899, 0, 0, 0, 53 [SEP] 28, Tomato, 3.043, 1.080, -1.151, 0, 0, 0, 48 [SEP] 29, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 91 [SEP] 30, WineBottle, -0.858, 0.335, -0.295, 0, 90, 0, 92 [SEP] 31, Plate, -0.544, 1.027, 2.311, 0, 0, 0, 51 [SEP] 32, Spatula, 2.707, 0.816, -0.313, 0, 90, 0, 58 [SEP] 33, PaperTowelRoll, 2.790, 1.131, -0.541, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.959, 1.085, -1.456, 0, 0, 0, 48 [SEP] 35, Apple, 2.633, 0.814, 4.047, 0, 225, 0, 49 [SEP] 36, SaltShaker, 2.348, 0.760, 3.552, 0, 225, 0, 49 [SEP] 37, PepperShaker, 1.953, 1.023, 1.998, 0, 136.999, 0, 48 [SEP] 38, ButterKnife, 2.506, 0.764, 3.577, 0, 329.999, 0, 49 [SEP] 39, Bread, -0.968, 1.510, -0.406, 0, 90, 0, 92 [SEP] 40, Cup, 1.290, 1.025, -1.667, 0, 90, 0, 48 [SEP] 41, DishSponge, 1.347, 0.790, -1.502, 0, 0, 0, 55 [SEP] 42, Bowl, -1.021, 1.778, 2.485, 0, 0, 0, 86 [SEP] 43, Spoon, 2.650, 0.802, 0.210, 0, 0, 0, 59 [SEP] 44, Mug, -0.851, 0.811, 1.492, 0, 90, 0, 105 [SEP] 45, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 46, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 47, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 48, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 49, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 50, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 51, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 52, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 53, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 54, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 55, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 56, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 57, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 58, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 59, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 60, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 61, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 62, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 63, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 64, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 65, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 66, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 67, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 68, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 69, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 70, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 71, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 72, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 73, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 74, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 75, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 76, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 77, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 78, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 79, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 80, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 81, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 82, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 83, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 84, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 85, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 86, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 87, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 88, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 89, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 90, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 91, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 92, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 93, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 94, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 95, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 96, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 97, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 98, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 99, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 100, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 101, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 102, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 103, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 104, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 105, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 106, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 107, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 108, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 109, , , , , , , ,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn around and head to the sink on your left | STEP 2: Pick up the coffee mug that is sitting in the sink | STEP 3: Turn around and cross the room to the counter then turn right and head to the stove | STEP 4: Open the microwave and place the mug inside, to the left of the other mug, and then close the microwave and turn it on. Then open the microwave and pick up the mug and close the door | STEP 5: Turn around and head forward then head left to the coffee maker | STEP 6: Place the mug into the coffee maker | END


Input: Wash a plate and put it on a shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.25, 0, 90, 0,  [SEP] 1, Vase, -1.444, 1.658, -1.747, 0, 0, 0, 72 [SEP] 2, DishSponge, -1.649, 0.717, -1.073, 0, 0, 0, 74 [SEP] 3, DishSponge, -1.975, 0.119, -1.726, 0, 0, 0, 78 [SEP] 4, ButterKnife, -1.627, 0.912, -0.288, 0, 0, 0, 59 [SEP] 5, WineBottle, -0.514, 0.122, -1.413, 0, 0, 0, 68 [SEP] 6, WineBottle, -2.143, 0.875, 3.422, 0, 225, 0, 61 [SEP] 7, Spatula, -2.015, 0.733, -1.579, 0, 270, 0, 78 [SEP] 8, Spatula, -2.845, 0.893, 3.513, 0, 315, 0, 61 [SEP] 9, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 62 [SEP] 10, Fork, 0.525, 0.912, -1.776, 0, 90, 0, 59 [SEP] 11, Egg, -0.263, 1.169, 2.286, 0, 180, 0, 84 [SEP] 12, Cup, -2.126, 0.118, -1.360, 0, 0, 0, 60 [SEP] 13, Cup, 1.614, 0.908, -1.346, 0, 0, 0, 79 [SEP] 14, Plate, 0.591, 0.120, -1.445, 0, 0, 0, 66 [SEP] 15, Plate, -2.434, 0.878, 3.207, 0, 135, 0, 61 [SEP] 16, Plate, -1.888, 1.661, -1.710, 0, 0, 0, 55 [SEP] 17, SoapBottle, -0.844, 0.193, 2.097, 0, 90, 0, 89 [SEP] 18, SoapBottle, -2.659, 0.875, 2.884, 0, 0, 0, 61 [SEP] 19, Tomato, 0.307, 1.619, 2.100, 0, 180, 0, 84 [SEP] 20, Bowl, -2.405, 0.876, 2.758, 0, 135, 0, 61 [SEP] 21, Bowl, -0.263, 1.570, 2.040, 0, 180, 0, 84 [SEP] 22, Bread, -2.300, 0.958, 3.580, 0, 225, 0, 61 [SEP] 23, Bread, -3.122, 0.961, 3.475, 0, 135, 0, 61 [SEP] 24, Lettuce, -2.659, 0.939, 3.444, 0, 270, 0, 61 [SEP] 25, Mug, -0.263, 0.383, 2.083, 0, 180, 0, 84 [SEP] 26, Apple, 1.316, 1.816, -1.596, 0, 0, 0, 83 [SEP] 27, Book, -1.649, 0.116, -0.841, 0, 0, 0, 64 [SEP] 28, Fork, 1.760, 0.910, -1.528, 0, 90, 0, 79 [SEP] 29, Tomato, -1.961, 0.959, -0.939, 0, 0, 0, 59 [SEP] 30, Egg, 0.193, 0.828, 1.966, 0, 180, 0, 84 [SEP] 31, Kettle, -2.807, 0.875, 3.728, 0, 0, 0, 61 [SEP] 32, Vase, 0.036, 0.115, -1.451, 0, 0, 0, 67 [SEP] 33, Cup, -0.377, 1.142, 2.286, 0, 180, 0, 84 [SEP] 34, WineBottle, -3.017, 0.875, 3.580, 0, 135, 0, 61 [SEP] 35, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 84 [SEP] 36, Spatula, -1.627, 0.927, 0.363, 0, 0, 0, 59 [SEP] 37, Potato, 0.307, 0.425, 2.054, 0, 180, 0, 84 [SEP] 38, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 77 [SEP] 39, Knife, -2.081, 0.740, -1.441, 0, 270, 0, 78 [SEP] 40, SaltShaker, 1.687, 0.906, -1.437, 0, 0, 0, 79 [SEP] 41, PepperShaker, -1.975, 0.116, -1.506, 0, 0, 0, 60 [SEP] 42, Lettuce, -0.833, 0.977, -1.471, 0, 0, 0, 59 [SEP] 43, ButterKnife, -2.420, 0.874, 2.983, 0, 135, 0, 61 [SEP] 44, Bread, -3.165, 0.961, 3.073, 0, 270, 0, 61 [SEP] 45, Vase, -1.627, 0.913, 0.037, 0, 0, 0, 59 [SEP] 46, DishSponge, 1.622, 0.719, -1.443, 0, 0, 0, 75 [SEP] 47, Apple, -2.458, 0.929, 3.737, 0, 225, 0, 61 [SEP] 48, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 63 [SEP] 49, Spoon, 1.542, 0.911, -1.346, 0, 90, 0, 79 [SEP] 50, SoapBottle, -2.152, 0.879, 3.073, 0, 270, 0, 61 [SEP] 51, Mug, 1.210, 1.756, -1.629, 0, 0, 0, 83 [SEP] 52, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 82 [SEP] 53, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 82 [SEP] 54, Bowl, 0.997, 2.154, -1.710, 0, 0, 0, 73 [SEP] 55, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 56, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 57, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 58, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 59, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 60, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 61, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 62, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 63, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 64, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 65, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 66, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 67, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 68, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 69, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 70, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 71, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 72, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 73, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 74, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 75, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 76, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 77, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 78, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 79, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 80, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 81, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 82, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 83, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 84, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 85, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 86, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 87, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 88, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 89, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 90, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 91, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 92, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 93, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 94, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 95, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 96, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 97, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 98, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 99, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 100, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 101, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 102, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 103, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the cabinet to the right of the stove | STEP 2: Take the dirty plate out of the cabinet and close the door | STEP 3: Move right to face the sink | STEP 4: Put the plate in the right side of the sink and turn on the water. Turn off the water and take the plate out of the sink | STEP 5: Turn left and go to the shelves | STEP 6: Place the plate on the right side of the second from the bottom shelf | END


Input: Heat up a white mug in the microwave to put away in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 1.124, 1.25, 0, 180, 0,  [SEP] 1, Pan, -1.530, 1.322, 0.120, 0, 0, 0, 54 [SEP] 2, DishSponge, -1.818, 0.343, 1.317, 0, 0, 0, 55 [SEP] 3, DishSponge, -1.094, 1.322, -2.760, 0, 0, 0, 54 [SEP] 4, WineBottle, -1.749, 0.344, 0.512, 0, 0, 0, 52 [SEP] 5, Spoon, 0.861, 1.208, 1.222, 0, 0, 0, 79 [SEP] 6, Spoon, 0.897, 0.954, 0.983, 0, 0, 0, 77 [SEP] 7, Pot, 0.766, 1.329, -2.053, 0, 0, 0, 54 [SEP] 8, Egg, -1.610, 0.321, 2.234, 0, 270, 0, 69 [SEP] 9, Cup, 0.824, 0.342, -2.371, 0, 180, 0, 53 [SEP] 10, Cup, 0.957, 1.943, 1.612, 0, 270, 0, 67 [SEP] 11, Plate, -1.826, 1.064, -0.542, 0, 0, 0, 72 [SEP] 12, Plate, -1.790, 1.323, 2.069, 0, 0, 0, 54 [SEP] 13, Knife, -1.915, 1.365, -1.186, 0, 180, 0, 61 [SEP] 14, Knife, -1.915, 1.358, -0.980, 0, 180, 0, 61 [SEP] 15, SoapBottle, -1.750, 0.344, 1.213, 0, 0, 0, 55 [SEP] 16, Tomato, -1.826, 1.367, -0.980, 0, 0, 0, 61 [SEP] 17, Bowl, -1.818, 0.342, 1.007, 0, 0, 0, 55 [SEP] 18, SaltShaker, -1.952, 0.338, 0.412, 0, 0, 0, 52 [SEP] 19, SaltShaker, 0.900, 0.339, -1.751, 0, 180, 0, 53 [SEP] 20, PepperShaker, 0.944, 1.202, 1.222, 0, 0, 0, 79 [SEP] 21, Bread, -1.530, 1.397, -2.981, 0, 0, 0, 54 [SEP] 22, Lettuce, 0.492, 1.399, -3.232, 0, 0, 0, 54 [SEP] 23, Mug, -1.614, 0.338, 0.110, 0, 0, 0, 52 [SEP] 24, Mug, -2.179, 1.318, -2.981, 0, 0, 0, 54 [SEP] 25, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 79 [SEP] 26, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 54 [SEP] 27, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 57 [SEP] 28, Knife, 0.349, 1.352, -2.900, 0, 0, 0, 54 [SEP] 29, Bowl, -2.004, 1.334, -1.255, 0, 0, 0, 61 [SEP] 30, Potato, 0.933, 1.985, 1.730, 0, 0, 0, 67 [SEP] 31, SoapBottle, -1.681, 0.280, 2.151, 0, 0, 0, 69 [SEP] 32, Fork, 0.766, 1.323, -0.942, 0, 0, 0, 54 [SEP] 33, Cup, 0.938, 1.754, 2.230, 0, 270, 0, 67 [SEP] 34, Kettle, -1.660, 1.324, 1.419, 0, 0, 0, 54 [SEP] 35, Egg, -1.681, 0.321, 2.069, 0, 270, 0, 69 [SEP] 36, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 49 [SEP] 37, SaltShaker, 1.129, 0.339, -1.957, 0, 180, 0, 53 [SEP] 38, WineBottle, -1.886, 0.344, 1.420, 0, 0, 0, 55 [SEP] 39, Lettuce, 1.017, 1.833, 2.053, 0, 270, 0, 67 [SEP] 40, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 61 [SEP] 41, PaperTowelRoll, 1.027, 1.312, 1.222, 0, 0, 0, 79 [SEP] 42, Tomato, -2.179, 1.356, -3.241, 0, 0, 0, 54 [SEP] 43, Plate, 1.053, 0.345, -2.164, 0, 180, 0, 53 [SEP] 44, PepperShaker, -1.518, 0.415, -0.430, 0, 0, 0, 58 [SEP] 45, DishSponge, -2.093, 1.333, -1.117, 0, 0, 0, 61 [SEP] 46, Spoon, 0.277, 1.324, -2.789, 0, 0, 0, 54 [SEP] 47, Apple, -2.179, 1.371, 1.419, 0, 0, 0, 54 [SEP] 48, Mug, 0.896, 1.318, -2.424, 0, 0, 0, 54 [SEP] 49, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 50, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 51, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 52, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 53, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 54, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 55, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 56, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 57, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 58, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 59, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 60, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 61, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 62, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 63, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 64, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 65, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 66, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 67, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 68, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 69, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 70, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 71, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 72, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 73, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 74, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 75, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 76, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 77, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 79, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 80, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 81, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 82, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 83, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the microwave. | STEP 2: Pick up the white mug next to the microwave. | STEP 3: Turn to face the front of the microwave. | STEP 4: Heat up the mug in the microwave, removing it afterwards. | STEP 5: Turn around to face the lower right cabinets next to the sink. | STEP 6: Put the white mug in the cabinet directly below the loaf of bread on the counter. | END


Input: warm a mug and put it in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 1.124, 1.25, 0, 180, 0,  [SEP] 1, Pan, -1.530, 1.322, 0.120, 0, 0, 0, 54 [SEP] 2, DishSponge, -1.818, 0.343, 1.317, 0, 0, 0, 55 [SEP] 3, DishSponge, -1.094, 1.322, -2.760, 0, 0, 0, 54 [SEP] 4, WineBottle, -1.749, 0.344, 0.512, 0, 0, 0, 52 [SEP] 5, Spoon, 0.861, 1.208, 1.222, 0, 0, 0, 79 [SEP] 6, Spoon, 0.897, 0.954, 0.983, 0, 0, 0, 77 [SEP] 7, Pot, 0.766, 1.329, -2.053, 0, 0, 0, 54 [SEP] 8, Egg, -1.610, 0.321, 2.234, 0, 270, 0, 69 [SEP] 9, Cup, 0.824, 0.342, -2.371, 0, 180, 0, 53 [SEP] 10, Cup, 0.957, 1.943, 1.612, 0, 270, 0, 67 [SEP] 11, Plate, -1.826, 1.064, -0.542, 0, 0, 0, 72 [SEP] 12, Plate, -1.790, 1.323, 2.069, 0, 0, 0, 54 [SEP] 13, Knife, -1.915, 1.365, -1.186, 0, 180, 0, 61 [SEP] 14, Knife, -1.915, 1.358, -0.980, 0, 180, 0, 61 [SEP] 15, SoapBottle, -1.750, 0.344, 1.213, 0, 0, 0, 55 [SEP] 16, Tomato, -1.826, 1.367, -0.980, 0, 0, 0, 61 [SEP] 17, Bowl, -1.818, 0.342, 1.007, 0, 0, 0, 55 [SEP] 18, SaltShaker, -1.952, 0.338, 0.412, 0, 0, 0, 52 [SEP] 19, SaltShaker, 0.900, 0.339, -1.751, 0, 180, 0, 53 [SEP] 20, PepperShaker, 0.944, 1.202, 1.222, 0, 0, 0, 79 [SEP] 21, Bread, -1.530, 1.397, -2.981, 0, 0, 0, 54 [SEP] 22, Lettuce, 0.492, 1.399, -3.232, 0, 0, 0, 54 [SEP] 23, Mug, -1.614, 0.338, 0.110, 0, 0, 0, 52 [SEP] 24, Mug, -2.179, 1.318, -2.981, 0, 0, 0, 54 [SEP] 25, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 79 [SEP] 26, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 54 [SEP] 27, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 57 [SEP] 28, Knife, 0.349, 1.352, -2.900, 0, 0, 0, 54 [SEP] 29, Bowl, -2.004, 1.334, -1.255, 0, 0, 0, 61 [SEP] 30, Potato, 0.933, 1.985, 1.730, 0, 0, 0, 67 [SEP] 31, SoapBottle, -1.681, 0.280, 2.151, 0, 0, 0, 69 [SEP] 32, Fork, 0.766, 1.323, -0.942, 0, 0, 0, 54 [SEP] 33, Cup, 0.938, 1.754, 2.230, 0, 270, 0, 67 [SEP] 34, Kettle, -1.660, 1.324, 1.419, 0, 0, 0, 54 [SEP] 35, Egg, -1.681, 0.321, 2.069, 0, 270, 0, 69 [SEP] 36, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 49 [SEP] 37, SaltShaker, 1.129, 0.339, -1.957, 0, 180, 0, 53 [SEP] 38, WineBottle, -1.886, 0.344, 1.420, 0, 0, 0, 55 [SEP] 39, Lettuce, 1.017, 1.833, 2.053, 0, 270, 0, 67 [SEP] 40, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 61 [SEP] 41, PaperTowelRoll, 1.027, 1.312, 1.222, 0, 0, 0, 79 [SEP] 42, Tomato, -2.179, 1.356, -3.241, 0, 0, 0, 54 [SEP] 43, Plate, 1.053, 0.345, -2.164, 0, 180, 0, 53 [SEP] 44, PepperShaker, -1.518, 0.415, -0.430, 0, 0, 0, 58 [SEP] 45, DishSponge, -2.093, 1.333, -1.117, 0, 0, 0, 61 [SEP] 46, Spoon, 0.277, 1.324, -2.789, 0, 0, 0, 54 [SEP] 47, Apple, -2.179, 1.371, 1.419, 0, 0, 0, 54 [SEP] 48, Mug, 0.896, 1.318, -2.424, 0, 0, 0, 54 [SEP] 49, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 50, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 51, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 52, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 53, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 54, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 55, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 56, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 57, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 58, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 59, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 60, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 61, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 62, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 63, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 64, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 65, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 66, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 67, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 68, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 69, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 70, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 71, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 72, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 73, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 74, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 75, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 76, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 77, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 79, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 80, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 81, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 82, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 83, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: go to the counter where the microwave is | STEP 2: pick up the white mug to the left of the microwave | STEP 3: approach the microwave with the cup | STEP 4: warm the cup in the microwave then remove | STEP 5: take the cup to the cabinet to the right of the sink | STEP 6: put the mug in the cabinet  | END


Input: Put two papers on the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.908, 3.0, 0, 270, 0,  [SEP] 1, Plate, -2.324, 0.797, 2.061, 0, 0, 0, 55 [SEP] 2, TissueBox, -3.709, 0.783, 2.371, 0, 0, 0, 55 [SEP] 3, TissueBox, -3.155, 0.783, 2.681, 0, 0, 0, 55 [SEP] 4, Newspaper, -3.026, 0.455, 7.182, 0, 0, 0, 52 [SEP] 5, Newspaper, -3.227, 0.455, 5.930, 0, 0, 0, 52 [SEP] 6, Watch, -3.289, 0.533, 8.471, 0, 180, 0, 61 [SEP] 7, Watch, -2.047, 0.782, 1.906, 0, 0, 0, 55 [SEP] 8, Statue, -3.427, 0.466, 6.973, 0, 0, 0, 52 [SEP] 9, RemoteControl, -3.155, 0.783, 2.061, 0, 0, 0, 55 [SEP] 10, Box, -1.775, 0.583, 7.036, 0, 0, 0, 48 [SEP] 11, Box, -1.775, 0.583, 6.441, 0, 0, 0, 48 [SEP] 12, KeyChain, -2.047, 0.783, 2.371, 0, 0, 0, 55 [SEP] 13, Plate, -2.601, 0.798, 2.526, 0, 0, 0, 55 [SEP] 14, Candle, -0.562, 0.667, 0.396, 0, 0, 0, 50 [SEP] 15, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 48 [SEP] 16, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 51 [SEP] 17, TissueBox, -2.878, 0.783, 2.061, 0, 0, 0, 55 [SEP] 18, Laptop, -3.216, 0.450, 6.333, 0, 0, 0, 52 [SEP] 19, Newspaper, -3.026, 0.455, 6.764, 0, 180, 0, 52 [SEP] 20, CreditCard, -2.004, 0.454, 7.334, 0, 0, 0, 48 [SEP] 21, RemoteControl, -2.691, 0.329, 4.774, 0, 0, 0, 54 [SEP] 22, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 23, Candle, -0.354, 0.678, 0.163, 0, 329.437, 0, 50 [SEP] 24, Statue, -3.432, 0.883, 2.216, 0, 0, 0, 55 [SEP] 25, Watch, -0.266, 0.676, 0.506, 0, 239.437, 0, 50 [SEP] 26, Statue, -3.709, 0.791, 1.906, 0, 0, 0, 55 [SEP] 27, Mirror, -5.489, 1.825, 6.505, 0, 0, 0,  [SEP] 28, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0,  [SEP] 29, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0,  [SEP] 30, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0,  [SEP] 31, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0,  [SEP] 32, Television, -3.114, 0.996, 8.693, 1.686, 180, 0,  [SEP] 33, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0,  [SEP] 34, Painting, -5.954, 1.526, 1.153, 90, 270, 0,  [SEP] 35, Window, 0.157, 1.203, 6.895, 90, 90, 0,  [SEP] 36, Window, -4.855, 1.203, -0.158, 90, 180, 0,  [SEP] 37, Window, 0.157, 1.203, 4.923, 90, 90, 0,  [SEP] 38, Window, 0.157, 1.203, 2.986, 90, 90, 0,  [SEP] 39, Window, 0.157, 1.203, 1.088, 90, 90, 0,  [SEP] 40, Window, -2.942, 1.203, -0.158, 90, 180, 0,  [SEP] 41, Window, -1.057, 1.203, -0.158, 90, 180, 0,  [SEP] 42, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0,  [SEP] 43, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0,  [SEP] 44, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738,  [SEP] 45, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735,  [SEP] 46, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736,  [SEP] 47, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738,  [SEP] 48, Sofa, -1.706, 0.002, 6.448, 0, 270, 0,  [SEP] 49, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0,  [SEP] 50, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0,  [SEP] 51, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0,  [SEP] 52, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0,  [SEP] 53, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0,  [SEP] 54, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0,  [SEP] 55, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0,  [SEP] 56, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0,  [SEP] 57, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0,  [SEP] 58, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0,  [SEP] 59, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0,  [SEP] 60, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0,  [SEP] 61, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: move to the coffee table in front of the fire place | STEP 2: pick up a paper from the table | STEP 3: turn around to the couch | STEP 4: put the paper on the couch | STEP 5: move to the coffee table in front of the fire place | STEP 6: pick up a paper from the table | STEP 7: turn around to the couch | STEP 8: put the paper on the couch | END


Input: Put a spoon in a mug under the counter and move it to the small black 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, -2.5, 0, 180, 0,  [SEP] 1, Pan, -0.437, 0.961, -2.243, 0, 0, 0, 45 [SEP] 2, Pan, -2.761, 0.892, -0.376, 0, 270, 0, 79 [SEP] 3, Potato, -1.694, 0.974, -3.908, 0, 0, 0, 42 [SEP] 4, Potato, -2.452, 0.131, -3.538, 0, 0, 0, 67 [SEP] 5, DishSponge, -1.471, 0.941, -3.439, 0, 0, 0, 42 [SEP] 6, DishSponge, -4.062, 0.690, -0.308, 0, 0, 0, 77 [SEP] 7, ButterKnife, -1.025, 0.942, -3.764, 0, 45, 0, 42 [SEP] 8, ButterKnife, -4.062, 0.690, -0.248, 0, 0, 0, 77 [SEP] 9, Spatula, -0.315, 0.956, -1.494, 0, 0, 0, 60 [SEP] 10, Egg, -0.201, 1.620, -2.096, 0, 270, 0, 74 [SEP] 11, Egg, -0.740, 0.854, -3.588, 0, 315, 0, 71 [SEP] 12, Plate, -1.471, 0.956, -3.751, 0, 0, 0, 42 [SEP] 13, Plate, -3.565, 0.908, -0.462, 0, 270, 0, 79 [SEP] 14, SoapBottle, -3.942, 0.688, -0.309, 0, 0, 0, 77 [SEP] 15, Tomato, -3.642, 0.810, -2.989, 0, 334.125, 0, 78 [SEP] 16, Bread, -3.364, 0.976, -0.204, 0, 270, 0, 79 [SEP] 17, Lettuce, -0.321, 1.579, -0.878, 0, 270, 0, 72 [SEP] 18, SaltShaker, -0.543, 0.747, -2.739, 0, 0, 0, 47 [SEP] 19, PepperShaker, -3.882, 0.686, -0.491, 0, 0, 0, 77 [SEP] 20, Apple, -0.252, 1.348, -0.529, 0, 270, 0, 72 [SEP] 21, SoapBottle, -3.565, 0.892, -0.290, 0, 270, 0, 79 [SEP] 22, Pot, -0.606, 0.802, -3.419, 0, 315, 0, 71 [SEP] 23, Fork, -0.233, 0.942, -2.905, 0, 225, 0, 42 [SEP] 24, Cup, -0.552, 0.942, -1.362, 0, 0, 0, 60 [SEP] 25, Tomato, -2.962, 0.945, -0.462, 0, 270, 0, 79 [SEP] 26, Pan, -0.437, 0.961, -1.845, 0, 180, 0, 43 [SEP] 27, Plate, -0.136, 1.956, -0.660, 0, 0, 0, 49 [SEP] 28, Bread, -1.248, 1.023, -3.673, 0, 0, 0, 42 [SEP] 29, Spatula, -0.078, 0.956, -1.450, 0, 0, 0, 60 [SEP] 30, Knife, -3.364, 0.920, -0.290, 0, 180, 0, 79 [SEP] 31, SaltShaker, -0.096, 1.498, -3.140, 0, 0, 0, 54 [SEP] 32, PepperShaker, -0.088, 1.935, -2.285, 0, 0, 0, 52 [SEP] 33, ButterKnife, -2.359, 0.894, -0.462, 0, 270, 0, 79 [SEP] 34, Apple, -4.242, 0.752, -0.430, 0, 0, 0, 77 [SEP] 35, DishSponge, -3.797, 0.759, -3.258, 0, 199.125, 0, 78 [SEP] 36, Potato, -3.882, 0.722, -0.126, 0, 0, 0, 77 [SEP] 37, Egg, -4.062, 0.732, -0.491, 0, 0, 0, 77 [SEP] 38, Spoon, -4.122, 0.691, -0.369, 0, 0, 0, 77 [SEP] 39, Lettuce, -2.359, 0.985, -0.204, 0, 270, 0, 79 [SEP] 40, Mug, -0.429, 0.075, -2.681, 0, 0, 0, 55 [SEP] 41, Bowl, -0.293, 1.284, -0.762, 0, 270, 0, 72 [SEP] 42, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 43, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 44, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 45, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 46, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 47, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 48, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 49, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 50, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 51, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 52, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 53, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 54, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 55, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 56, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 57, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 58, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 59, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 60, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 61, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 62, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 63, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 64, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 65, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 66, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 67, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 68, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 69, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 70, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 71, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 72, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 73, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 74, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 75, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 76, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 77, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 78, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 79, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 80, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 81, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,

Output: STEP 1: Turn right and move towards the circular table, then turn right and go to the small black table to the left of the white table. | STEP 2: Pick up the spoon on the small black table. | STEP 3: Turn around and move to the coffee pot and turn left and face the counter between the sink and the stove. | STEP 4: Open the cupboard below this portion of the counter, place the spoon into the mug in the cupboard. | STEP 5: Pick up the mug with the spoon in it, closing the cupboard. | STEP 6: Turn around and move to the opposite side of the room, then turn right and move to face the small black table. | STEP 7: place the mug with the spoon in it on the small black table. | END


Input: Move a card from one desk to another desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pen, -1.319, 0.377, -2.287, 0, 0, 0, 53 [SEP] 2, CreditCard, 0.459, 0.811, -2.236, 0, 0, 0, 48 [SEP] 3, CreditCard, 0.355, 0.811, -2.440, 0, 0, 0, 48 [SEP] 4, CreditCard, 0.563, 0.812, -2.440, 0, 0, 0, 48 [SEP] 5, Book, -1.232, 0.652, -2.325, 0, 0, 0, 54 [SEP] 6, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 7, RemoteControl, -1.192, 0.863, -2.561, 0, 0, 0, 55 [SEP] 8, Laptop, -0.333, 0.772, 1.657, 0, 0, 0, 26 [SEP] 9, Book, -0.990, 0.861, -2.436, 0, 0, 0, 55 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 12, CellPhone, -0.621, 0.774, 1.496, 0, 0, 0, 26 [SEP] 13, Pencil, -0.386, 0.865, -2.436, 0, 0, 0, 55 [SEP] 14, Laptop, 0.528, 0.772, 1.819, 0, 0, 0, 26 [SEP] 15, AlarmClock, -0.061, 0.813, -2.304, 0, 0, 0, 48 [SEP] 16, CreditCard, 0.355, 0.812, -2.236, 0, 0, 0, 48 [SEP] 17, KeyChain, 0.459, 0.813, -2.507, 0, 90, 0, 48 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 19, RemoteControl, -1.192, 0.863, -2.373, 0, 0, 0, 55 [SEP] 20, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 26 [SEP] 21, CD, 1.521, 0.817, -1.727, 0, 0, 0, 46 [SEP] 22, CD, -0.386, 0.861, -2.311, 0, 0, 0, 55 [SEP] 23, CD, -0.789, 0.861, -2.373, 0, 0, 0, 55 [SEP] 24, Pen, -0.587, 0.867, -2.311, 0, 0, 0, 55 [SEP] 25, Bowl, 0.146, 0.813, -2.236, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output:
STEP 1: Turn to the left and walk toward the wall, then turn right and go to the desk.  | STEP 2:

Pick up the card closest to the bowl off the desk. | STEP 3:
Turn around then go to the left and go to the far right corner of the larger desk | STEP 4:
Place the card on the table next to the remotes. | END


Input: Put a cooked tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.930, -0.75, 0, 90, 0,  [SEP] 1, Potato, -0.702, 0.938, -0.726, 0, 45, 0, 60 [SEP] 2, DishSponge, 2.987, 0.746, 0.098, 0, 90, 0, 105 [SEP] 3, DishSponge, 2.971, 0.175, -0.702, 0, 0, 0, 72 [SEP] 4, ButterKnife, 0.445, 0.911, 0.727, 0, 0, 0, 91 [SEP] 5, ButterKnife, 0.622, 0.911, 0.326, 0, 0, 0, 91 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 55 [SEP] 7, Kettle, 3.113, 1.465, -1.648, 0, 0, 0, 58 [SEP] 8, Spatula, -0.950, 0.341, -0.273, 0, 90, 0, 65 [SEP] 9, Apple, 0.851, 1.147, -1.475, 0, 0, 0, 106 [SEP] 10, Lettuce, -0.717, 0.965, 0.176, 0, 0, 0, 60 [SEP] 11, SaltShaker, 1.255, 1.671, -1.619, 0, 0, 0, 51 [SEP] 12, SaltShaker, 3.084, 0.173, 0.770, 0, 0, 0, 69 [SEP] 13, PepperShaker, -0.745, 0.514, 1.255, 0, 0, 0, 48 [SEP] 14, Bowl, 0.404, 1.256, -1.707, 0, 0, 0, 76 [SEP] 15, Bowl, 0.798, 0.908, 0.426, 0, 0, 0, 91 [SEP] 16, Tomato, -0.007, 0.937, -1.728, 0, 45, 0, 81 [SEP] 17, Egg, 1.242, 1.300, -1.475, 0, 0, 0, 106 [SEP] 18, Cup, 0.101, 0.898, -1.373, 0, 0, 0, 81 [SEP] 19, Knife, -0.991, 0.352, 1.343, 0, 90, 0, 95 [SEP] 20, Knife, 3.200, 0.926, -0.499, 0, 0, 0, 59 [SEP] 21, Plate, 3.084, 0.188, -0.404, 0, 0, 0, 71 [SEP] 22, Glassbottle, 3.128, 0.101, 1.6, 0, 225, 0, 101 [SEP] 23, SoapBottle, 1.255, 1.683, -1.341, 0, 0, 0, 51 [SEP] 24, Potato, 1.164, 0.749, -1.407, 0, 0, 0, 106 [SEP] 25, Fork, 2.988, 0.713, 0.761, 0, 180, 0, 82 [SEP] 26, Ladle, -0.991, 0.554, 1.255, 0, 90, 0, 48 [SEP] 27, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 49 [SEP] 28, Kettle, 1.229, 0.912, 0.464, 0, 0, 0, 91 [SEP] 29, Spatula, 0.533, 0.925, 0.527, 0, 0, 0, 91 [SEP] 30, Knife, -0.991, 0.732, -0.273, 0, 90, 0, 67 [SEP] 31, Lettuce, -0.789, 0.965, 0.399, 0, 0, 0, 60 [SEP] 32, Cup, 0.808, 1.672, -1.759, 0, 0, 0, 75 [SEP] 33, SaltShaker, -0.085, 0.896, -1.342, 0, 45, 0, 81 [SEP] 34, Egg, -1.085, 1.050, 1.417, 0, 90, 0, 108 [SEP] 35, PepperShaker, 0.239, 0.316, -1.556, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.786, 0.908, 0.691, 0, 36.810, 0, 91 [SEP] 37, Apple, 3.277, 0.974, -0.698, 0, 0, 0, 59 [SEP] 38, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 81 [SEP] 39, Bread, -0.789, 0.979, -0.047, 0, 0, 0, 60 [SEP] 40, CellPhone, -0.868, 0.515, -0.098, 0, 0, 0, 87 [SEP] 41, DishSponge, -0.827, 0.130, 1.168, 0, 0, 0, 95 [SEP] 42, Tomato, 1.164, 0.923, -1.475, 0, 0, 0, 106 [SEP] 43, Spoon, -0.827, 0.132, -0.273, 0, 0, 0, 80 [SEP] 44, Bowl, 3.198, 0.172, -0.828, 0, 0, 0, 72 [SEP] 45, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 103 [SEP] 46, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 47, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 48, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 49, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 50, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 51, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 52, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 53, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 54, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 55, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 56, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 57, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 58, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 59, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 60, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 61, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 62, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 63, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 64, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 66, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 67, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 68, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 69, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 70, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 71, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 72, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 73, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 74, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 75, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 76, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 77, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 78, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 79, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 80, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 81, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 82, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 83, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 85, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 86, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 87, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 88, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 89, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 90, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 91, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 92, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 93, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 94, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 95, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 96, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 97, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 98, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 99, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 100, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 101, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 102, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 103, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 104, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 105, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 106, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 107, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 108, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 109, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the counter. | STEP 2: Pick up the tomato. | STEP 3: Turn right and go to the microwave. | STEP 4: Cook the tomato. | STEP 5: Turn left and go to the fridge. | STEP 6: Put the tomato in the fridge. | END