Input: Throw away a chilled slice of potato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 3.0, 0, 90, 0,  [SEP] 1, Potato, 0.476, 0.950, 0.827, 0, 0, 0, 40 [SEP] 2, Potato, 0.220, 0.950, 1.180, 0, 90, 0, 40 [SEP] 3, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 64 [SEP] 4, Cup, 1.809, 2.134, 1.236, 0, 0, 0, 47 [SEP] 5, Cup, 1.917, 0.908, 0.415, 0, 90, 0, 40 [SEP] 6, Knife, 1.501, 0.943, 0.827, 0, 90, 0, 40 [SEP] 7, Knife, 0.732, 0.943, 1.004, 0, 180, 0, 40 [SEP] 8, SoapBottle, 1.762, 0.908, 0.363, 0, 90, 0, 40 [SEP] 9, Tomato, 0.455, 0.975, -1.263, 0, 90, 0, 44 [SEP] 10, Tomato, 1.77, 0.134, 1.684, 0, 270, 0, 58 [SEP] 11, Bowl, 1.805, 1.644, -1.724, 0, 0, 0, 54 [SEP] 12, Bowl, 1.805, 1.631, -0.901, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.355, 0.906, -1.247, 0, 90, 0, 44 [SEP] 14, Bread, 0.220, 0.987, 0.827, 0, 90, 0, 40 [SEP] 15, Bread, 1.656, 0.988, -1.374, 0, 90, 0, 44 [SEP] 16, Apple, -0.692, 0.517, -1.541, 0, 0, 0, 67 [SEP] 17, Apple, 0.988, 0.967, 1.269, 0, 90, 0, 40 [SEP] 18, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 50 [SEP] 19, SoapBottle, 1.865, 0.909, -1.545, 0, 90, 0, 44 [SEP] 20, Cup, 0.963, 0.758, -1.599, 0, 0, 0, 59 [SEP] 21, Egg, 1.800, 0.105, 1.540, 0, 270, 0, 58 [SEP] 22, Fork, 1.757, 0.911, 0.915, 0, 90, 0, 40 [SEP] 23, Ladle, 1.762, 0.954, 0.518, 0, 90, 0, 40 [SEP] 24, Apple, 1.771, 1.064, -0.782, 0, 270, 0, 64 [SEP] 25, SaltShaker, 1.757, 0.905, 1.092, 0, 90, 0, 40 [SEP] 26, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 43 [SEP] 27, Tomato, -0.838, 0.524, -1.605, 0, 0, 0, 67 [SEP] 28, Spatula, 1.239, 0.775, -1.710, 0, 90, 0, 59 [SEP] 29, Potato, 1.529, 0.950, 0.311, 0, 90, 0, 40 [SEP] 30, Knife, 0.476, 0.943, 1.092, 0, 90, 0, 40 [SEP] 31, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 44 [SEP] 32, Bread, 1.726, 0.988, -1.717, 0, 90, 0, 44 [SEP] 33, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.420, 40 [SEP] 34, PepperShaker, 1.451, 0.905, 0.467, 0, 90, 0, 40 [SEP] 35, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 41 [SEP] 36, DishSponge, 1.805, 1.634, -1.378, 0, 0, 0, 53 [SEP] 37, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 59 [SEP] 38, Bowl, -0.741, 0.745, -1.594, 0, 0, 0, 67 [SEP] 39, Mug, -0.374, 1.059, -1.382, 0, 0, 0, 67 [SEP] 40, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 41, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 42, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 43, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 44, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 45, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 46, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 47, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 48, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 49, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 50, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 51, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 52, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 53, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 54, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 55, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 56, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 57, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 58, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 59, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 60, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 61, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 62, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 63, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 64, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 65, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 66, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 67, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 68, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 69, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 70, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: Walk to the stove and turn left to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Walk over to the left to the potato. | STEP 4: Slice the potato with the knife. | STEP 5: Go back to where the knife came from. | STEP 6: Put the knife back on the counter. | STEP 7: Walk back to the potato slices. | STEP 8: Pick up a potato slice off of the counter. | STEP 9: Walk over to the fridge. | STEP 10: Place the potato in the fridge and take it back out. | STEP 11: Take the slice of potato to the black trash can by the door. | STEP 12: Place the potato in the trash can. | END


Input: Put the clean spoon in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0,  [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn around to your left then cross the room, head to the right side of the counter | STEP 2: Pick up the spoon on the counter | STEP 3: Turn to your right then walk towards the sink | STEP 4: Put the spoon in the sink then rinse it | STEP 5: Turn to your right facing the drawer | STEP 6: Open the drawer  put the spoon inside then close the drawer | END


Input: Place a clean spoon inside the drawer to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0,  [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the counter on the other side of the two black stools. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the spoon in the sink and pick up the clean spoon. | STEP 5: Turn right to face the drawer to the right of the sink. | STEP 6: Place the clean spoon in the drawer to the right of the sink and then close it. | END


Input: Put a clean spoon in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0,  [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn around and cross the room to face the counter where the spoon is. | STEP 2: Pick the spoon up from the counter. | STEP 3: Turn around and stand in front of the sink. | STEP 4: Put the spoon in the sink, turn the water on and then turn the water off and then pick up the spoon. | STEP 5: Turn to the right. | STEP 6: Open the drawer and put the spoon in and then shut the drawer. | END


Input: Put the clean spoon on the cabinet drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0,  [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn around to your right, then head to the counter beside the stove and turn to your right | STEP 2: Pick up the spoon on the counter top | STEP 3: Turn around to your right and head to the sink | STEP 4: Put the spoon on the sink , rinse it then pick it up | STEP 5: Turn to your left and face the stove | STEP 6: Pull the cabinet drawer then put in the spoon in and close the drawer | END


Input: Put a bowl with a pen in it on a night stand. 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, 1.0, 0, 0, 0,  [SEP] 1, Bowl, -1.699, 1.146, -1.731, 0, 90, 0, 43 [SEP] 2, Statue, -1.509, 0.982, -0.742, 0, 0, 0, 48 [SEP] 3, Statue, 1.731, 0.691, 2.082, 0, 0, 0, 58 [SEP] 4, CellPhone, 2.128, 0.433, 1.590, 0, 90, 0, 64 [SEP] 5, CellPhone, -1.608, 0.410, 0.534, 0, 0, 0, 57 [SEP] 6, Pen, 2.360, 0.686, -1.717, 0, 0, 0, 61 [SEP] 7, Pen, -1.668, 1.152, -1.959, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.283, 0.680, -1.536, 0, 0, 0, 61 [SEP] 9, CreditCard, 1.498, 0.680, 2.353, 0, 0, 0, 58 [SEP] 10, KeyChain, -1.762, 1.147, -2.073, 0, 180, 0, 43 [SEP] 11, Book, 1.743, 0.774, -0.990, 0, 0, 0, 30 [SEP] 12, Book, -1.664, 0.605, 0.350, 0, 0, 0, 50 [SEP] 13, Pillow, 0.778, 0.836, 0.188, 0, 0, 0, 30 [SEP] 14, Book, -1.552, 0.216, 0.162, 0, 0, 0, 55 [SEP] 15, KeyChain, 2.408, 0.437, 1.671, 0, 270, 0, 64 [SEP] 16, AlarmClock, -1.699, 1.146, -2.415, 0, 90, 0, 43 [SEP] 17, Pillow, 0.296, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.778, 0.836, -0.990, 0, 0, 0, 30 [SEP] 19, Vase, -1.699, 1.147, -2.187, 0, 90, 0, 43 [SEP] 20, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 48 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, 1.731, 0.686, 2.308, 0, 0, 0, 58 [SEP] 23, CreditCard, 2.323, 0.082, -1.568, 0, 180, 0, 62 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 25, Pen, 2.515, 0.686, -1.762, 0, 0, 0, 61 [SEP] 26, CellPhone, 1.576, 0.681, 2.172, 0, 0, 0, 58 [SEP] 27, CD, 2.360, 0.680, -1.626, 0, 0, 0, 61 [SEP] 28, Bowl, -1.699, 1.637, -2.073, 0, 90, 0, 42 [SEP] 29, Statue, -1.764, 0.965, -0.758, 0, 59.718, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn right, go forward to the wall, turn right, go forward to the night stand. | STEP 2: Take the pen from the night stand. | STEP 3: Turn around, go forward, after passing the end of the bed turn left, go forward, after passing the end of the bed turn left, go forward to the top of the bed, turn right, go to the dresser. | STEP 4: Put the pen in the bowl on the shelf of the dresser. | STEP 5: Take the bowl from the shelf of the dresser. | STEP 6: Turn right, go around the bed back to the night stand where the pen came from. | STEP 7: Put the bowl behind the CD on the night stand. | END


Input: move the cell phone to the night stand  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 1.25, 0, 180, 0,  [SEP] 1, CD, 0.000, 0.970, -1.852, 0, 270, 0, 36 [SEP] 2, CellPhone, 1.640, 0.418, 0.585, 0, 0, 0, 46 [SEP] 3, Pen, -0.487, 0.042, -1.655, 0, 270, 0, 37 [SEP] 4, CreditCard, 0.604, 0.972, -1.557, 0, 270, 0, 36 [SEP] 5, CreditCard, 2.298, 0.572, 1.240, 0, 180, 0, 34 [SEP] 6, KeyChain, 1.591, 0.041, -2.027, 0, 88.075, 0, 49 [SEP] 7, Book, 0.897, 0.417, -0.413, 0, 0, 0, 46 [SEP] 8, Book, 0.304, 0.038, -1.598, 0, 270, 0, 42 [SEP] 9, Pillow, 1.392, 0.477, 0.419, 0, 0, 0, 46 [SEP] 10, Box, -1.751, 0.252, 1.499, 0, 340.773, 0, Floor|+00.00| [SEP] 11, Book, 0.212, 0.219, -1.712, 0, 270, 0, 43 [SEP] 12, Cloth, -1.146, 0.000, -2.123, 0, 0, 0, Floor|+00.00| [SEP] 13, CellPhone, 1.750, 0.043, -1.970, 0, 88.075, 0, 49 [SEP] 14, Pencil, 0.304, 0.804, -1.711, 0, 270, 0, 41 [SEP] 15, AlarmClock, 2.153, 0.565, 1.23, 0, 213.033, 0, 34 [SEP] 16, TeddyBear, -2.236, 0.000, 1.457, 0, 319.128, 0, Floor|+00.00| [SEP] 17, CreditCard, 0.201, 0.972, -1.852, 0, 270, 0, 36 [SEP] 18, KeyChain, 2.068, 0.573, 1.512, 0, 270, 0, 34 [SEP] 19, Pillow, 0.649, 0.477, 0.419, 0, 0, 0, 46 [SEP] 20, Pillow, 2.15, 0.433, -0.241, 0, 282.078, 0, 46 [SEP] 21, Laptop, -0.5, 0.965, -1.715, 0, 24.156, 0, 36 [SEP] 22, Bowl, 0.471, 0.965, -1.856, 0, 0, 0, 36 [SEP] 23, Cloth, -1.288, 0.000, -1.936, 0, 357.341, 356.936, Floor|+00.00| [SEP] 24, CD, 1.648, 0.040, -2.130, 0, 88.075, 0, 49 [SEP] 25, Pen, -0.487, 0.042, -1.768, 0, 270, 0, 37 [SEP] 26, DeskLamp, 2.302, 0.561, 1.435, 0, 315, 0,  [SEP] 27, GarbageCan, -2.208, -0.023, -1.742, 0, 77.663, 0,  [SEP] 28, Poster, 2.439, 1.508, 0.014, 90, 270, 0,  [SEP] 29, LightSwitch, -2.457, 1.274, -0.096, 0, 90, 0,  [SEP] 30, Mirror, 2.454, 1.322, -1.414, 0, 90, 0,  [SEP] 31, Window, -1.440, 1.815, -2.354, 90, 0, 0,  [SEP] 32, Window, 1.401, 1.815, -2.354, 90, 0, 0,  [SEP] 33, Drawer, 2.251, 0.468, 1.333, 0, 270, 0,  [SEP] 34, SideTable, 2.243, -0.001, 1.331, 0, 270, 0,  [SEP] 35, Drawer, -0.385, 0.681, -1.631, 0, 0, 0,  [SEP] 36, Dresser, 0.011, 0.001, -1.676, 0, 0, 0,  [SEP] 37, Drawer, -0.385, 0.105, -1.631, 0, 0, 0,  [SEP] 38, Drawer, 0.408, 0.868, -1.632, 0, 0, 0,  [SEP] 39, Drawer, -0.385, 0.487, -1.631, 0, 0, 0,  [SEP] 40, Drawer, -0.385, 0.868, -1.632, 0, 0, 0,  [SEP] 41, Drawer, 0.408, 0.681, -1.631, 0, 0, 0,  [SEP] 42, Drawer, 0.408, 0.105, -1.631, 0, 0, 0,  [SEP] 43, Drawer, 0.408, 0.292, -1.631, 0, 0, 0,  [SEP] 44, Drawer, -0.385, 0.292, -1.631, 0, 0, 0,  [SEP] 45, Drawer, 0.408, 0.487, -1.631, 0, 0, 0,  [SEP] 46, Bed, 1.377, 0.004, 0.072, 0, 90, 0,  [SEP] 47, Blinds, 1.422, 3.115, -2.339, 0, 0, 0,  [SEP] 48, Blinds, -1.422, 3.115, -2.339, 0, 0, 0,  [SEP] 49, Safe, 1.640, 0.000, -2.040, 0, 355.244, 0,  [SEP] 50, LaundryHamper, -1.564, 0.001, -1.927, 0, 45, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn towards the bed | STEP 2: pick up the cell phone sitting on the bed | STEP 3: move over towards the nightstand next to the bed | STEP 4: place the cell phone on the nightstand  | END


Input: take the phone from the bed to the nightstand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 1.25, 0, 180, 0,  [SEP] 1, CD, 0.000, 0.970, -1.852, 0, 270, 0, 36 [SEP] 2, CellPhone, 1.640, 0.418, 0.585, 0, 0, 0, 46 [SEP] 3, Pen, -0.487, 0.042, -1.655, 0, 270, 0, 37 [SEP] 4, CreditCard, 0.604, 0.972, -1.557, 0, 270, 0, 36 [SEP] 5, CreditCard, 2.298, 0.572, 1.240, 0, 180, 0, 34 [SEP] 6, KeyChain, 1.591, 0.041, -2.027, 0, 88.075, 0, 49 [SEP] 7, Book, 0.897, 0.417, -0.413, 0, 0, 0, 46 [SEP] 8, Book, 0.304, 0.038, -1.598, 0, 270, 0, 42 [SEP] 9, Pillow, 1.392, 0.477, 0.419, 0, 0, 0, 46 [SEP] 10, Box, -1.751, 0.252, 1.499, 0, 340.773, 0, Floor|+00.00| [SEP] 11, Book, 0.212, 0.219, -1.712, 0, 270, 0, 43 [SEP] 12, Cloth, -1.146, 0.000, -2.123, 0, 0, 0, Floor|+00.00| [SEP] 13, CellPhone, 1.750, 0.043, -1.970, 0, 88.075, 0, 49 [SEP] 14, Pencil, 0.304, 0.804, -1.711, 0, 270, 0, 41 [SEP] 15, AlarmClock, 2.153, 0.565, 1.23, 0, 213.033, 0, 34 [SEP] 16, TeddyBear, -2.236, 0.000, 1.457, 0, 319.128, 0, Floor|+00.00| [SEP] 17, CreditCard, 0.201, 0.972, -1.852, 0, 270, 0, 36 [SEP] 18, KeyChain, 2.068, 0.573, 1.512, 0, 270, 0, 34 [SEP] 19, Pillow, 0.649, 0.477, 0.419, 0, 0, 0, 46 [SEP] 20, Pillow, 2.15, 0.433, -0.241, 0, 282.078, 0, 46 [SEP] 21, Laptop, -0.5, 0.965, -1.715, 0, 24.156, 0, 36 [SEP] 22, Bowl, 0.471, 0.965, -1.856, 0, 0, 0, 36 [SEP] 23, Cloth, -1.288, 0.000, -1.936, 0, 357.341, 356.936, Floor|+00.00| [SEP] 24, CD, 1.648, 0.040, -2.130, 0, 88.075, 0, 49 [SEP] 25, Pen, -0.487, 0.042, -1.768, 0, 270, 0, 37 [SEP] 26, DeskLamp, 2.302, 0.561, 1.435, 0, 315, 0,  [SEP] 27, GarbageCan, -2.208, -0.023, -1.742, 0, 77.663, 0,  [SEP] 28, Poster, 2.439, 1.508, 0.014, 90, 270, 0,  [SEP] 29, LightSwitch, -2.457, 1.274, -0.096, 0, 90, 0,  [SEP] 30, Mirror, 2.454, 1.322, -1.414, 0, 90, 0,  [SEP] 31, Window, -1.440, 1.815, -2.354, 90, 0, 0,  [SEP] 32, Window, 1.401, 1.815, -2.354, 90, 0, 0,  [SEP] 33, Drawer, 2.251, 0.468, 1.333, 0, 270, 0,  [SEP] 34, SideTable, 2.243, -0.001, 1.331, 0, 270, 0,  [SEP] 35, Drawer, -0.385, 0.681, -1.631, 0, 0, 0,  [SEP] 36, Dresser, 0.011, 0.001, -1.676, 0, 0, 0,  [SEP] 37, Drawer, -0.385, 0.105, -1.631, 0, 0, 0,  [SEP] 38, Drawer, 0.408, 0.868, -1.632, 0, 0, 0,  [SEP] 39, Drawer, -0.385, 0.487, -1.631, 0, 0, 0,  [SEP] 40, Drawer, -0.385, 0.868, -1.632, 0, 0, 0,  [SEP] 41, Drawer, 0.408, 0.681, -1.631, 0, 0, 0,  [SEP] 42, Drawer, 0.408, 0.105, -1.631, 0, 0, 0,  [SEP] 43, Drawer, 0.408, 0.292, -1.631, 0, 0, 0,  [SEP] 44, Drawer, -0.385, 0.292, -1.631, 0, 0, 0,  [SEP] 45, Drawer, 0.408, 0.487, -1.631, 0, 0, 0,  [SEP] 46, Bed, 1.377, 0.004, 0.072, 0, 90, 0,  [SEP] 47, Blinds, 1.422, 3.115, -2.339, 0, 0, 0,  [SEP] 48, Blinds, -1.422, 3.115, -2.339, 0, 0, 0,  [SEP] 49, Safe, 1.640, 0.000, -2.040, 0, 355.244, 0,  [SEP] 50, LaundryHamper, -1.564, 0.001, -1.927, 0, 45, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: go to the bed | STEP 2: pick up the phone | STEP 3: take the phone to the nightstand | STEP 4: stand the phone up on the stand | END


Input: Place a cooled egg on 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, -0.75, 0.869, -2.75, 0, 90, 0,  [SEP] 1, Potato, -1.620, 0.729, -3.782, 0, 0, 0, 69 [SEP] 2, DishSponge, 0.757, 0.772, -0.570, 0, 270, 0, 65 [SEP] 3, Spatula, 0.961, 0.680, 0.326, 0, 90, 0, 47 [SEP] 4, Spoon, -0.855, 0.901, 1.101, 0, 270, 0, 68 [SEP] 5, Egg, -2.054, 0.738, -1.416, 0, 0, 0, 78 [SEP] 6, Plate, 0.676, 0.019, -0.119, 0, 0, 0, 52 [SEP] 7, Knife, 0.574, 0.783, -0.188, 0, 90, 0, 41 [SEP] 8, Knife, 0.671, 0.782, -0.252, 0, 90, 0, 41 [SEP] 9, Tomato, 0.721, 0.712, 0.326, 0, 0, 0, 47 [SEP] 10, Tomato, -0.051, 0.949, 0.758, 0, 270, 0, 68 [SEP] 11, SoapBottle, 0.661, 0.664, 0.508, 0, 0, 0, 47 [SEP] 12, SoapBottle, 0.149, 0.899, 0.758, 0, 270, 0, 68 [SEP] 13, Bowl, -0.855, 0.899, 0.929, 0, 270, 0, 68 [SEP] 14, SaltShaker, 0.803, 0.879, -0.245, 0, 0, 0, 42 [SEP] 15, Bread, 0.841, 0.708, 0.508, 0, 0, 0, 47 [SEP] 16, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 55 [SEP] 17, Mug, -1.719, 0.696, -1.416, 0, 0, 0, 78 [SEP] 18, Apple, 0.672, 0.826, -0.790, 0, 270, 0, 65 [SEP] 19, Apple, 0.746, 0.718, -2.190, 0, 270, 0, 62 [SEP] 20, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 44 [SEP] 21, Plate, -1.886, 0.705, -1.091, 0, 0, 0, 78 [SEP] 22, Fork, -1.635, 0.702, -1.307, 0, 90, 0, 78 [SEP] 23, SoapBottle, -1.187, 0.051, -3.611, 0, 270, 0, 57 [SEP] 24, Apple, -1.949, 0.852, -3.738, 0, 0, 0, 64 [SEP] 25, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 46 [SEP] 26, Egg, -0.252, 0.937, 1.101, 0, 270, 0, 68 [SEP] 27, Spatula, 0.841, 0.787, -0.680, 0, 0, 0, 65 [SEP] 28, Potato, 0.961, 0.697, 0.630, 0, 90, 0, 47 [SEP] 29, Cup, 0.785, 0.663, -1.880, 0, 270, 0, 62 [SEP] 30, SaltShaker, 0.621, 0.012, -0.768, 0, 0, 0, 45 [SEP] 31, PepperShaker, -1.620, 0.692, -3.614, 0, 0, 0, 69 [SEP] 32, ButterKnife, 0.720, 0.759, -0.124, 0, 0, 0, 41 [SEP] 33, DishSponge, 0.994, 1.463, -0.207, 0, 0, 0, 53 [SEP] 34, Bread, 0.149, 0.944, 1.015, 0, 270, 0, 68 [SEP] 35, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 62 [SEP] 36, Tomato, -1.556, 0.744, -3.361, 0, 0, 0, 69 [SEP] 37, Spoon, 0.720, 0.761, -0.061, 0, 0, 0, 41 [SEP] 38, Knife, -1.719, 0.724, -0.875, 0, 0, 0, 78 [SEP] 39, Mug, -1.719, 0.696, -1.524, 0, 0, 0, 78 [SEP] 40, Bowl, 0.746, 1.373, -2.113, 0, 270, 0, 62 [SEP] 41, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 42, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 43, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 44, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 45, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 46, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 47, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 48, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 49, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 50, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 51, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 52, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 53, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 54, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 55, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 56, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 57, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 58, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 59, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 60, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 61, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 63, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 64, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 65, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 66, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 67, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 68, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 69, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 70, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 71, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 72, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 73, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 74, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 75, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 76, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 77, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 78, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 79, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk towards the dining table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn around and walk towards the fridge. | STEP 4: Place the egg on the top shelf inside the fridge, let it cool and take it back out. | STEP 5: Turn left towards the white table, and then turn right to face a small black table. | STEP 6: Place the egg on the right corner of the table. | END


Input: Put a cooked apple on the counter in front of the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 1.124, 0.0, 0, 180, 0,  [SEP] 1, Pan, -1.660, 1.322, -2.981, 0, 0, 0, 47 [SEP] 2, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 44 [SEP] 3, Spoon, -1.165, 1.324, -2.981, 0, 0, 0, 47 [SEP] 4, Spatula, 0.563, 1.337, -3.232, 0, 0, 0, 47 [SEP] 5, Spatula, -1.730, 0.435, -0.364, 0, 270, 0, 51 [SEP] 6, Cup, -1.614, 0.341, 0.110, 0, 0, 0, 45 [SEP] 7, Cup, 0.976, 0.342, -2.371, 0, 180, 0, 46 [SEP] 8, Plate, -1.660, 1.323, -1.941, 0, 0, 0, 47 [SEP] 9, Knife, 0.206, 1.352, -3.121, 0, 90, 0, 47 [SEP] 10, SoapBottle, -1.789, 0.344, -2.362, 0, 0, 0, 43 [SEP] 11, Tomato, -1.826, 1.097, -0.496, 0, 0, 0, 65 [SEP] 12, Tomato, -1.954, 1.084, -0.496, 0, 0, 0, 65 [SEP] 13, SaltShaker, 0.824, 0.339, -2.061, 0, 180, 0, 46 [SEP] 14, PepperShaker, 0.896, 1.318, -2.794, 0, 0, 0, 47 [SEP] 15, Lettuce, -1.790, 1.399, 0.445, 0, 90, 0, 47 [SEP] 16, Lettuce, -1.530, 1.399, 1.744, 0, 0, 0, 47 [SEP] 17, Mug, 0.965, 1.371, -1.534, 0, 270, 0, 68 [SEP] 18, Mug, -1.682, 0.338, 1.110, 0, 0, 0, 48 [SEP] 19, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 47 [SEP] 20, Pot, -1.727, 0.350, -1.963, 0, 0, 0, 43 [SEP] 21, Knife, -1.915, 1.358, -1.186, 0, 180, 0, 54 [SEP] 22, Bowl, 1.056, 1.755, 2.112, 0, 270, 0, 60 [SEP] 23, Potato, -1.698, 1.090, -0.587, 0, 0, 0, 65 [SEP] 24, SoapBottle, -1.645, 0.422, -0.298, 0, 0, 0, 51 [SEP] 25, Fork, 0.981, 0.740, 1.054, 0, 270, 0, 71 [SEP] 26, Cup, 1.213, 1.307, 1.016, 0, 270, 0, 72 [SEP] 27, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 42 [SEP] 28, Egg, -1.586, 0.321, 2.234, 0, 270, 0, 62 [SEP] 29, Pan, -2.049, 1.322, 1.744, 0, 180, 0, 47 [SEP] 30, SaltShaker, 1.129, 0.339, -1.751, 0, 180, 0, 46 [SEP] 31, WineBottle, 0.976, 0.345, -2.061, 0, 180, 0, 46 [SEP] 32, Lettuce, 1.155, 1.399, -2.424, 0, 0, 0, 47 [SEP] 33, Spatula, -1.530, 1.337, -2.721, 0, 0, 0, 47 [SEP] 34, PaperTowelRoll, 1.110, 1.312, 1.254, 0, 0, 0, 77 [SEP] 35, Tomato, 0.634, 1.356, -2.900, 0, 0, 0, 47 [SEP] 36, Plate, -1.920, 1.323, 1.419, 0, 0, 0, 47 [SEP] 37, PepperShaker, 1.193, 1.202, 1.238, 0, 0, 0, 72 [SEP] 38, DishSponge, -1.401, 1.322, -2.981, 0, 0, 0, 47 [SEP] 39, Spoon, -1.915, 1.336, -1.049, 0, 0, 0, 54 [SEP] 40, Apple, -1.915, 1.384, -1.255, 0, 0, 0, 54 [SEP] 41, Mug, -2.093, 1.329, -1.117, 0, 0, 0, 54 [SEP] 42, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 43, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 44, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 45, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 46, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 47, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 48, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 49, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 50, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 51, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 52, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 53, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 54, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 55, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 56, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 57, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 58, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 59, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 60, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 61, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 62, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 63, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 64, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 65, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 66, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 67, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 68, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 69, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 70, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 71, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 72, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 73, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 74, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 75, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 76, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 77, , , , , , , ,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Turn around and go to the microwave. | STEP 4: Heat the apple in the microwave and take it out. | STEP 5: Move slightly to your left. | STEP 6: Put the apple on the table in front of the microwave. | END


Input: put two pump bottles on the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.903, 1.5, 0, 90, 0,  [SEP] 1, SoapBar, -2.163, 0.704, 0.572, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.167, 0.151, 1.315, 0, 90, 0, 31 [SEP] 3, Candle, -0.093, 0.713, 0.426, 0, 0, 0, 20 [SEP] 4, SoapBottle, 0.234, 0.101, 2.448, 0, 0, 0, 25 [SEP] 5, ToiletPaper, -0.167, 0.148, 1.416, 0, 90, 0, 31 [SEP] 6, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 26 [SEP] 7, Candle, -2.177, 0.713, 0.048, 0, 0, 0, 20 [SEP] 8, Cloth, -0.858, 0.164, 0.465, 0, 0, 0, 29 [SEP] 9, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 30 [SEP] 10, Plunger, 0.480, 0.002, 4.793, 0, 0, 0,  [SEP] 11, SoapBar, 0.597, 0.097, 2.738, 0, 0, 0, 25 [SEP] 12, ToiletPaper, 0.160, 0.094, 3.655, 0, 0, 0, 19 [SEP] 13, ToiletPaper, -1.925, 0.701, 0.717, 0, 0, 0, 20 [SEP] 14, SoapBottle, -2.243, 0.707, 0.426, 0, 0, 0, 20 [SEP] 15, SprayBottle, 0.306, 0.098, 2.738, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0,  [SEP] 17, Sink, 0.426, 1.037, 2.947, 0, 270, 0,  [SEP] 18, Window, -2.548, 1.673, 2.405, 0, 0, 0,  [SEP] 19, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0,  [SEP] 20, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0,  [SEP] 21, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0,  [SEP] 22, Mirror, 0.858, 1.863, 2.972, 0, 0, 0,  [SEP] 23, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0,  [SEP] 24, Faucet, -0.207, 0.687, 0.546, 0, 0, 0,  [SEP] 25, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0,  [SEP] 26, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0,  [SEP] 27, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0,  [SEP] 28, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0,  [SEP] 29, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0,  [SEP] 30, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0,  [SEP] 31, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0,  [SEP] 32, Toilet, 0.376, 0.002, 4.470, 0, 0, 0,  [SEP] 33, Faucet, 0.661, 1.043, 3.371, 0, 270, 0,  [SEP] 34, Faucet, 0.661, 1.043, 2.520, 0, 270, 0,  [SEP] 35, NorthWall, , , , , , ,  [SEP] 36, EastWall, , , , , , ,  [SEP] 37, SouthWall, , , , , , ,  [SEP] 38, WestWall, , , , , , ,

Output: STEP 1: go to the sink | STEP 2: pick up the pump bottle from the counter | STEP 3: take the pump bottle to the toilet | STEP 4: put the bottle on the back of the toilet | STEP 5: go to the right side of the sink | STEP 6: pick up the second bottle | STEP 7: take the bottle to the toilet | STEP 8: put the bottle on the back of the toilet next to the first bottle | END


Input: Move a pillow from an armchair to a sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.998, 0.25, 0, 270, 0,  [SEP] 1, Pen, 0.254, 0.867, -2.531, 0, 180, 0, 37 [SEP] 2, CreditCard, -3.650, 0.878, -0.893, 0, 0, 0, 29 [SEP] 3, RemoteControl, -2.763, 0.882, -1.385, 0, 0, 0, 29 [SEP] 4, RemoteControl, -0.906, 0.526, 0.835, 0, 0, 0, 34 [SEP] 5, Laptop, -3.872, 0.879, -1.385, 0, 0, 0, 29 [SEP] 6, Box, -2.863, 1.03, -0.958, 0, 0, 0, 29 [SEP] 7, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 26 [SEP] 8, CreditCard, 0.833, 0.304, -1.782, 0, 0, 0, 26 [SEP] 9, Plate, -3.851, 0.875, -1.011, 0, 0, 0, 29 [SEP] 10, Laptop, -0.193, 0.966, -2.505, 0, 0, 0, 26 [SEP] 11, RemoteControl, -1.428, 0.526, 0.897, 0, 0, 0, 34 [SEP] 12, Vase, -1.222, 0.459, -0.738, 0, 0, 0, 30 [SEP] 13, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 38 [SEP] 14, KeyChain, -0.316, 0.861, -2.433, 0, 180, 0, 37 [SEP] 15, Pen, -4.094, 0.884, -1.090, 0, 0, 0, 29 [SEP] 16, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 17, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 18, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 19, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 20, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 21, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 22, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 23, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 24, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 25, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 26, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 27, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 28, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 29, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 30, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 31, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 32, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 33, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 34, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 35, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 36, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 37, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 38, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to the coffee table, then turn right and walk to the TV, then turn left and walk to the armchair containing the purple pillow. | STEP 2: Pick up the pillow from the armchair. | STEP 3: Turn around and walk forward slightly, then turn right and walk to the blue sofa. | STEP 4: Put the pillow on the seat of the sofa which is on your left. | END


Input: To heat a glass and put it 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, 0.5, 0.900, -1.25, 0, 270, 0,  [SEP] 1, Pan, -0.924, 1.498, 0.042, 0, 90, 0, 74 [SEP] 2, Potato, -0.964, 0.847, 0.118, 0, 90, 0, 74 [SEP] 3, DishSponge, 1.729, 0.937, 1.458, 0, 0, 0, 47 [SEP] 4, ButterKnife, -1.043, 0.937, 1.076, 0, 0, 0, 67 [SEP] 5, ButterKnife, -0.876, 0.937, 0.765, 0, 0, 0, 67 [SEP] 6, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 67 [SEP] 7, Spatula, -0.896, 0.761, 1.050, 0, 270, 0, 65 [SEP] 8, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 44 [SEP] 9, Egg, 1.597, 0.979, 1.798, 0, 180, 0, 69 [SEP] 10, Egg, -0.946, 0.235, -0.126, 0, 90, 0, 74 [SEP] 11, Plate, -1.078, 1.506, 0.887, 0, 0, 0, 53 [SEP] 12, Tomato, 1.550, 1.005, 1.631, 0, 180, 0, 69 [SEP] 13, SoapBottle, -0.795, 0.937, 2.159, 0, 0, 0, 42 [SEP] 14, SoapBottle, 1.430, 0.081, 2.321, 0, 0, 0, 51 [SEP] 15, Bowl, -1.113, 1.946, 1.830, 0, 0, 0, 57 [SEP] 16, Bowl, -0.829, 0.080, 0.845, 0, 0, 0, 54 [SEP] 17, PepperShaker, -1.127, 0.934, 2.386, 0, 0, 0, 43 [SEP] 18, PepperShaker, -1.001, 1.497, 2.524, 0, 180, 0, 64 [SEP] 19, Lettuce, -1.126, 1.028, 0.765, 0, 0, 0, 67 [SEP] 20, Lettuce, -1.126, 1.028, 0.998, 0, 0, 0, 67 [SEP] 21, Lettuce, -0.961, 1.028, 2.310, 0, 0, 0, 42 [SEP] 22, SoapBottle, 1.489, 0.069, 2.879, 0, 0, 0, 80 [SEP] 23, Bread, -0.971, 1.387, 0.118, 0, 90, 0, 74 [SEP] 24, Fork, -1.127, 0.938, 2.159, 0, 0, 0, 42 [SEP] 25, Tomato, -0.971, 1.560, 0.348, 0, 90, 0, 74 [SEP] 26, Bowl, 1.666, 1.500, 0.965, 0, 0, 0, 49 [SEP] 27, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 66 [SEP] 28, Spatula, 1.503, 0.959, 1.631, 0, 0, 0, 69 [SEP] 29, Knife, -0.689, 0.768, 0.779, 0, 90, 0, 65 [SEP] 30, SaltShaker, -0.677, 0.080, 0.985, 0, 0, 0, 54 [SEP] 31, Apple, 1.456, 0.892, 1.398, 0, 180, 0, 84 [SEP] 32, PepperShaker, -1.153, 1.824, 0.197, 0, 0, 0, 56 [SEP] 33, ButterKnife, 1.456, 0.944, 1.589, 0, 180, 0, 69 [SEP] 34, Potato, -0.710, 0.970, 0.921, 0, 0, 0, 67 [SEP] 35, Plate, -0.804, 0.086, 2.528, 0, 0, 0, 63 [SEP] 36, DishSponge, 1.315, 0.944, 1.714, 0, 180, 0, 69 [SEP] 37, Egg, 1.556, 0.105, 2.977, 0, 0, 0, 80 [SEP] 38, Cup, 1.503, 0.943, 1.756, 0, 180, 0, 69 [SEP] 39, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 50 [SEP] 40, Spoon, 1.409, 0.945, 1.798, 0, 180, 0, 69 [SEP] 41, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 47 [SEP] 42, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 43, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 44, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 45, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 46, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 47, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 48, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 49, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 50, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 51, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 52, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 53, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 54, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 55, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 56, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 57, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 58, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 59, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 60, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 61, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 62, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 63, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 64, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 65, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 66, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 67, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 68, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 69, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 70, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 71, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 72, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 73, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 74, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 75, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 76, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 77, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 78, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 79, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 80, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 81, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 82, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 83, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 84, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 85, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 86, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the sink on the right.  | STEP 2: Pick up the glass that's behind the spoon.  | STEP 3: Move to the right side of the sink and look up at the microwave.  | STEP 4: Open the microwave door, place the glass inside of the microwave, close the door, heat up the glass, open the door, remove the glass, close the door.  | STEP 5: Turn around and walk to the fridge.  | STEP 6: Open the fridge door and place the glass on the left side of the second shelf.  | END


Input: Place a heated cup in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.25, 0, 270, 0,  [SEP] 1, Pan, -0.924, 1.498, 0.042, 0, 90, 0, 74 [SEP] 2, Potato, -0.964, 0.847, 0.118, 0, 90, 0, 74 [SEP] 3, DishSponge, 1.729, 0.937, 1.458, 0, 0, 0, 47 [SEP] 4, ButterKnife, -1.043, 0.937, 1.076, 0, 0, 0, 67 [SEP] 5, ButterKnife, -0.876, 0.937, 0.765, 0, 0, 0, 67 [SEP] 6, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 67 [SEP] 7, Spatula, -0.896, 0.761, 1.050, 0, 270, 0, 65 [SEP] 8, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 44 [SEP] 9, Egg, 1.597, 0.979, 1.798, 0, 180, 0, 69 [SEP] 10, Egg, -0.946, 0.235, -0.126, 0, 90, 0, 74 [SEP] 11, Plate, -1.078, 1.506, 0.887, 0, 0, 0, 53 [SEP] 12, Tomato, 1.550, 1.005, 1.631, 0, 180, 0, 69 [SEP] 13, SoapBottle, -0.795, 0.937, 2.159, 0, 0, 0, 42 [SEP] 14, SoapBottle, 1.430, 0.081, 2.321, 0, 0, 0, 51 [SEP] 15, Bowl, -1.113, 1.946, 1.830, 0, 0, 0, 57 [SEP] 16, Bowl, -0.829, 0.080, 0.845, 0, 0, 0, 54 [SEP] 17, PepperShaker, -1.127, 0.934, 2.386, 0, 0, 0, 43 [SEP] 18, PepperShaker, -1.001, 1.497, 2.524, 0, 180, 0, 64 [SEP] 19, Lettuce, -1.126, 1.028, 0.765, 0, 0, 0, 67 [SEP] 20, Lettuce, -1.126, 1.028, 0.998, 0, 0, 0, 67 [SEP] 21, Lettuce, -0.961, 1.028, 2.310, 0, 0, 0, 42 [SEP] 22, SoapBottle, 1.489, 0.069, 2.879, 0, 0, 0, 80 [SEP] 23, Bread, -0.971, 1.387, 0.118, 0, 90, 0, 74 [SEP] 24, Fork, -1.127, 0.938, 2.159, 0, 0, 0, 42 [SEP] 25, Tomato, -0.971, 1.560, 0.348, 0, 90, 0, 74 [SEP] 26, Bowl, 1.666, 1.500, 0.965, 0, 0, 0, 49 [SEP] 27, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 66 [SEP] 28, Spatula, 1.503, 0.959, 1.631, 0, 0, 0, 69 [SEP] 29, Knife, -0.689, 0.768, 0.779, 0, 90, 0, 65 [SEP] 30, SaltShaker, -0.677, 0.080, 0.985, 0, 0, 0, 54 [SEP] 31, Apple, 1.456, 0.892, 1.398, 0, 180, 0, 84 [SEP] 32, PepperShaker, -1.153, 1.824, 0.197, 0, 0, 0, 56 [SEP] 33, ButterKnife, 1.456, 0.944, 1.589, 0, 180, 0, 69 [SEP] 34, Potato, -0.710, 0.970, 0.921, 0, 0, 0, 67 [SEP] 35, Plate, -0.804, 0.086, 2.528, 0, 0, 0, 63 [SEP] 36, DishSponge, 1.315, 0.944, 1.714, 0, 180, 0, 69 [SEP] 37, Egg, 1.556, 0.105, 2.977, 0, 0, 0, 80 [SEP] 38, Cup, 1.503, 0.943, 1.756, 0, 180, 0, 69 [SEP] 39, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 50 [SEP] 40, Spoon, 1.409, 0.945, 1.798, 0, 180, 0, 69 [SEP] 41, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 47 [SEP] 42, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 43, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 44, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 45, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 46, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 47, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 48, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 49, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 50, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 51, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 52, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 53, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 54, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 55, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 56, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 57, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 58, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 59, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 60, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 61, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 62, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 63, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 64, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 65, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 66, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 67, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 68, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 69, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 70, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 71, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 72, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 73, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 74, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 75, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 76, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 77, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 78, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 79, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 80, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 81, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 82, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 83, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 84, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 85, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 86, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Turn right and veer right to the sink. | STEP 2: Pick up the glass to the left of the sink. | STEP 3: Take a step right. | STEP 4: Heat the glass in the microwave. | STEP 5: Turn around and veer left to the fridge. | STEP 6: Place the glass on the second to bottom shelf of the fridge. | END


Input: Chill and egg and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Potato, 1.669, 0.970, 0.873, 0, 0, 0, 44 [SEP] 2, DishSponge, 1.409, 0.936, 1.797, 0, 180, 1.212, 66 [SEP] 3, DishSponge, -1.081, 1.500, 2.583, 0, 180, 0, 61 [SEP] 4, Fork, -0.861, 0.747, 2.381, 0, 270, 0, 40 [SEP] 5, Fork, -1.126, 0.938, 0.921, 0, 90, 0, 64 [SEP] 6, Spoon, -0.792, 0.747, 2.449, 0, 90, 0, 40 [SEP] 7, Spatula, -0.793, 0.952, 1.154, 0, 0, 0, 64 [SEP] 8, Egg, 1.597, 0.979, 1.798, 0, 180, 0, 66 [SEP] 9, Egg, 1.523, 0.105, 2.912, 0, 0, 0, 77 [SEP] 10, Cup, -0.937, 0.564, 0.195, 0, 90, 0, 71 [SEP] 11, Knife, -0.896, 0.768, 2.245, 0, 90, 0, 40 [SEP] 12, Tomato, 1.592, 0.999, 1.007, 0, 0, 0, 44 [SEP] 13, SoapBottle, -1.043, 0.937, 1.154, 0, 0, 0, 64 [SEP] 14, SaltShaker, -0.792, 0.743, 2.313, 0, 180, 0, 40 [SEP] 15, PepperShaker, -0.712, 0.934, 2.159, 0, 0, 0, 40 [SEP] 16, Lettuce, -1.126, 1.028, 0.765, 0, 0, 0, 64 [SEP] 17, Apple, -1.065, 1.368, 0.042, 0, 90, 0, 71 [SEP] 18, Lettuce, 1.461, 1.013, 1.680, 7.896, 60.883, 2.157, 66 [SEP] 19, SoapBottle, -0.724, 0.081, 2.313, 0, 0, 0, 60 [SEP] 20, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 39 [SEP] 21, Fork, 1.315, 0.945, 1.756, 0, 270, 0, 66 [SEP] 22, Tomato, 1.423, 0.131, 2.945, 0, 0, 0, 77 [SEP] 23, Bowl, -0.971, 1.495, 0.042, 0, 90, 0, 71 [SEP] 24, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 41 [SEP] 25, Spatula, -0.861, 0.761, 0.779, 0, 90, 0, 62 [SEP] 26, Knife, 1.275, 0.768, 0.780, 0, 90, 0, 69 [SEP] 27, SaltShaker, -0.961, 1.497, 2.216, 0, 180, 0, 70 [SEP] 28, Apple, -1.209, 0.987, 0.998, 0, 0, 0, 64 [SEP] 29, PepperShaker, 1.362, 0.934, 1.074, 0, 0, 0, 44 [SEP] 30, ButterKnife, -0.960, 0.937, 0.843, 0, 0, 0, 64 [SEP] 31, Potato, 1.652, 1.629, 1.598, 0, 270, 0, 78 [SEP] 32, Plate, -1.076, 1.832, 0.356, 0, 0, 0, 53 [SEP] 33, DishSponge, -1.211, 0.937, 2.310, 0, 0, 0, 39 [SEP] 34, Egg, -1.211, 0.973, 2.159, 0, 0, 0, 39 [SEP] 35, Cup, 1.746, 0.936, 2.022, 0, 0, 0, 44 [SEP] 36, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 63 [SEP] 37, Spoon, -1.127, 0.939, 2.159, 0, 0, 0, 39 [SEP] 38, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 44 [SEP] 39, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 40, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 41, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 42, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 43, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 44, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 45, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 46, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 47, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 48, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 49, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 50, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 51, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 52, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 53, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 54, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 55, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 56, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 57, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 58, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 59, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 60, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 61, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 62, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 63, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 64, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 65, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 66, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 67, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 68, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 69, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 70, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 71, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 72, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 73, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 74, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 75, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 76, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 77, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 78, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 79, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 80, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 81, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 82, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 83, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and then face the sink on the right. | STEP 2: Pick up the egg from the left of the sink. | STEP 3: Carry the egg and turn to the right. Then turn right again and face the fridge. | STEP 4: Open the fridge and place the egg inside. Shut the door and then open door and take out the egg. Shut the door. | STEP 5: Carry the egg and turn to the right, then turn right again to move to the sink. | STEP 6: Place the egg in the sink. | END


Input: Slice the apple while it is still in the pot. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Potato, -0.203, 1.259, 0.410, 0, 0, 0, 72 [SEP] 2, Ladle, -0.662, 1.086, 2.369, 0, 0, 0, 49 [SEP] 3, Ladle, -2.514, 1.164, 0.567, 0, 0, 0, 59 [SEP] 4, DishSponge, -1.199, 0.931, 0.290, 0, 0, 0, 71 [SEP] 5, DishSponge, -2.450, 0.487, 0.613, 0, 0, 0, 62 [SEP] 6, ButterKnife, -0.415, 1.048, 2.369, 0, 0, 0, 49 [SEP] 7, Fork, -0.292, 1.047, 2.144, 0, 0, 0, 49 [SEP] 8, Fork, -0.538, 1.047, 3.042, 0, 0, 0, 49 [SEP] 9, Egg, -3.742, 1.155, 0.190, 0, 0, 0, 56 [SEP] 10, Plate, -0.908, 1.045, 2.144, 0, 0, 0, 49 [SEP] 11, Plate, -1.235, 0.047, 0.608, 0, 0, 0, 53 [SEP] 12, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 71 [SEP] 13, Knife, -1.642, 0.963, 0.567, 0, 270, 0, 71 [SEP] 14, SoapBottle, -1.640, 0.049, 0.325, 0, 0, 0, 64 [SEP] 15, SoapBottle, -0.785, 1.048, 2.593, 0, 0, 0, 49 [SEP] 16, Tomato, -3.593, 0.153, 1.978, 0, 0, 0, 70 [SEP] 17, Tomato, -3.798, 0.153, 2.008, 0, 0, 0, 70 [SEP] 18, Bowl, -0.908, 1.045, 3.266, 0, 0, 0, 49 [SEP] 19, SaltShaker, -1.522, 0.045, 0.381, 0, 0, 0, 64 [SEP] 20, Apple, -0.908, 1.114, 2.369, 0, 0, 0, 49 [SEP] 21, Apple, -3.506, 1.354, 3.061, 0, 90, 0, 66 [SEP] 22, Fork, -1.288, 0.932, 0.428, 0, 0, 0, 71 [SEP] 23, SoapBottle, -1.562, 0.049, 0.608, 0, 0, 0, 64 [SEP] 24, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 45 [SEP] 25, Ladle, -0.538, 1.086, 2.144, 0, 0, 0, 49 [SEP] 26, Potato, -1.288, 0.962, 0.567, 0, 0, 0, 71 [SEP] 27, Plate, -0.538, 1.045, 2.593, 0, 0, 0, 49 [SEP] 28, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 49 [SEP] 29, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 66 [SEP] 30, Spatula, -1.111, 0.946, 0.498, 0, 270, 0, 71 [SEP] 31, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 63 [SEP] 32, Egg, -0.309, 1.258, 0.508, 0, 0, 0, 72 [SEP] 33, Cup, -3.440, 1.560, 2.920, 0, 90, 0, 66 [SEP] 34, SaltShaker, -0.538, 1.044, 2.369, 0, 0, 0, 49 [SEP] 35, Knife, -0.662, 1.079, 2.817, 0, 0, 0, 49 [SEP] 36, Bowl, -3.44, 0.909, 2.849, 0, 90, 0, 66 [SEP] 37, PepperShaker, -1.076, 0.045, 0.437, 0, 0, 0, 53 [SEP] 38, ButterKnife, -1.465, 0.931, 0.498, 0, 0, 0, 71 [SEP] 39, Apple, -1.885, 1.192, 0.095, 0, 0, 0, 59 [SEP] 40, Tomato, -2.137, 1.165, 0.379, 0, 0, 0, 59 [SEP] 41, DishSponge, -1.562, 0.048, 0.495, 0, 0, 0, 64 [SEP] 42, Spoon, -1.568, 1.155, 0.121, 0, 0, 0, 46 [SEP] 43, Mug, -1.553, 0.926, 0.221, 0, 90, 0, 71 [SEP] 44, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 45, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 46, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 47, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 48, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 49, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 50, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 51, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 52, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 53, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 54, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 55, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 56, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 57, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 58, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 59, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 60, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 61, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 62, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 63, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 64, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 65, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 66, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 67, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 68, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 69, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 70, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 71, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 72, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 73, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 74, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 75, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,

Output: STEP 1: Turn around and face the stove. | STEP 2: Grab the big pot off the stove. | STEP 3: Turn around and walk straight, then turn right to the table. | STEP 4: Place the pot to the left of the fork. | STEP 5: Move right further down the table. | STEP 6: Grab the apple off of the table. | STEP 7: Walk back to where the pot is | STEP 8: Place the apple inside the pot | STEP 9: Head back to where the apple used to be. | STEP 10: Grab the knife from the table. | STEP 11: Head back to where the pot is once more. | STEP 12: Slice the apple that's in the pot. | END


Input: To Put an apple in a pot and cut the apple into three pieces. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Potato, -0.203, 1.259, 0.410, 0, 0, 0, 72 [SEP] 2, Ladle, -0.662, 1.086, 2.369, 0, 0, 0, 49 [SEP] 3, Ladle, -2.514, 1.164, 0.567, 0, 0, 0, 59 [SEP] 4, DishSponge, -1.199, 0.931, 0.290, 0, 0, 0, 71 [SEP] 5, DishSponge, -2.450, 0.487, 0.613, 0, 0, 0, 62 [SEP] 6, ButterKnife, -0.415, 1.048, 2.369, 0, 0, 0, 49 [SEP] 7, Fork, -0.292, 1.047, 2.144, 0, 0, 0, 49 [SEP] 8, Fork, -0.538, 1.047, 3.042, 0, 0, 0, 49 [SEP] 9, Egg, -3.742, 1.155, 0.190, 0, 0, 0, 56 [SEP] 10, Plate, -0.908, 1.045, 2.144, 0, 0, 0, 49 [SEP] 11, Plate, -1.235, 0.047, 0.608, 0, 0, 0, 53 [SEP] 12, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 71 [SEP] 13, Knife, -1.642, 0.963, 0.567, 0, 270, 0, 71 [SEP] 14, SoapBottle, -1.640, 0.049, 0.325, 0, 0, 0, 64 [SEP] 15, SoapBottle, -0.785, 1.048, 2.593, 0, 0, 0, 49 [SEP] 16, Tomato, -3.593, 0.153, 1.978, 0, 0, 0, 70 [SEP] 17, Tomato, -3.798, 0.153, 2.008, 0, 0, 0, 70 [SEP] 18, Bowl, -0.908, 1.045, 3.266, 0, 0, 0, 49 [SEP] 19, SaltShaker, -1.522, 0.045, 0.381, 0, 0, 0, 64 [SEP] 20, Apple, -0.908, 1.114, 2.369, 0, 0, 0, 49 [SEP] 21, Apple, -3.506, 1.354, 3.061, 0, 90, 0, 66 [SEP] 22, Fork, -1.288, 0.932, 0.428, 0, 0, 0, 71 [SEP] 23, SoapBottle, -1.562, 0.049, 0.608, 0, 0, 0, 64 [SEP] 24, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 45 [SEP] 25, Ladle, -0.538, 1.086, 2.144, 0, 0, 0, 49 [SEP] 26, Potato, -1.288, 0.962, 0.567, 0, 0, 0, 71 [SEP] 27, Plate, -0.538, 1.045, 2.593, 0, 0, 0, 49 [SEP] 28, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 49 [SEP] 29, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 66 [SEP] 30, Spatula, -1.111, 0.946, 0.498, 0, 270, 0, 71 [SEP] 31, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 63 [SEP] 32, Egg, -0.309, 1.258, 0.508, 0, 0, 0, 72 [SEP] 33, Cup, -3.440, 1.560, 2.920, 0, 90, 0, 66 [SEP] 34, SaltShaker, -0.538, 1.044, 2.369, 0, 0, 0, 49 [SEP] 35, Knife, -0.662, 1.079, 2.817, 0, 0, 0, 49 [SEP] 36, Bowl, -3.44, 0.909, 2.849, 0, 90, 0, 66 [SEP] 37, PepperShaker, -1.076, 0.045, 0.437, 0, 0, 0, 53 [SEP] 38, ButterKnife, -1.465, 0.931, 0.498, 0, 0, 0, 71 [SEP] 39, Apple, -1.885, 1.192, 0.095, 0, 0, 0, 59 [SEP] 40, Tomato, -2.137, 1.165, 0.379, 0, 0, 0, 59 [SEP] 41, DishSponge, -1.562, 0.048, 0.495, 0, 0, 0, 64 [SEP] 42, Spoon, -1.568, 1.155, 0.121, 0, 0, 0, 46 [SEP] 43, Mug, -1.553, 0.926, 0.221, 0, 90, 0, 71 [SEP] 44, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 45, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 46, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 47, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 48, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 49, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 50, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 51, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 52, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 53, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 54, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 55, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 56, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 57, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 58, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 59, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 60, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 61, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 62, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 63, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 64, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 65, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 66, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 67, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 68, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 69, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 70, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 71, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 72, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 73, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 74, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 75, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,

Output: STEP 1: Turn around and step forward to face the stove. | STEP 2: Pick up the pot on the stove. | STEP 3: Turn left and walk across the room to face the left end of the table. | STEP 4: Place the pot on the table. | STEP 5: Step to the right to face the table. | STEP 6: Pick up the apple on the table. | STEP 7: Step to the left to face the pot on the table. | STEP 8: Place the apple in the pot on the table. | STEP 9: Look right to face the knife on the table. | STEP 10: Pick up the knife on the table. | STEP 11: Step left to face the pot on the table. | STEP 12: Cut the apple in the pot into three pieces. | END


Input: Pick up a cup and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 1.0, 0, 270, 0,  [SEP] 1, Mug, 2.591, 0.793, -1.217, 0, 180, 0, 56 [SEP] 2, TissueBox, -1.294, 0.677, -0.543, 0, 0, 0, 50 [SEP] 3, Watch, -1.264, 0.106, -0.881, 0, 0, 0, 49 [SEP] 4, CD, 2.839, 0.039, 0.218, 0, 270, 0, 34 [SEP] 5, CellPhone, -0.806, 0.566, 0.113, 0, 0, 0, 32 [SEP] 6, CellPhone, -0.462, 0.566, 0.602, 0, 0, 0, 32 [SEP] 7, Pen, -1.422, 1.240, -0.649, 0, 90, 0, 51 [SEP] 8, CreditCard, 2.706, 1.278, -1.387, 0, 0, 0, 42 [SEP] 9, CreditCard, 1.559, 0.349, -1.246, 0, 0, 0, 64 [SEP] 10, KeyChain, -1.266, 0.968, -0.615, 0, 0, 0, 55 [SEP] 11, KeyChain, -1.213, 1.233, -0.936, 0, 90, 0, 51 [SEP] 12, Laptop, -0.806, 0.561, 0.602, 0, 0, 0, 32 [SEP] 13, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 32 [SEP] 14, Box, 2.734, 0.195, 0.89, 0, 0, 0,  [SEP] 15, Laptop, -0.5, 0.56, 0.286, 0, 63.464, 0, 32 [SEP] 16, CellPhone, -1.151, 0.566, 0.113, 0, 0, 0, 32 [SEP] 17, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111,  [SEP] 18, BasketBall, 1.019, 0.330, -0.977, 346.775, 295.617, 1.021,  [SEP] 19, TissueBox, 1.665, 0.570, -1.218, 0, 0, 0, 60 [SEP] 20, CreditCard, 2.411, 1.278, -1.402, 0, 0, 0, 41 [SEP] 21, AlarmClock, -1.269, 1.227, -0.473, 0, 228.191, 0, 51 [SEP] 22, Pencil, 2.587, 1.048, -1.368, 0, 0, 0, 40 [SEP] 23, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0,  [SEP] 24, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 32 [SEP] 25, KeyChain, -1.318, 1.235, -0.745, 0, 0, 0, 51 [SEP] 26, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 56 [SEP] 27, Watch, -1.352, 1.233, -0.553, 0, 0, 0, 51 [SEP] 28, CD, -1.318, 1.233, -0.649, 0, 0, 0, 51 [SEP] 29, Pen, 1.839, 0.801, -1.153, 0, 0, 0, 56 [SEP] 30, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 56 [SEP] 31, Statue, 2.215, 0.805, -1.217, 0, 0, 0, 56 [SEP] 32, Bed, -0.640, 0.008, 0.871, 0, 0, 0,  [SEP] 33, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0,  [SEP] 34, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0,  [SEP] 35, Blinds, 0.111, 2.337, -1.436, 0, 0, 0,  [SEP] 36, Mirror, 1.985, 1.381, 1.875, 0, 0, 0,  [SEP] 37, Window, 0.118, 1.496, -1.588, 90, 180, 0,  [SEP] 38, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0,  [SEP] 39, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0,  [SEP] 40, Shelf, 2.476, 0.919, -1.384, 0, 0, 0,  [SEP] 41, Shelf, 2.251, 1.503, -1.383, 0, 0, 0,  [SEP] 42, Shelf, 2.700, 1.510, -1.380, 0, 0, 0,  [SEP] 43, Shelf, 2.476, 1.153, -1.384, 0, 0, 0,  [SEP] 44, Shelf, 1.803, 1.386, -1.384, 0, 0, 0,  [SEP] 45, Shelf, 1.803, 0.919, -1.381, 0, 0, 0,  [SEP] 46, DogBed, 0.920, 0.013, -1.044, 0, 0, 0,  [SEP] 47, Drawer, -1.305, 0.454, -0.918, 0, 90, 0,  [SEP] 48, Drawer, -1.305, 0.752, -0.919, 0, 90, 0,  [SEP] 49, Drawer, -1.305, 0.178, -0.918, 0, 90, 0,  [SEP] 50, Drawer, -1.305, 0.752, -0.579, 0, 90, 0,  [SEP] 51, Dresser, -1.328, 0.011, -0.744, 0, 90, 0,  [SEP] 52, Drawer, -1.306, 1.031, -0.579, 0, 90, 0,  [SEP] 53, Drawer, -1.305, 0.454, -0.578, 0, 90, 0,  [SEP] 54, Drawer, -1.305, 0.178, -0.578, 0, 90, 0,  [SEP] 55, Drawer, -1.305, 1.031, -0.919, 0, 90, 0,  [SEP] 56, Desk, 2.211, 0.009, -1.259, 0, 0, 0,  [SEP] 57, Drawer, 2.817, 0.189, -1.176, 0, 0, 0,  [SEP] 58, Drawer, 1.940, 0.632, -1.176, 0, 0, 0,  [SEP] 59, Drawer, 1.940, 0.189, -1.176, 0, 0, 0,  [SEP] 60, Drawer, 1.623, 0.632, -1.176, 0, 0, 0,  [SEP] 61, Drawer, 2.817, 0.632, -1.176, 0, 0, 0,  [SEP] 62, Drawer, 2.817, 0.411, -1.176, 0, 0, 0,  [SEP] 63, Drawer, 1.623, 0.189, -1.176, 0, 0, 0,  [SEP] 64, Drawer, 1.623, 0.410, -1.176, 0, 0, 0,  [SEP] 65, Drawer, 1.940, 0.410, -1.176, 0, 0, 0,  [SEP] 66, NorthWall, , , , , , ,  [SEP] 67, EastWall, , , , , , ,  [SEP] 68, SouthWall, , , , , , ,  [SEP] 69, WestWall, , , , , , ,

Output: STEP 1: Turn left then walk towards the desk. | STEP 2: Pick up the white cup closest to the wall. | STEP 3: Turn right then walk towards the dresser. | STEP 4: Turn on the lamp on top of the dresser. | END


Input: Place newspaper next to blue plate, place newspaper on top of blue plate SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.5, 0, 270, 0,  [SEP] 1, Plate, 0.003, 0.339, 0.651, 0, 0, 0, 41 [SEP] 2, Newspaper, -2.042, 0.591, 0.031, 0, 0, 0, 42 [SEP] 3, Newspaper, -1.809, 0.595, 1.096, 0, 0, 0, 38 [SEP] 4, KeyChain, -1.587, 0.291, -1.478, 0, 240.000, 0, 20 [SEP] 5, KeyChain, -2.042, 0.593, 1.096, 0, 0, 0, 42 [SEP] 6, CellPhone, -1.439, 0.306, -1.572, 0, 240.000, 0, 20 [SEP] 7, Pillow, 1.416, 0.552, 0.784, 0, 0, 0, 35 [SEP] 8, Box, 0.167, 0.419, 0.397, 0, 0, 0, 41 [SEP] 9, Newspaper, 1.229, 0.480, 0.980, 0, 90, 0, 35 [SEP] 10, CreditCard, -1.964, 0.592, 0.919, 0, 0, 0, 42 [SEP] 11, Vase, 3.381, 0.644, -0.983, 0, 0, 0, 37 [SEP] 12, KeyChain, -1.964, 0.597, 0.208, 0, 180, 0, 38 [SEP] 13, Plate, 0.250, 0.339, 0.777, 0, 0, 0, 41 [SEP] 14, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 37 [SEP] 15, CellPhone, -1.697, 0.291, -1.451, 0, 240.000, 0, 20 [SEP] 16, RemoteControl, 3.887, 0.642, -0.983, 0, 0, 0, 37 [SEP] 17, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 35 [SEP] 18, Vase, 0.021, 0.555, 1.979, 0, 0, 0, 32 [SEP] 19, Statue, -0.289, 0.561, 1.979, 0, 0, 0, 32 [SEP] 20, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0,  [SEP] 21, Television, -2.035, 1.081, 0.555, 0, 90, 0,  [SEP] 22, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0,  [SEP] 23, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0,  [SEP] 24, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0,  [SEP] 25, Painting, 1.983, 1.585, 0.326, 90, 270, 0,  [SEP] 26, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0,  [SEP] 27, Window, 2.775, 1.281, -2.018, 90, 180, 0,  [SEP] 28, Window, -0.013, 1.289, -2.450, 90, 180, 0,  [SEP] 29, SideTable, 1.566, 0.000, -0.689, 0, 180, 0,  [SEP] 30, Drawer, 1.566, 0.624, -0.741, 0, 180, 0,  [SEP] 31, Shelf, -0.147, 0.172, 1.925, 0, 0, 0,  [SEP] 32, Shelf, -0.147, 0.552, 1.925, 0, 0, 0,  [SEP] 33, Shelf, -0.147, 0.880, 1.924, 0, 0, 0,  [SEP] 34, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0,  [SEP] 35, Sofa, 1.556, -0.004, 0.424, 0, 270, 0,  [SEP] 36, Shelf, 0.167, 0.104, 0.200, 0, 270, 0,  [SEP] 37, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0,  [SEP] 38, TVStand, -1.965, 0.000, 0.563, 0, 270, 0,  [SEP] 39, Shelf, -1.964, 0.082, 0.563, 0, 270, 0,  [SEP] 40, Shelf, -1.964, 0.333, 0.563, 0, 270, 0,  [SEP] 41, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0,  [SEP] 42, , , , , , , ,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: turn left, go to left side of television stand | STEP 2: pick up newspaper from under left side of television | STEP 3: turn around, face coffee table with rug underneath | STEP 4: place newspaper touching right side of square blue place toward front of coffee table | STEP 5: turn around, go to right end of television stand | STEP 6: pick up newspaper from television stand | STEP 7: go to coffee table to the left | STEP 8: place newspaper on top of blue plate with newspaper touching it | END


Input: Put two papers on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.5, 0, 270, 0,  [SEP] 1, Plate, 0.003, 0.339, 0.651, 0, 0, 0, 41 [SEP] 2, Newspaper, -2.042, 0.591, 0.031, 0, 0, 0, 42 [SEP] 3, Newspaper, -1.809, 0.595, 1.096, 0, 0, 0, 38 [SEP] 4, KeyChain, -1.587, 0.291, -1.478, 0, 240.000, 0, 20 [SEP] 5, KeyChain, -2.042, 0.593, 1.096, 0, 0, 0, 42 [SEP] 6, CellPhone, -1.439, 0.306, -1.572, 0, 240.000, 0, 20 [SEP] 7, Pillow, 1.416, 0.552, 0.784, 0, 0, 0, 35 [SEP] 8, Box, 0.167, 0.419, 0.397, 0, 0, 0, 41 [SEP] 9, Newspaper, 1.229, 0.480, 0.980, 0, 90, 0, 35 [SEP] 10, CreditCard, -1.964, 0.592, 0.919, 0, 0, 0, 42 [SEP] 11, Vase, 3.381, 0.644, -0.983, 0, 0, 0, 37 [SEP] 12, KeyChain, -1.964, 0.597, 0.208, 0, 180, 0, 38 [SEP] 13, Plate, 0.250, 0.339, 0.777, 0, 0, 0, 41 [SEP] 14, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 37 [SEP] 15, CellPhone, -1.697, 0.291, -1.451, 0, 240.000, 0, 20 [SEP] 16, RemoteControl, 3.887, 0.642, -0.983, 0, 0, 0, 37 [SEP] 17, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 35 [SEP] 18, Vase, 0.021, 0.555, 1.979, 0, 0, 0, 32 [SEP] 19, Statue, -0.289, 0.561, 1.979, 0, 0, 0, 32 [SEP] 20, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0,  [SEP] 21, Television, -2.035, 1.081, 0.555, 0, 90, 0,  [SEP] 22, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0,  [SEP] 23, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0,  [SEP] 24, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0,  [SEP] 25, Painting, 1.983, 1.585, 0.326, 90, 270, 0,  [SEP] 26, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0,  [SEP] 27, Window, 2.775, 1.281, -2.018, 90, 180, 0,  [SEP] 28, Window, -0.013, 1.289, -2.450, 90, 180, 0,  [SEP] 29, SideTable, 1.566, 0.000, -0.689, 0, 180, 0,  [SEP] 30, Drawer, 1.566, 0.624, -0.741, 0, 180, 0,  [SEP] 31, Shelf, -0.147, 0.172, 1.925, 0, 0, 0,  [SEP] 32, Shelf, -0.147, 0.552, 1.925, 0, 0, 0,  [SEP] 33, Shelf, -0.147, 0.880, 1.924, 0, 0, 0,  [SEP] 34, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0,  [SEP] 35, Sofa, 1.556, -0.004, 0.424, 0, 270, 0,  [SEP] 36, Shelf, 0.167, 0.104, 0.200, 0, 270, 0,  [SEP] 37, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0,  [SEP] 38, TVStand, -1.965, 0.000, 0.563, 0, 270, 0,  [SEP] 39, Shelf, -1.964, 0.082, 0.563, 0, 270, 0,  [SEP] 40, Shelf, -1.964, 0.333, 0.563, 0, 270, 0,  [SEP] 41, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0,  [SEP] 42, , , , , , , ,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Move to the left of the TV before the bin | STEP 2: Pick up a paper from the stand | STEP 3: Move to the coffee table behind you | STEP 4: Put the paper on the coffee table | STEP 5: Move to the right of the TV stand behind you | STEP 6: Pick up a paper from the stand | STEP 7: Move to the coffee table behind you | STEP 8: Put the paper on the coffee table | END


Input: Examine a pencil by the light of a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 0.0, 0, 0, 0,  [SEP] 1, Pen, -0.708, 0.668, 0.556, 0, 180, 0, 31 [SEP] 2, Pen, -0.560, 0.668, 0.600, 0, 180, 0, 31 [SEP] 3, Pen, -0.634, 0.668, 0.427, 0, 180, 0, 31 [SEP] 4, KeyChain, 0.287, 0.693, -2.036, 0, 99.090, 0, 28 [SEP] 5, AlarmClock, 1.698, 0.695, -1.774, 0, 18.354, 0, 28 [SEP] 6, Box, -0.015, 0.239, -2.091, 0, 0, 0,  [SEP] 7, Book, -1.171, 0.629, -1.297, 0, 0, 0, 19 [SEP] 8, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316,  [SEP] 9, Pen, 0.845, 0.698, -2.055, 0, 90, 0, 28 [SEP] 10, Pencil, -0.670, 0.373, 0.503, 0, 0, 0, 30 [SEP] 11, KeyChain, 0.109, 0.694, -2.406, 0, 180, 0, 28 [SEP] 12, Pillow, -1.696, 0.703, -0.748, 0, 0, 0, 19 [SEP] 13, CreditCard, -0.487, 0.663, 0.686, 0, 180, 0, 31 [SEP] 14, CellPhone, -2.046, 0.631, -1.023, 0, 0, 0, 19 [SEP] 15, Laptop, -1.696, 0.628, 0.076, 0, 0, 0, 19 [SEP] 16, CD, 0.661, 0.692, -2.055, 0, 90, 0, 28 [SEP] 17, Bowl, 1.029, 0.695, -2.336, 0, 90, 0, 28 [SEP] 18, AlarmClock, 1.622, 0.694, -1.409, 0, 0, 0, 28 [SEP] 19, Bed, -1.696, 0.004, -0.446, 0, 0, 0,  [SEP] 20, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0,  [SEP] 21, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0,  [SEP] 22, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0,  [SEP] 23, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0,  [SEP] 24, Mirror, 1.300, 1.422, 0.765, 0, 0, 0,  [SEP] 25, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0,  [SEP] 26, Window, 0.819, 1.496, -2.553, 90, 180, 0,  [SEP] 27, Shelf, 1.616, 0.561, -0.802, 0, 0, 0,  [SEP] 28, Desk, 0.617, -0.000, -1.511, 0, 0, 0,  [SEP] 29, Blinds, 0.796, 2.217, -2.476, 0, 0, 0,  [SEP] 30, Drawer, -0.558, 0.456, 0.462, 0, 180, 0,  [SEP] 31, SideTable, -0.557, -0.000, 0.529, 0, 180, 0,  [SEP] 32, Drawer, -0.558, 0.164, 0.462, 0, 180, 0,  [SEP] 33, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0,  [SEP] 34, NorthWall, , , , , , ,  [SEP] 35, EastWall, , , , , , ,  [SEP] 36, SouthWall, , , , , , ,  [SEP] 37, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the chair on your left | STEP 2: Pick up the pencil from the desk | STEP 3: Turn around and move to the lamp on your left | STEP 4: Turn the lamp on | END


Input: Heat a cup and place it with 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, -1.5, 0.869, -2.5, 0, 0, 0,  [SEP] 1, Potato, 0.877, 0.916, -0.314, 0, 0, 0, 42 [SEP] 2, DishSponge, 0.817, 0.759, -0.252, 0, 0, 0, 41 [SEP] 3, Spatula, 0.149, 0.915, 1.101, 0, 90, 0, 68 [SEP] 4, Spoon, 0.799, 0.773, -0.570, 0, 270, 0, 65 [SEP] 5, Spoon, 0.841, 0.666, 0.326, 0, 0, 0, 47 [SEP] 6, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 44 [SEP] 7, Egg, 0.630, 0.809, -0.515, 0, 270, 0, 65 [SEP] 8, Knife, -1.886, 0.724, -1.091, 0, 0, 0, 78 [SEP] 9, Knife, 0.769, 0.782, -0.188, 0, 0, 0, 41 [SEP] 10, Tomato, 0.824, 1.207, -1.880, 0, 270, 0, 62 [SEP] 11, Tomato, 0.901, 0.712, 0.508, 0, 0, 0, 47 [SEP] 12, SoapBottle, -2.054, 0.701, -1.199, 0, 0, 0, 78 [SEP] 13, Bowl, 0.858, 1.462, -0.084, 0, 0, 0, 53 [SEP] 14, PepperShaker, -0.252, 0.896, 0.843, 0, 270, 0, 68 [SEP] 15, Bread, -1.056, 0.944, 0.929, 0, 270, 0, 68 [SEP] 16, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 62 [SEP] 17, Lettuce, 0.149, 0.987, 0.843, 0, 270, 0, 68 [SEP] 18, Mug, 0.715, 0.767, -0.680, 0, 270, 0, 65 [SEP] 19, Apple, -0.654, 0.954, 0.758, 0, 270, 0, 68 [SEP] 20, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 46 [SEP] 21, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 78 [SEP] 22, Fork, 0.721, 0.665, 0.508, 0, 0, 0, 47 [SEP] 23, SoapBottle, 0.781, 0.664, 0.508, 0, 0, 0, 47 [SEP] 24, Apple, -1.297, 0.105, -3.537, 0, 270, 0, 57 [SEP] 25, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 45 [SEP] 26, Egg, -1.896, 0.836, -3.738, 0, 0, 0, 64 [SEP] 27, Spatula, -1.535, 0.715, -3.782, 0, 90, 0, 69 [SEP] 28, Potato, 0.669, 1.407, -2.190, 0, 270, 0, 62 [SEP] 29, Cup, 0.746, 0.663, -1.958, 0, 270, 0, 62 [SEP] 30, SaltShaker, 0.787, 0.012, -0.184, 0, 0, 0, 52 [SEP] 31, PepperShaker, 0.842, 0.012, 0.011, 0, 0, 0, 52 [SEP] 32, ButterKnife, 0.729, 0.883, 0.098, 0, 0, 0, 42 [SEP] 33, DishSponge, 0.720, 0.759, -0.124, 0, 0, 0, 41 [SEP] 34, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 68 [SEP] 35, Lettuce, -1.719, 0.788, -1.199, 0, 0, 0, 78 [SEP] 36, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 47 [SEP] 37, Spoon, 0.720, 0.761, -0.061, 0, 0, 0, 41 [SEP] 38, Knife, 0.574, 0.783, -0.124, 0, 90, 0, 41 [SEP] 39, Mug, 0.566, 0.010, 0.076, 0, 180, 0, 52 [SEP] 40, Bowl, 0.746, 0.464, -1.802, 0, 270, 0, 62 [SEP] 41, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 42, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 43, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 44, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 45, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 46, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 47, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 48, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 49, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 50, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 51, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 52, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 53, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 54, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 55, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 56, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 57, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 58, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 59, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 60, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 61, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 63, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 64, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 65, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 66, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 67, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 68, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 69, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 70, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 71, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 72, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 73, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 74, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 75, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 76, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 77, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 78, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 79, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Take a step to the right, and turn right to find the sink. | STEP 2: Pick up the cup from inside the sink. | STEP 3: Carry the cup and turn around and then left to find the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door. Open the door, take out the cup and then shut the door. | STEP 5: Carry the cup and turn to the left, then left again and locate the coffee machine on the right. | STEP 6: Place the cup on the coffee machine. | END