Input: Place a cooked slice of bread inside 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, 0.908, 2.25, 0, 180, 0,  [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Go forward and then turn to the left at the counter where the lettuce and tomato is.  | STEP 2: Pick up the big knife that is on the counter.  | STEP 3: Turn around and go to the white table on the other side of the room that has bread and lettuce on it.  | STEP 4: Use the knife to cut the bread into slices.  | STEP 5: Turn to the left and go to the fridge.  | STEP 6: Open the fridge, put the knife inside, and close the fridge.  | STEP 7: Turn to the right and go back to the white table with the bread on it.  | STEP 8: Pick up a slice of the bread.  | STEP 9: Turn to the left and go to the microwave that is on the other side of the fridge.  | STEP 10: Open the microwave and put the bread inside, close the microwave and turn it on to cook the bread, open the microwave, remove the bread, and close the microwave door.  | STEP 11: Turn to the right and go back to the fridge.  | STEP 12: Open the fridge, place the bread inside, and close the fridge.  | END


Input: Put a slice of microwaved bread in the refrigerator.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 2.25, 0, 180, 0,  [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Go to the counter. | STEP 2: Pick up the knife on the counter.  | STEP 3: Turn around and go to the table by the door.  | STEP 4: Cut the bread on the table with the knife.  | STEP 5: Turn left and go to the refrigerator. | STEP 6: Put the knife in the refrigerator.  | STEP 7: Turn right and go to the table by the door.  | STEP 8: Pick up a slice of bread from the table.  | STEP 9: Turn left and go to the microwave. | STEP 10: Cook the slice of bread in the microwave. | STEP 11: Turn right and go to the refrigerator.  | STEP 12: Put the slice of bread in the refrigerator.  | END


Input: Cut the slice bread and put it to the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 2.25, 0, 180, 0,  [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Face the counter at the left | STEP 2: pick up the knife at the back of lettuce. | STEP 3: Head to the table at the left. | STEP 4: slice the bread at the table. | STEP 5: Turn left to face the refrigerator.  | STEP 6: open the door and put the knife inside.  | STEP 7: Head back to the table at the right. | STEP 8: Pick up a piece of a slice of the bread.  | STEP 9: Head at the counter at the left and face the microwave. | STEP 10: Open the microwave to heat it for few seconds. Open the door and pick it up.  | STEP 11: Turn right to face the refrigerator. | STEP 12: Open it and put the slice bread inside. Close the door. | END


Input: Examine a pillow by lamp light. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.902, 1.5, 0, 270, 0,  [SEP] 1, CD, -0.565, 0.427, -1.779, 0, 0, 0, 38 [SEP] 2, CellPhone, 2.507, 0.191, -0.215, 0, 0, 0, 49 [SEP] 3, Pencil, -0.393, 0.049, -1.724, 0, 0, 0, 35 [SEP] 4, Book, 2.554, 0.520, 0.046, 0, 0, 0, 53 [SEP] 5, Book, -0.788, 0.730, 0.967, 0, 0, 0, 22 [SEP] 6, AlarmClock, 0.282, 0.832, -2.353, 0, 0, 0, 41 [SEP] 7, AlarmClock, -0.950, 0.708, -1.752, 0, 0, 0, 32 [SEP] 8, Box, 0.252, 0.227, -2.042, 0, 29.078, 0,  [SEP] 9, Book, 0.176, 0.730, 0.702, 0, 0, 0, 22 [SEP] 10, Statue, 2.703, 0.827, 0.244, 0, 270, 0, 52 [SEP] 11, CellPhone, 0.369, 0.730, 0.437, 0, 0, 0, 22 [SEP] 12, Pillow, 0.148, 0.744, 1.738, 0, 195.270, 0, 22 [SEP] 13, Pillow, -0.441, 0.738, 1.64, 0, 348.951, 0, 22 [SEP] 14, BasketBall, -1.231, 0.121, -0.18, 0, 0, 0,  [SEP] 15, CreditCard, 2.647, 0.191, 0.706, 0, 0, 0, 51 [SEP] 16, KeyChain, 2.579, 0.822, 0.812, 0, 270, 0, 52 [SEP] 17, Pencil, 2.765, 0.823, 0.054, 0, 270, 0, 52 [SEP] 18, AlarmClock, -0.652, 0.046, -1.696, 0, 0, 0, 38 [SEP] 19, Laptop, 0.176, 0.729, 0.172, 0, 0, 0, 22 [SEP] 20, CD, 2.703, 0.819, 0.054, 0, 270, 0, 52 [SEP] 21, Pen, 2.507, 0.039, -0.303, 0, 0, 0, 54 [SEP] 22, Bed, -0.209, -0.001, 0.983, 0, 0, 0,  [SEP] 23, LightSwitch, 0.778, 1.266, 2.128, 0, 180, 0,  [SEP] 24, GarbageCan, -1.357, -0.020, -0.928, 0, 0, 0,  [SEP] 25, Painting, 2.063, 1.674, -1.865, 83.723, 0, 0,  [SEP] 26, HousePlant, -0.808, 0.953, -1.730, 0, 0, 0,  [SEP] 27, Painting, 1.871, 0.393, -1.792, 79.235, 0, 0,  [SEP] 28, Mirror, 2.842, 1.404, 1.375, 0, 90, 0,  [SEP] 29, DeskLamp, 2.676, 0.819, 0.878, 0, 0, 0,  [SEP] 30, Window, -1.700, 1.444, -0.542, 90, 90, 0,  [SEP] 31, Window, 0.535, 1.412, -2.618, 90, 0, 0,  [SEP] 32, Shelf, -0.904, 0.824, -1.754, 0, 0, 0,  [SEP] 33, Shelf, -0.802, 0.981, -1.756, 0, 0, 0,  [SEP] 34, Shelf, -0.904, 0.555, -1.754, 0, 0, 0,  [SEP] 35, Shelf, -0.327, 0.225, -1.754, 0, 0, 0,  [SEP] 36, Shelf, -0.439, 0.822, -1.754, 0, 0, 0,  [SEP] 37, Shelf, -0.619, 0.981, -1.754, 0, 0, 0,  [SEP] 38, Shelf, -0.439, 0.556, -1.754, 0, 0, 0,  [SEP] 39, Shelf, -0.709, 0.225, -1.754, 0, 0, 0,  [SEP] 40, ShelvingUnit, -0.641, 0.006, -1.745, 0, 0, 0,  [SEP] 41, Stool, 0.799, 0.004, -2.105, 0, 0, 0,  [SEP] 42, Blinds, 0.542, 2.135, -2.553, 0, 0, 0,  [SEP] 43, Blinds, -1.645, 2.145, -0.546, 0, 90, 0,  [SEP] 44, Drawer, 2.518, 0.574, 0.623, 0, 270, 0,  [SEP] 45, Drawer, 2.517, 0.411, 0.623, 0, 270, 0,  [SEP] 46, Drawer, 2.518, 0.732, 0.623, 0, 270, 0,  [SEP] 47, Drawer, 2.518, 0.732, -0.119, 0, 270, 0,  [SEP] 48, Drawer, 2.517, 0.411, -0.119, 0, 270, 0,  [SEP] 49, Drawer, 2.517, 0.247, -0.119, 0, 270, 0,  [SEP] 50, Drawer, 2.517, 0.090, 0.623, 0, 270, 0,  [SEP] 51, Drawer, 2.517, 0.247, 0.623, 0, 270, 0,  [SEP] 52, Dresser, 2.555, 0.003, 0.252, 0, 270, 0,  [SEP] 53, Drawer, 2.518, 0.574, -0.119, 0, 270, 0,  [SEP] 54, Drawer, 2.517, 0.090, -0.119, 0, 270, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the bed. | STEP 2: Pick up the nearest pillow. | STEP 3: Turn around and walk to the lamp. | STEP 4: Turn on the lamp. | END


Input: place orange cup and toilet paper in lower left cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, -2.0, 0, 90, 0,  [SEP] 1, Cloth, -2.719, 0.078, -1.435, 0, 0, 0, 24 [SEP] 2, Cloth, -2.770, 0.079, -1.008, 0, 0, 0, 20 [SEP] 3, SoapBar, -0.745, 1.045, -3.826, 0, 0, 0, 32 [SEP] 4, SprayBottle, -2.682, 0.996, -1.249, 0, 0, 0, 19 [SEP] 5, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 25 [SEP] 6, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 27 [SEP] 7, SoapBar, -2.821, 0.079, -1.978, 0, 0, 0, 18 [SEP] 8, ToiletPaper, -0.084, 0.902, -3.286, 0, 270, 90, 32 [SEP] 9, ToiletPaper, -1.588, 0.054, -0.128, 0, 0, 0, 22 [SEP] 10, SoapBottle, -0.417, 1.048, -3.856, 0, 0, 0, 32 [SEP] 11, Candle, -0.679, 1.046, -3.765, 0, 0, 0, 32 [SEP] 12, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 28 [SEP] 13, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 14, Cloth, -2.719, 0.078, -0.465, 0, 0, 0, 22 [SEP] 15, SprayBottle, -1.489, 0.061, -0.210, 0, 180, 0, 22 [SEP] 16, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0,  [SEP] 17, Mirror, -2.947, 1.559, -1.194, 0, 0, 0,  [SEP] 18, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0,  [SEP] 19, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0,  [SEP] 20, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0,  [SEP] 21, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0,  [SEP] 22, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0,  [SEP] 23, Sink, -2.907, 0.986, -1.761, 0, 90, 0,  [SEP] 24, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0,  [SEP] 25, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0,  [SEP] 26, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0,  [SEP] 27, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0,  [SEP] 28, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0,  [SEP] 29, Window, -0.566, 1.730, -4.102, 90, 0, 0,  [SEP] 30, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0,  [SEP] 31, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0,  [SEP] 32, Toilet, -0.319, 0.000, -3.533, 0, 90, 0,  [SEP] 33, Faucet, -2.907, 0.993, -1.761, 0, 90, 0,  [SEP] 34, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0,  [SEP] 35, Sink, -2.907, 0.986, -0.732, 0, 90, 0,  [SEP] 36, Faucet, -2.907, 0.993, -0.731, 0, 90, 0,  [SEP] 37, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,

Output: STEP 1: turn around, go to red bin to the right | STEP 2: pick up orange cup from red bin | STEP 3: turn around, go to lower cabinet to the left of sink with pink sponge | STEP 4: open cabinet, place orange cup in front right corner of cabinet, close cabinet | STEP 5: turn around, go to toilet to the right | STEP 6: pick up toilet paper from holder to the left of toilet | STEP 7: turn around, go to lower left cabinet with pink sponge and orange cup | STEP 8: open cabinet, put toilet paper to the left of orange cup, close cabinet | END


Input: Put a chilled pot on the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.0, 0, 180, 0,  [SEP] 1, Vase, -2.072, 0.913, 0.037, 0, 0, 0, 58 [SEP] 2, Potato, 0.525, 0.948, -1.776, 0, 0, 0, 58 [SEP] 3, DishSponge, -2.501, 0.878, 3.379, 0, 135, 0, 60 [SEP] 4, DishSponge, -2.912, 0.878, 2.758, 0, 225, 0, 60 [SEP] 5, ButterKnife, -0.833, 0.912, -1.267, 0, 0, 0, 58 [SEP] 6, ButterKnife, -3.017, 0.874, 3.580, 0, 135, 0, 60 [SEP] 7, Spatula, -2.152, 0.889, 3.296, 0, 270, 0, 60 [SEP] 8, Spatula, -2.420, 0.893, 2.983, 0, 135, 0, 60 [SEP] 9, Fork, -2.898, 0.879, 3.460, 0, 135, 0, 60 [SEP] 10, Fork, -0.330, 0.708, -1.573, 0, 270, 0, 87 [SEP] 11, Cup, 1.316, 1.759, -1.629, 0, 0, 0, 82 [SEP] 12, Cup, -2.262, 0.873, 3.303, 0, 225, 0, 60 [SEP] 13, Knife, 0.234, 0.950, -1.573, 0, 270, 0, 55 [SEP] 14, Knife, 0.179, 0.950, -1.356, 0, 0, 0, 55 [SEP] 15, Tomato, -2.300, 0.922, 3.580, 0, 225, 0, 60 [SEP] 16, SaltShaker, -2.936, 0.874, 3.183, 0, 135, 0, 60 [SEP] 17, PepperShaker, 0.521, 0.714, -1.376, 0, 0, 0, 75 [SEP] 18, PepperShaker, -1.516, 0.908, -0.939, 0, 0, 0, 73 [SEP] 19, Bread, 1.651, 0.993, -1.346, 0, 0, 0, 78 [SEP] 20, Lettuce, -2.458, 0.939, 3.737, 0, 225, 0, 60 [SEP] 21, Lettuce, -2.673, 0.939, 3.446, 0, 225, 0, 60 [SEP] 22, Mug, -1.612, 0.114, -0.916, 0, 0, 0, 63 [SEP] 23, Mug, -2.733, 0.869, 2.884, 0, 0, 0, 60 [SEP] 24, Apple, -0.844, 0.247, 2.097, 0, 90, 0, 88 [SEP] 25, Apple, 1.157, 1.816, -1.629, 0, 0, 0, 82 [SEP] 26, Book, -2.733, 0.875, 3.728, 0, 0, 0, 60 [SEP] 27, Fork, -1.616, 0.720, -0.930, 0, 90, 0, 73 [SEP] 28, Tomato, -0.723, 0.959, -1.471, 0, 0, 0, 58 [SEP] 29, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 58 [SEP] 30, Kettle, -2.072, 0.913, -0.614, 0, 0, 0, 58 [SEP] 31, Vase, -3.165, 0.875, 3.073, 0, 270, 0, 60 [SEP] 32, Cup, 3.741, 0.551, 1.345, 0, 270, 0, 81 [SEP] 33, WineBottle, 0.525, 0.913, -1.267, 0, 0, 0, 58 [SEP] 34, Plate, 0.571, 0.916, -1.471, 0, 0, 0, 58 [SEP] 35, Spatula, -2.950, 0.889, 3.408, 0, 315, 0, 60 [SEP] 36, Potato, -2.436, 0.911, 3.559, 0, 0, 0, 60 [SEP] 37, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 38, Knife, -1.649, 0.741, -1.073, 0, 90, 0, 73 [SEP] 39, SaltShaker, -2.015, 0.715, -1.579, 0, 0, 0, 77 [SEP] 40, PepperShaker, -2.458, 0.874, 2.706, 0, 135, 0, 60 [SEP] 41, Lettuce, -2.490, 0.939, 3.221, 0, 270, 0, 60 [SEP] 42, ButterKnife, -2.584, 0.878, 2.715, 0, 0, 0, 60 [SEP] 43, Bread, -1.516, 0.995, -1.591, 0, 0, 0, 58 [SEP] 44, Vase, 1.648, 0.115, -1.412, 0, 0, 0, 64 [SEP] 45, DishSponge, 0.665, 1.652, -1.785, 0, 0, 0, 69 [SEP] 46, Apple, -2.525, 0.929, 2.878, 0, 135, 0, 60 [SEP] 47, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 57 [SEP] 48, Spoon, 0.069, 0.929, -1.501, 0, 270, 0, 55 [SEP] 49, SoapBottle, -3.165, 0.879, 3.370, 0, 270, 0, 60 [SEP] 50, Mug, -0.404, 0.692, -1.468, 0, 180, 0, 87 [SEP] 51, Statue, 3.716, 0.887, 1.759, 0, 270, 0, 79 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, 3.689, 0.551, 1.553, 0, 270, 0, 81 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Head to the stove on the left.  | STEP 2: Pick up the large pot on the front of the stove.  | STEP 3: Turn around and bring the pot to the fridge. | STEP 4: Chill the pot in the fridge.  | STEP 5: Take out the pot, turn around and bring the pot back to the stove.  | STEP 6: Put the chilled pot back on the stove.  | END


Input: Turn the lamp on in order to grab the CD. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0,  [SEP] 1, CD, -0.600, 0.895, -1.588, 0, 0, 0, 26 [SEP] 2, CD, 0.961, 0.941, -1.937, 0, 0, 0, 32 [SEP] 3, CD, -0.078, 0.900, -1.495, 0, 0, 0, 26 [SEP] 4, CellPhone, 2.878, 0.778, -1.503, 0, 180, 0, 36 [SEP] 5, CellPhone, 0.784, 0.943, -1.91, 0, 0, 0, 32 [SEP] 6, Pen, 2.282, 0.528, 1.231, 0, 180, 0, 38 [SEP] 7, Pen, 0.607, 0.947, -1.854, 0, 0, 0, 32 [SEP] 8, Pencil, 1.138, 0.945, -1.91, 0, 0, 0, 32 [SEP] 9, Pencil, 2.359, 0.528, 1.110, 0, 180, 0, 38 [SEP] 10, CreditCard, 2.436, 0.524, 1.312, 0, 180, 0, 38 [SEP] 11, CreditCard, -0.078, 0.895, -1.310, 0, 0, 0, 26 [SEP] 12, Book, -0.426, 0.896, -1.310, 0, 0, 0, 26 [SEP] 13, Book, 2.591, 0.525, 1.191, 0, 180, 0, 38 [SEP] 14, Laptop, 2.329, 0.774, -1.056, 0, 180, 0, 36 [SEP] 15, Book, -1.031, 0.651, -1.431, 0, 0, 0, 29 [SEP] 16, Pen, 2.514, 0.530, 1.272, 0, 180, 0, 38 [SEP] 17, AlarmClock, -0.252, 0.897, -1.217, 0, 0, 0, 26 [SEP] 18, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 43 [SEP] 19, CellPhone, 0.253, 0.943, -1.91, 0, 0, 0, 32 [SEP] 20, Pencil, -1.122, 0.904, -1.680, 0, 0, 0, 26 [SEP] 21, Pillow, 1.780, 0.840, -1.354, 0, 180, 0, 36 [SEP] 22, Laptop, -0.795, 0.893, -1.384, 0, 0, 0, 26 [SEP] 23, KeyChain, -0.252, 0.896, -1.680, 0, 0, 0, 26 [SEP] 24, CreditCard, -1.122, 0.895, -1.310, 0, 0, 0, 26 [SEP] 25, CD, -1.106, 0.374, -1.279, 0, 0, 0, 27 [SEP] 26, Desk, -0.503, 0.006, -1.465, 0, 0, 0,  [SEP] 27, Drawer, -0.945, 0.493, -1.176, 0, 0, 0,  [SEP] 28, Drawer, -0.946, 0.212, -1.176, 0, 0, 0,  [SEP] 29, Drawer, -0.944, 0.739, -1.176, 0, 0, 0,  [SEP] 30, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0,  [SEP] 31, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0,  [SEP] 32, Shelf, 0.759, 0.934, -1.909, 0, 0, 0,  [SEP] 33, Mirror, 2.407, 1.294, 1.401, 0, 0, 0,  [SEP] 34, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0,  [SEP] 35, Window, 0.717, 1.603, -2.108, 90, 0, 0,  [SEP] 36, Bed, 2.301, 0.005, -1.056, 0, 270, 0,  [SEP] 37, Blinds, 0.749, 2.523, -2.022, 0, 0, 0,  [SEP] 38, SideTable, 2.436, 0.002, 1.143, 0, 180, 0,  [SEP] 39, Drawer, 2.437, 0.122, 1.154, 0, 180, 0,  [SEP] 40, Drawer, 2.437, 0.350, 1.153, 0, 180, 0,  [SEP] 41, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305,  [SEP] 42, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0,  [SEP] 43, , , , , , , ,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn left, then left again then turn right to face the lamp on the desk. | STEP 2: Turn on the lamp. | STEP 3: Grab the CD from the desk. | END


Input: Wash the ladle and put it back on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 2.5, 0, 180, 0,  [SEP] 1, Pan, 2.726, 0.764, 3.492, 0, 239.999, 0, 59 [SEP] 2, Potato, 2.815, 0.806, 4.124, 0, 315, 0, 59 [SEP] 3, Potato, 1.882, 1.068, 1.653, 0, 136.999, 0, 58 [SEP] 4, Ladle, 1.925, 0.803, 3.969, 0, 270, 0, 59 [SEP] 5, DishSponge, -0.731, 0.801, 0.454, 0, 0, 0, 60 [SEP] 6, DishSponge, 1.469, 1.026, -1.560, 0, 90, 0, 58 [SEP] 7, ButterKnife, 2.275, 0.764, 4.118, 0, 270, 0, 59 [SEP] 8, ButterKnife, 2.706, 1.026, -0.236, 0, 0, 0, 58 [SEP] 9, Glassbottle, -0.984, 1.781, 1.743, 0, 0, 0, 75 [SEP] 10, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 56 [SEP] 11, Spatula, 2.423, 0.779, 4.166, 0, 59.999, 0, 59 [SEP] 12, Spatula, 2.451, 0.779, 3.445, 0, 0, 0, 59 [SEP] 13, Fork, -0.661, 0.802, 0.535, 0, 0, 0, 60 [SEP] 14, Egg, 2.106, 1.905, -1.910, 0, 0, 0, 104 [SEP] 15, Egg, -0.645, 0.860, 1.181, 0, 90, 0, 115 [SEP] 16, Cup, -1.069, 0.784, -0.184, 0, 90, 0, 102 [SEP] 17, Cup, 1.895, 1.859, -1.876, 0, 0, 0, 104 [SEP] 18, Knife, 2.503, 0.826, 0.765, 0, 227.0, 0, 70 [SEP] 19, Knife, 2.763, 0.789, 3.726, 0, 329.999, 0, 59 [SEP] 20, Tomato, 2.525, 0.818, 4.32, 0, 0, 0, 59 [SEP] 21, SoapBottle, 2.509, 1.025, 1.401, 0, 136.999, 0, 58 [SEP] 22, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 59 [SEP] 23, Bowl, 2.816, 0.033, 0.168, 0, 0, 0, 85 [SEP] 24, Bowl, 2.652, 0.031, -1.126, 0, 0, 0, 100 [SEP] 25, SaltShaker, -0.717, 2.286, -0.551, 0, 0, 0, 90 [SEP] 26, Bread, 2.451, 0.832, 3.97, 0, 270, 0, 59 [SEP] 27, Bread, 2.101, 0.832, 3.821, 0, 270, 0, 59 [SEP] 28, Mug, -0.947, 0.781, -0.073, 0, 90, 0, 102 [SEP] 29, Apple, -0.916, 0.127, 2.874, 0, 0, 0, 113 [SEP] 30, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 62 [SEP] 31, Glassbottle, 2.719, 1.027, 1.597, 0, 136.999, 0, 58 [SEP] 32, Knife, 2.875, 1.052, -1.762, 0, 180, 0, 58 [SEP] 33, SoapBottle, 2.673, 0.763, 4.145, 0, 0, 0, 59 [SEP] 34, Egg, 1.638, 1.070, 1.704, 0, 136.999, 0, 58 [SEP] 35, Fork, 2.658, 0.765, 4.282, 0, 315, 0, 59 [SEP] 36, Potato, -0.907, 0.376, -0.295, 0, 90, 0, 102 [SEP] 37, Ladle, 1.347, 0.829, -1.546, 0, 0, 0, 65 [SEP] 38, Tomato, 2.998, 0.818, 4.202, 0, 225, 0, 59 [SEP] 39, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 57 [SEP] 40, WineBottle, -0.976, 0.048, 2.367, 0, 0, 0, 78 [SEP] 41, Plate, 2.525, 0.764, 4.495, 0, 0, 0, 59 [SEP] 42, Spatula, -0.447, 0.816, 2.325, 0, 90, 0, 64 [SEP] 43, PaperTowelRoll, -1.074, 1.131, 1.150, 0, 0, 0, 61 [SEP] 44, Lettuce, -0.851, 0.874, 1.337, 0, 90, 0, 115 [SEP] 45, Apple, 1.290, 1.077, -1.454, 0, 90, 0, 58 [SEP] 46, SaltShaker, 2.041, 0.798, 1.264, 0, 317.0, 0, 71 [SEP] 47, PepperShaker, -0.590, 0.796, 1.844, 0, 0, 0, 63 [SEP] 48, ButterKnife, -1.045, 1.027, 1.821, 0, 0, 0, 61 [SEP] 49, Bread, -0.987, 0.854, -0.627, 0, 90, 0, 102 [SEP] 50, Cup, 2.976, 0.763, 4.044, 0, 270, 0, 59 [SEP] 51, DishSponge, 2.706, 0.801, 0.256, 0, 0, 0, 69 [SEP] 52, Bowl, -0.922, 1.440, -0.184, 0, 90, 0, 102 [SEP] 53, Spoon, 2.008, 0.765, 3.632, 0, 225, 0, 59 [SEP] 54, Mug, 2.053, 1.856, -1.775, 0, 0, 0, 104 [SEP] 55, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 56, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 57, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 58, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 59, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 60, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 61, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 62, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 63, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 64, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 65, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 66, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 67, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 68, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 69, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 70, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 71, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 72, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 73, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 74, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 75, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 76, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 77, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 78, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 79, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 80, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 81, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 82, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 83, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 84, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 85, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 86, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 87, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 88, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 89, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 90, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 91, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 92, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 93, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 94, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 95, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 96, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 97, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 98, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 99, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 100, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 101, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 102, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 103, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 104, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 105, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 106, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 107, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 108, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 109, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 110, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 111, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 112, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 113, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 114, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 115, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 116, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 117, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 118, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 119, , , , , , , ,  [SEP] 120, NorthWall, , , , , , ,  [SEP] 121, EastWall, , , , , , ,  [SEP] 122, SouthWall, , , , , , ,  [SEP] 123, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the round table. | STEP 2: Pick up the ladle from the table. | STEP 3: Turn right, then right again to the sink. | STEP 4: Put the ladle in the sink and wash it, then pick it up again. | STEP 5: Turn around and walk back to the table. | STEP 6: Set the ladle down on the table. | END


Input: Put a cleaned scoop on the dining 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, 2.5, 0, 180, 0,  [SEP] 1, Pan, 2.726, 0.764, 3.492, 0, 239.999, 0, 59 [SEP] 2, Potato, 2.815, 0.806, 4.124, 0, 315, 0, 59 [SEP] 3, Potato, 1.882, 1.068, 1.653, 0, 136.999, 0, 58 [SEP] 4, Ladle, 1.925, 0.803, 3.969, 0, 270, 0, 59 [SEP] 5, DishSponge, -0.731, 0.801, 0.454, 0, 0, 0, 60 [SEP] 6, DishSponge, 1.469, 1.026, -1.560, 0, 90, 0, 58 [SEP] 7, ButterKnife, 2.275, 0.764, 4.118, 0, 270, 0, 59 [SEP] 8, ButterKnife, 2.706, 1.026, -0.236, 0, 0, 0, 58 [SEP] 9, Glassbottle, -0.984, 1.781, 1.743, 0, 0, 0, 75 [SEP] 10, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 56 [SEP] 11, Spatula, 2.423, 0.779, 4.166, 0, 59.999, 0, 59 [SEP] 12, Spatula, 2.451, 0.779, 3.445, 0, 0, 0, 59 [SEP] 13, Fork, -0.661, 0.802, 0.535, 0, 0, 0, 60 [SEP] 14, Egg, 2.106, 1.905, -1.910, 0, 0, 0, 104 [SEP] 15, Egg, -0.645, 0.860, 1.181, 0, 90, 0, 115 [SEP] 16, Cup, -1.069, 0.784, -0.184, 0, 90, 0, 102 [SEP] 17, Cup, 1.895, 1.859, -1.876, 0, 0, 0, 104 [SEP] 18, Knife, 2.503, 0.826, 0.765, 0, 227.0, 0, 70 [SEP] 19, Knife, 2.763, 0.789, 3.726, 0, 329.999, 0, 59 [SEP] 20, Tomato, 2.525, 0.818, 4.32, 0, 0, 0, 59 [SEP] 21, SoapBottle, 2.509, 1.025, 1.401, 0, 136.999, 0, 58 [SEP] 22, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 59 [SEP] 23, Bowl, 2.816, 0.033, 0.168, 0, 0, 0, 85 [SEP] 24, Bowl, 2.652, 0.031, -1.126, 0, 0, 0, 100 [SEP] 25, SaltShaker, -0.717, 2.286, -0.551, 0, 0, 0, 90 [SEP] 26, Bread, 2.451, 0.832, 3.97, 0, 270, 0, 59 [SEP] 27, Bread, 2.101, 0.832, 3.821, 0, 270, 0, 59 [SEP] 28, Mug, -0.947, 0.781, -0.073, 0, 90, 0, 102 [SEP] 29, Apple, -0.916, 0.127, 2.874, 0, 0, 0, 113 [SEP] 30, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 62 [SEP] 31, Glassbottle, 2.719, 1.027, 1.597, 0, 136.999, 0, 58 [SEP] 32, Knife, 2.875, 1.052, -1.762, 0, 180, 0, 58 [SEP] 33, SoapBottle, 2.673, 0.763, 4.145, 0, 0, 0, 59 [SEP] 34, Egg, 1.638, 1.070, 1.704, 0, 136.999, 0, 58 [SEP] 35, Fork, 2.658, 0.765, 4.282, 0, 315, 0, 59 [SEP] 36, Potato, -0.907, 0.376, -0.295, 0, 90, 0, 102 [SEP] 37, Ladle, 1.347, 0.829, -1.546, 0, 0, 0, 65 [SEP] 38, Tomato, 2.998, 0.818, 4.202, 0, 225, 0, 59 [SEP] 39, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 57 [SEP] 40, WineBottle, -0.976, 0.048, 2.367, 0, 0, 0, 78 [SEP] 41, Plate, 2.525, 0.764, 4.495, 0, 0, 0, 59 [SEP] 42, Spatula, -0.447, 0.816, 2.325, 0, 90, 0, 64 [SEP] 43, PaperTowelRoll, -1.074, 1.131, 1.150, 0, 0, 0, 61 [SEP] 44, Lettuce, -0.851, 0.874, 1.337, 0, 90, 0, 115 [SEP] 45, Apple, 1.290, 1.077, -1.454, 0, 90, 0, 58 [SEP] 46, SaltShaker, 2.041, 0.798, 1.264, 0, 317.0, 0, 71 [SEP] 47, PepperShaker, -0.590, 0.796, 1.844, 0, 0, 0, 63 [SEP] 48, ButterKnife, -1.045, 1.027, 1.821, 0, 0, 0, 61 [SEP] 49, Bread, -0.987, 0.854, -0.627, 0, 90, 0, 102 [SEP] 50, Cup, 2.976, 0.763, 4.044, 0, 270, 0, 59 [SEP] 51, DishSponge, 2.706, 0.801, 0.256, 0, 0, 0, 69 [SEP] 52, Bowl, -0.922, 1.440, -0.184, 0, 90, 0, 102 [SEP] 53, Spoon, 2.008, 0.765, 3.632, 0, 225, 0, 59 [SEP] 54, Mug, 2.053, 1.856, -1.775, 0, 0, 0, 104 [SEP] 55, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 56, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 57, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 58, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 59, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 60, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 61, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 62, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 63, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 64, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 65, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 66, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 67, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 68, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 69, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 70, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 71, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 72, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 73, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 74, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 75, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 76, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 77, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 78, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 79, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 80, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 81, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 82, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 83, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 84, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 85, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 86, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 87, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 88, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 89, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 90, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 91, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 92, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 93, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 94, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 95, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 96, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 97, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 98, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 99, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 100, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 101, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 102, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 103, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 104, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 105, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 106, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 107, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 108, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 109, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 110, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 111, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 112, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 113, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 114, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 115, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 116, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 117, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 118, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 119, , , , , , , ,  [SEP] 120, NorthWall, , , , , , ,  [SEP] 121, EastWall, , , , , , ,  [SEP] 122, SouthWall, , , , , , ,  [SEP] 123, WestWall, , , , , , ,

Output: STEP 1: Move to the table to the left of you | STEP 2: Pick up a scoop from the table | STEP 3: Move to the sink behind you | STEP 4: Clean the scoop in the sink | STEP 5: Move to the dining table behind you | STEP 6: Put the scoop on the table | END


Input: TO clean a rag and place it 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, -2.5, 0.901, 0.5, 0, 90, 0,  [SEP] 1, Cloth, -1.853, 0.806, 0.155, 0, 90, 0, 26 [SEP] 2, TissueBox, -1.213, 0.507, 0.350, 0, 90, 0, 31 [SEP] 3, SoapBar, -2.220, 0.954, 2.390, 0, 180, 0, 40 [SEP] 4, SoapBar, -2.327, 0.954, 2.327, 0, 180, 0, 40 [SEP] 5, Candle, -3.071, 0.690, 0.943, 0, 0, 0, 27 [SEP] 6, SoapBottle, -0.281, 0.809, 0.221, 0, 90, 0, 26 [SEP] 7, Towel, -2.554, 0.873, 0.106, 0, 0, 0, 34 [SEP] 8, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 33 [SEP] 9, Cloth, -3.571, 0.219, 0.939, 0, 0, 0, 42 [SEP] 10, Candle, -3.057, 0.690, 0.776, 0, 0, 0, 27 [SEP] 11, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 37 [SEP] 12, SoapBar, -1.435, 0.201, 0.182, 0, 90, 0, 28 [SEP] 13, ToiletPaper, -1.067, 0.805, 0.417, 0, 90, 0, 26 [SEP] 14, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 15, SprayBottle, -0.805, 0.805, 0.417, 0, 90, 0, 26 [SEP] 16, TissueBox, -0.805, 0.808, 0.155, 0, 90, 0, 26 [SEP] 17, ToiletPaper, -1.591, 0.805, 0.090, 0, 90, 0, 26 [SEP] 18, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 19, SoapBottle, -0.543, 0.809, 0.221, 0, 90, 0, 26 [SEP] 20, Drawer, -1.324, 0.312, 0.311, 0, 90, 0,  [SEP] 21, Drawer, -0.290, 0.312, 0.311, 0, 90, 0,  [SEP] 22, Sink, -0.463, -0.013, 3.046, 0, 180, 0,  [SEP] 23, Mirror, -0.504, 1.741, 3.304, 0, 0, 0,  [SEP] 24, Drawer, -0.808, 0.611, 0.311, 0, 90, 0,  [SEP] 25, Drawer, -0.808, 0.312, 0.311, 0, 90, 0,  [SEP] 26, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0,  [SEP] 27, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0,  [SEP] 28, Drawer, -1.840, 0.312, 0.311, 0, 90, 0,  [SEP] 29, Faucet, -0.463, 0.969, 3.212, 0, 180, 0,  [SEP] 30, Drawer, -0.290, 0.611, 0.311, 0, 90, 0,  [SEP] 31, Drawer, -1.324, 0.611, 0.311, 0, 90, 0,  [SEP] 32, Drawer, -1.840, 0.611, 0.311, 0, 90, 0,  [SEP] 33, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0,  [SEP] 34, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0,  [SEP] 35, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0,  [SEP] 36, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0,  [SEP] 37, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0,  [SEP] 38, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0,  [SEP] 39, Window, -4.083, 1.735, 1.162, 90, 270, 0,  [SEP] 40, Toilet, -1.835, 0.000, 2.503, 0, 90, 0,  [SEP] 41, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0,  [SEP] 42, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0,  [SEP] 43, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0,  [SEP] 44, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,

Output: STEP 1: Step forward and turn right to face the dirty rag on the counter. | STEP 2: Pick up the dirty rag on the counter. | STEP 3: Turn around and cross the room to face the sink. | STEP 4: Wash the rag in the sink and remove it. | STEP 5: Turn left to face the back of the toilet. | STEP 6: Place the clean rag on the back of the toilet. | END


Input: Pick up the phone from the top of the cabinet and put inside a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.902, -0.75, 0, 270, 0,  [SEP] 1, Mug, 1.474, 0.799, -2.031, 0, 270, 0, 47 [SEP] 2, Mug, -0.002, 0.671, -2.608, 0, 0, 0, 52 [SEP] 3, CD, 1.680, 0.499, -1.949, 0, 0, 0, 49 [SEP] 4, CD, 1.680, 0.171, -2.036, 0, 0, 0, 45 [SEP] 5, Pencil, 1.633, 0.660, -1.551, 0, 0, 0, 40 [SEP] 6, Pencil, 1.781, 0.805, -2.219, 0, 0, 0, 47 [SEP] 7, CreditCard, 1.680, 0.656, -1.376, 0, 0, 0, 40 [SEP] 8, CreditCard, 0.513, 0.673, -2.628, 0, 0, 0, 52 [SEP] 9, Book, 1.658, 0.799, -1.843, 0, 90, 0, 47 [SEP] 10, Book, -0.574, 0.694, -0.36, 0, 0, 0, 27 [SEP] 11, AlarmClock, 1.658, 0.798, -2.031, 0, 0, 0, 47 [SEP] 12, Book, -0.088, 0.694, -0.573, 0, 0, 0, 27 [SEP] 13, KeyChain, 1.586, 0.502, -1.202, 0, 0, 0, 41 [SEP] 14, AlarmClock, 1.536, 0.798, -1.279, 0, 0, 0, 47 [SEP] 15, CreditCard, 1.597, 0.801, -1.655, 0, 0, 0, 47 [SEP] 16, Laptop, -0.088, 0.693, 0.281, 0, 0, 0, 27 [SEP] 17, Pen, 1.586, 0.177, -1.551, 0, 0, 0, 43 [SEP] 18, Pencil, 1.536, 0.805, -1.467, 0, 0, 0, 47 [SEP] 19, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 20, Pillow, -0.331, 0.755, -1.001, 0, 0, 0, 27 [SEP] 21, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 27 [SEP] 22, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 23, CellPhone, 1.474, 0.800, -1.655, 0, 0, 0, 47 [SEP] 24, CD, 1.781, 0.799, -1.279, 0, 0, 0, 40 [SEP] 25, Mug, 1.536, 0.798, -2.407, 0, 0, 0, 47 [SEP] 26, Mirror, 3.534, 1.661, -0.277, 0, 90, 0,  [SEP] 27, Bed, -0.842, -0.000, -0.361, 0, 270, 0,  [SEP] 28, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0,  [SEP] 29, Painting, 0.246, 1.564, -2.665, 90, 0, 0,  [SEP] 30, Painting, 1.894, 1.549, -2.424, 90, 270, 0,  [SEP] 31, Painting, 1.894, 1.549, -1.289, 90, 270, 0,  [SEP] 32, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0,  [SEP] 33, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0,  [SEP] 34, Window, -0.486, 1.409, -2.691, 90, 0, 0,  [SEP] 35, Window, 0.987, 1.409, -2.691, 90, 0, 0,  [SEP] 36, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0,  [SEP] 37, Blinds, -0.490, 2.130, -2.638, 0, 0, 0,  [SEP] 38, Blinds, 1.011, 2.130, -2.638, 0, 0, 0,  [SEP] 39, Drawer, 1.596, 0.411, -1.459, 0, 270, 0,  [SEP] 40, Drawer, 1.597, 0.732, -1.459, 0, 270, 0,  [SEP] 41, Drawer, 1.597, 0.574, -1.459, 0, 270, 0,  [SEP] 42, Drawer, 1.597, 0.732, -2.202, 0, 270, 0,  [SEP] 43, Drawer, 1.596, 0.247, -1.459, 0, 270, 0,  [SEP] 44, Drawer, 1.596, 0.090, -1.459, 0, 270, 0,  [SEP] 45, Drawer, 1.596, 0.247, -2.202, 0, 270, 0,  [SEP] 46, Drawer, 1.596, 0.411, -2.202, 0, 270, 0,  [SEP] 47, Dresser, 1.634, 0.003, -1.830, 0, 270, 0,  [SEP] 48, Drawer, 1.596, 0.090, -2.202, 0, 270, 0,  [SEP] 49, Drawer, 1.597, 0.574, -2.202, 0, 270, 0,  [SEP] 50, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0,  [SEP] 51, Shelf, 0.017, 0.178, -2.511, 0, 0, 0,  [SEP] 52, Shelf, 0.249, 0.665, -2.519, 0, 0, 0,  [SEP] 53, Shelf, 0.243, 0.344, -2.511, 0, 0, 0,  [SEP] 54, Shelf, 0.474, 0.344, -2.511, 0, 0, 0,  [SEP] 55, Shelf, 0.355, 0.011, -2.511, 0, 0, 0,  [SEP] 56, Shelf, 0.016, 0.011, -2.511, 0, 0, 0,  [SEP] 57, Shelf, 0.357, 0.178, -2.511, 0, 0, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, EastWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, WestWall, , , , , , ,

Output: STEP 1: Turn to your left, take two steps forward, turn left, and take a step to face the cabinet. | STEP 2: Pick up the cell phone on the front edge of the top of the cabinet. | STEP 3: Turn around from your right and face the same cabinet. | STEP 4: Pull out bottom right shelf, place the phone in it, and close it. | END


Input: Place a chilled plate in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Vase, -2.300, 0.875, 2.863, 0, 135, 0, 62 [SEP] 2, Book, -1.944, 1.654, -1.710, 0, 0, 0, 73 [SEP] 3, DishSponge, 1.724, 0.909, -1.346, 0, 0, 0, 80 [SEP] 4, ButterKnife, -2.584, 0.874, 3.221, 0, 0, 0, 62 [SEP] 5, ButterKnife, -2.072, 0.912, -0.939, 0, 0, 0, 60 [SEP] 6, Kettle, 1.631, 1.656, -1.747, 0, 0, 0, 58 [SEP] 7, WineBottle, -2.845, 0.875, 3.513, 0, 135, 0, 62 [SEP] 8, WineBottle, 1.616, 0.115, -1.450, 0, 0, 0, 66 [SEP] 9, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 64 [SEP] 10, Pot, -2.152, 0.877, 3.296, 0, 270, 0, 62 [SEP] 11, Fork, 0.663, 0.912, -1.776, 0, 90, 0, 60 [SEP] 12, Spoon, -1.961, 0.913, -0.939, 0, 180, 0, 60 [SEP] 13, Spoon, -2.072, 0.913, -0.939, 0, 0, 0, 60 [SEP] 14, Egg, -0.149, 1.169, 2.167, 0, 180, 0, 85 [SEP] 15, Egg, 0.079, 0.414, 1.967, 0, 180, 0, 85 [SEP] 16, Cup, 3.637, 0.551, 1.553, 0, 270, 0, 83 [SEP] 17, SoapBottle, -2.420, 0.879, 3.460, 0, 225, 0, 62 [SEP] 18, Tomato, -2.964, 0.922, 3.632, 0, 135, 0, 62 [SEP] 19, SaltShaker, 3.743, 0.877, 1.963, 0, 270, 0, 81 [SEP] 20, PepperShaker, 1.333, 2.152, -1.787, 0, 0, 0, 74 [SEP] 21, Bread, -2.659, 0.961, 3.728, 0, 0, 0, 62 [SEP] 22, Lettuce, -2.183, 0.977, 0.037, 0, 0, 0, 60 [SEP] 23, Lettuce, -3.069, 0.943, 2.916, 0, 225, 0, 62 [SEP] 24, Mug, -2.434, 0.869, 3.207, 0, 135, 0, 62 [SEP] 25, Mug, 0.014, 0.923, -1.356, 0, 0, 0, 57 [SEP] 26, Apple, -2.183, 0.967, -1.591, 0, 0, 0, 60 [SEP] 27, Apple, -2.996, 0.929, 3.147, 0, 270, 0, 62 [SEP] 28, Book, -1.649, 0.714, -0.930, 0, 90, 0, 75 [SEP] 29, Fork, -1.378, 0.912, -1.776, 0, 90, 0, 60 [SEP] 30, Tomato, -0.377, 1.191, 2.167, 0, 180, 0, 85 [SEP] 31, Egg, -0.149, 0.414, 1.967, 0, 180, 0, 85 [SEP] 32, Kettle, 0.633, 0.117, -1.445, 0, 0, 0, 67 [SEP] 33, Vase, -1.516, 0.913, -0.614, 0, 0, 0, 60 [SEP] 34, Cup, -2.490, 0.873, 2.999, 0, 270, 0, 62 [SEP] 35, WineBottle, -0.844, 0.193, 2.097, 0, 90, 0, 90 [SEP] 36, Plate, -2.183, 0.916, -1.265, 0, 0, 0, 60 [SEP] 37, Spatula, 0.479, 0.927, -1.776, 0, 90, 0, 60 [SEP] 38, Potato, -0.263, 1.180, 2.286, 0, 180, 0, 85 [SEP] 39, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 78 [SEP] 40, Knife, -3.069, 0.896, 3.527, 0, 135, 0, 62 [SEP] 41, SaltShaker, 0.150, 0.110, -1.415, 0, 0, 0, 68 [SEP] 42, PepperShaker, -2.353, 0.874, 3.632, 0, 225, 0, 62 [SEP] 43, Lettuce, -0.149, 0.867, 2.194, 0, 180, 0, 85 [SEP] 44, ButterKnife, -2.510, 0.874, 2.715, 0, 0, 0, 62 [SEP] 45, Bread, -2.807, 0.961, 2.715, 0, 0, 0, 62 [SEP] 46, Vase, -1.516, 0.913, -0.939, 0, 0, 0, 60 [SEP] 47, DishSponge, -1.723, 0.119, -0.991, 0, 0, 0, 65 [SEP] 48, Apple, -2.644, 0.929, 3.446, 0, 225, 0, 62 [SEP] 49, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 63 [SEP] 50, Spoon, -0.330, 0.698, -1.626, 0, 270, 0, 89 [SEP] 51, SoapBottle, -3.165, 0.875, 3.073, 0, 270, 0, 62 [SEP] 52, Mug, -1.738, 0.907, 0.363, 0, 0, 0, 60 [SEP] 53, Statue, 3.689, 0.887, 1.656, 0, 270, 0, 81 [SEP] 54, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 83 [SEP] 55, Bowl, 0.069, 0.926, -1.646, 0, 270, 0, 57 [SEP] 56, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 57, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 58, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 59, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 60, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 61, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 62, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 63, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 64, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 65, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 66, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 67, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 68, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 69, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 70, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 71, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 72, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 73, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 74, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 75, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 76, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 77, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 78, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 79, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 80, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 81, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 82, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 83, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 84, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 85, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 86, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 87, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 88, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 89, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 90, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 91, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 92, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 93, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 94, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 95, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 96, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 97, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 98, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 99, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 100, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 101, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 102, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 103, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 104, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk almost to the wall, then turn left. Walk past the counter then turn left and walk to the door. Finally, face the left counter. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn left and veer right after the counter ends, walking to the fridge. | STEP 4: Place the plate in the fridge, ahead and to the right of the lettuce. Close the door, wait a moment, and take it out again. | STEP 5: Turn around and walk to the stove. | STEP 6: Place the plate in the microwave above the stove. | END


Input: To move two media devices from the counter to the foot of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.937, -2.25, 0, 180, 0,  [SEP] 1, Mug, 0.326, 0.075, -3.245, 0, 0, 0, 32 [SEP] 2, Mug, -1.539, 1.114, -3.073, 0, 0, 0, 35 [SEP] 3, CD, -2.565, 0.082, -3.214, 0, 0, 0, 29 [SEP] 4, CD, 1.315, 0.077, -3.077, 0, 0, 0, 32 [SEP] 5, CellPhone, 1.681, 0.546, 2.440, 0, 90, 0, 55 [SEP] 6, CellPhone, -1.851, 1.119, -3.243, 0, 0, 0, 35 [SEP] 7, Pen, -1.227, 1.121, -3.158, 0, 0, 0, 35 [SEP] 8, CreditCard, -0.696, 0.190, 3.597, 0, 175.771, 0, 47 [SEP] 9, CreditCard, -2.331, 0.190, 3.503, 0, 180, 0, 48 [SEP] 10, Book, 0.673, 0.832, 0.015, 0, 0, 0, 28 [SEP] 11, KeyChain, 1.668, 0.095, -3.049, 0, 90, 0, 53 [SEP] 12, KeyChain, 1.882, 0.095, -3.049, 0, 270, 0, 53 [SEP] 13, RemoteControl, -1.227, 1.118, -2.902, 0, 0, 0, 35 [SEP] 14, Book, -3.335, 0.190, 3.155, 0, 149.999, 0, 54 [SEP] 15, AlarmClock, -0.914, 1.118, -2.988, 0, 0, 0, 35 [SEP] 16, CellPhone, -0.289, 1.119, -2.902, 0, 0, 0, 35 [SEP] 17, Pillow, 0.958, 0.940, 0.975, 0, 0, 0, 28 [SEP] 18, Pillow, 0.389, 0.940, 0.975, 0, 0, 0, 28 [SEP] 19, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 20, CreditCard, -2.164, 1.116, -3.243, 0, 0, 0, 35 [SEP] 21, KeyChain, 1.903, 0.553, 2.612, 0, 0, 0, 55 [SEP] 22, Pencil, 1.537, 0.556, 2.539, 0, 90, 0, 55 [SEP] 23, Laptop, 0.104, 0.830, 0.255, 0, 0, 0, 28 [SEP] 24, RemoteControl, -0.982, 0.585, -2.934, 0, 0, 0, 31 [SEP] 25, CD, -1.851, 1.115, -2.732, 0, 0, 0, 35 [SEP] 26, Pen, -0.289, 1.121, -2.817, 0, 0, 0, 35 [SEP] 27, Mug, -0.602, 1.114, -2.988, 0, 0, 0, 35 [SEP] 28, Bed, 0.967, 0.049, 0.667, 0, 90, 0,  [SEP] 29, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0,  [SEP] 30, Drawer, -0.365, 0.785, -2.848, 0, 0, 0,  [SEP] 31, Drawer, -1.159, 0.785, -2.848, 0, 0, 0,  [SEP] 32, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0,  [SEP] 33, Drawer, -1.159, 0.285, -2.848, 0, 0, 0,  [SEP] 34, Drawer, -0.365, 0.285, -2.848, 0, 0, 0,  [SEP] 35, Desk, -1.271, 1.169, -2.987, 0, 0, 0,  [SEP] 36, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0,  [SEP] 37, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0,  [SEP] 38, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0,  [SEP] 39, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0,  [SEP] 40, Mirror, -1.603, 1.447, 3.999, 0, 0, 0,  [SEP] 41, Television, -3.883, 1.771, 2.122, 0, 90, 0,  [SEP] 42, Window, -1.952, 2.148, -3.302, 90, 180, 0,  [SEP] 43, Window, -0.467, 2.148, -3.302, 90, 180, 0,  [SEP] 44, Window, -3.894, 1.751, 0.582, 90, 270, 0,  [SEP] 45, Window, -3.894, 1.751, -0.675, 90, 270, 0,  [SEP] 46, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354,  [SEP] 47, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0,  [SEP] 48, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0,  [SEP] 49, Blinds, -0.477, 2.785, -3.253, 0, 0, 0,  [SEP] 50, Blinds, -1.957, 2.785, -3.253, 0, 0, 0,  [SEP] 51, Blinds, -3.799, 2.506, 0.602, 0, 90, 0,  [SEP] 52, Blinds, -3.799, 2.506, -0.647, 0, 90, 0,  [SEP] 53, Safe, 1.673, 0.054, -3.004, 0, 0, 0,  [SEP] 54, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0,  [SEP] 55, SideTable, 1.775, 0.048, 2.377, 0, 0, 0,  [SEP] 56, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, EastWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, WestWall, , , , , , ,

Output: STEP 1: Take a step to the right to face the media device on the counter. | STEP 2: Pick up the media device on the counter. | STEP 3: Turn around and walk forward then turn right to face the bed. | STEP 4: Place the media device on the center of the foot of the bed. | STEP 5: Turn right and walk across the room to face the counter. | STEP 6: Pick up the media device on the counter. | STEP 7: Turn around and walk forward then turn right to face the bed. | STEP 8: Place the media device on the center of the foot of the bed next to the first media device. | END


Input: Move the pen from the Black desk to the black end table that sits beside the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.25, 0, 0, 0,  [SEP] 1, CellPhone, -1.085, 0.680, -2.508, 0, 0, 0, 36 [SEP] 2, Pen, -0.276, 0.625, 0.988, 0, 180, 0, 35 [SEP] 3, Pen, 0.033, 0.624, 0.910, 0, 180, 0, 35 [SEP] 4, Pen, 0.188, 0.625, 0.910, 0, 180, 0, 35 [SEP] 5, CreditCard, -1.322, 0.675, -2.553, 0, 0, 0, 36 [SEP] 6, CreditCard, 0.818, 0.675, -2.553, 0, 0, 0, 37 [SEP] 7, Book, -0.121, 0.619, 0.988, 0, 180, 0, 35 [SEP] 8, AlarmClock, -0.121, 0.621, 0.832, 0, 180, 0, 35 [SEP] 9, Laptop, -0.300, 0.554, -0.988, 0, 0, 0, 23 [SEP] 10, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 11, Book, 0.106, 0.613, 0.717, 0, 163.530, 0, 35 [SEP] 12, KeyChain, -0.431, 0.621, 1.066, 0, 0, 0, 35 [SEP] 13, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 23 [SEP] 14, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 15, Pencil, 0.062, 0.617, 1.015, 0, 225, 0, 35 [SEP] 16, CellPhone, -0.300, 0.557, -1.880, 0, 0, 0, 23 [SEP] 17, CreditCard, 1.114, 0.679, -2.553, 0, 0, 0, 37 [SEP] 18, Pen, -0.431, 0.624, 0.755, 0, 270, 0, 35 [SEP] 19, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 35 [SEP] 20, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 37 [SEP] 21, CD, -0.276, 0.618, 0.599, 0, 180, 0, 35 [SEP] 22, Mug, -0.586, 0.616, 0.599, 0, 270, 0, 35 [SEP] 23, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 24, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 25, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 26, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 27, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 28, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 29, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 30, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 31, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 32, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 33, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 34, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 35, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 36, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 37, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 38, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 39, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 40, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 41, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 42, , , , , , , ,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Go to the black desk. | STEP 2: Pick up the pen | STEP 3: Carry the pen to the black end table beside the bed. | STEP 4: Set the pen on the front of the end table beside the bed. | END


Input: Move the pen from the grey table 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, 1.25, 0.900, 0.25, 0, 0, 0,  [SEP] 1, CellPhone, -1.085, 0.680, -2.508, 0, 0, 0, 36 [SEP] 2, Pen, -0.276, 0.625, 0.988, 0, 180, 0, 35 [SEP] 3, Pen, 0.033, 0.624, 0.910, 0, 180, 0, 35 [SEP] 4, Pen, 0.188, 0.625, 0.910, 0, 180, 0, 35 [SEP] 5, CreditCard, -1.322, 0.675, -2.553, 0, 0, 0, 36 [SEP] 6, CreditCard, 0.818, 0.675, -2.553, 0, 0, 0, 37 [SEP] 7, Book, -0.121, 0.619, 0.988, 0, 180, 0, 35 [SEP] 8, AlarmClock, -0.121, 0.621, 0.832, 0, 180, 0, 35 [SEP] 9, Laptop, -0.300, 0.554, -0.988, 0, 0, 0, 23 [SEP] 10, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 11, Book, 0.106, 0.613, 0.717, 0, 163.530, 0, 35 [SEP] 12, KeyChain, -0.431, 0.621, 1.066, 0, 0, 0, 35 [SEP] 13, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 23 [SEP] 14, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 15, Pencil, 0.062, 0.617, 1.015, 0, 225, 0, 35 [SEP] 16, CellPhone, -0.300, 0.557, -1.880, 0, 0, 0, 23 [SEP] 17, CreditCard, 1.114, 0.679, -2.553, 0, 0, 0, 37 [SEP] 18, Pen, -0.431, 0.624, 0.755, 0, 270, 0, 35 [SEP] 19, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 35 [SEP] 20, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 37 [SEP] 21, CD, -0.276, 0.618, 0.599, 0, 180, 0, 35 [SEP] 22, Mug, -0.586, 0.616, 0.599, 0, 270, 0, 35 [SEP] 23, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 24, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 25, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 26, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 27, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 28, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 29, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 30, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 31, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 32, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 33, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 34, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 35, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 36, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 37, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 38, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 39, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 40, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 41, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 42, , , , , , , ,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk to the grey table on the right | STEP 2: Grab the pen near the door | STEP 3: Turn left, walk to the window, turn left, walk to the night stand | STEP 4: Put the pen down on the night stand | END


Input: Put a watering can in the cupboard. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 1.5, 0, 0, 0,  [SEP] 1, Statue, -2.532, 0.554, 2.359, 0, 0, 0, 36 [SEP] 2, Statue, -2.152, 0.554, 2.455, 0, 0, 0, 36 [SEP] 3, RemoteControl, -4.744, 0.987, 2.879, 0, 0, 0, 33 [SEP] 4, CreditCard, -1.752, 0.456, 0.571, 0, 0, 0, 39 [SEP] 5, Box, -4.668, 0.405, 2.337, 0, 90, 0, 35 [SEP] 6, Box, -2.702, 0.761, 0.843, 0, 90, 0, 39 [SEP] 7, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 8, CreditCard, 0.132, 0.707, 4.659, 0, 0, 0, 41 [SEP] 9, KeyChain, -2.532, 0.453, 2.455, 0, 0, 0, 36 [SEP] 10, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 39 [SEP] 11, Laptop, -0.417, 0.547, 1.714, 0, 0, 0, 38 [SEP] 12, RemoteControl, -2.532, 0.455, 2.744, 0, 0, 0, 36 [SEP] 13, Watch, -5.094, 0.985, 2.595, 0, 90, 0, 33 [SEP] 14, Statue, -2.152, 0.554, 2.744, 0, 0, 0, 36 [SEP] 15, Curtains, -2.535, 2.596, 0.111, 0, 0, 0,  [SEP] 16, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0,  [SEP] 17, Television, -4.883, 1.472, 2.434, 0, 90, 0,  [SEP] 18, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0,  [SEP] 19, Painting, -0.293, 1.820, 0.016, 90, 0, 0,  [SEP] 20, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0,  [SEP] 21, Painting, -5.118, 1.480, 4.396, 90, 270, 0,  [SEP] 22, Painting, -5.118, 1.480, 0.656, 90, 270, 0,  [SEP] 23, Window, -1.715, 1.554, 0.006, 90, 180, 0,  [SEP] 24, Window, -3.244, 1.554, 0.006, 90, 180, 0,  [SEP] 25, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0,  [SEP] 26, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0,  [SEP] 27, Drawer, -4.497, 0.901, 2.854, 0, 90, 0,  [SEP] 28, Drawer, -4.497, 0.901, 2.339, 0, 90, 0,  [SEP] 29, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0,  [SEP] 30, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0,  [SEP] 31, Drawer, -4.497, 0.901, 3.372, 0, 90, 0,  [SEP] 32, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0,  [SEP] 33, Dresser, -4.744, 4.321, 2.595, 0, 90, 0,  [SEP] 34, Drawer, -4.497, 0.901, 1.818, 0, 90, 0,  [SEP] 35, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0,  [SEP] 36, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0,  [SEP] 37, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0,  [SEP] 38, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0,  [SEP] 39, Sofa, -2.464, -0.002, 0.700, 0, 0, 0,  [SEP] 40, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0,  [SEP] 41, SideTable, -0.041, 0.002, 4.619, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the chair then turn left and walk to the wall then turn right and walk to the table then turn left. | STEP 2: Pick up the watering can that's in front of you on the floor by the wall. | STEP 3: Turn left and walk to the tv that's in front of you to your left and stand facing the right side of the tv. | STEP 4: Open the cupboard all the way to the right of the tv stand and put the watering can down there then close the door.  | END


Input: To heat an apple and put it inside the black bin.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 6.0, 0, 180, 0,  [SEP] 1, DishSponge, 0.668, 0.771, 0.563, 0, 0, 0, 42 [SEP] 2, DishSponge, -0.049, 0.759, 6.588, 0, 225, 0, 86 [SEP] 3, ButterKnife, 0.668, 0.772, 0.507, 0, 0, 0, 42 [SEP] 4, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 49 [SEP] 5, Spoon, 1.493, 0.993, 3.044, 0, 0, 0, 50 [SEP] 6, Spatula, 1.671, 1.007, 3.511, 0, 0, 0, 50 [SEP] 7, Fork, 1.182, 0.771, 4.753, 0, 270, 0, 40 [SEP] 8, Fork, 0.058, 0.760, 6.261, 0, 225, 0, 86 [SEP] 9, Cup, -0.611, 0.988, 0.120, 0, 0, 0, 50 [SEP] 10, Knife, -0.278, 0.801, 0.451, 0, 90, 0, 46 [SEP] 11, Tomato, 2.051, 1.565, 5.876, 0, 270, 0, 72 [SEP] 12, SoapBottle, 0.923, 0.992, 0.670, 0, 0, 0, 50 [SEP] 13, SaltShaker, 1.238, 0.135, 2.646, 0, 0, 0, 62 [SEP] 14, Mug, 2.009, 1.510, 5.501, 0, 270, 0, 72 [SEP] 15, Bowl, 1.499, 1.575, 4.754, 0, 0, 0, 54 [SEP] 16, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 50 [SEP] 17, Egg, 1.135, 1.042, 4.670, 0, 0, 0, 51 [SEP] 18, Knife, 1.314, 1.022, 3.417, 0, 0, 0, 50 [SEP] 19, Fork, -0.413, 0.771, 0.620, 0, 270, 0, 46 [SEP] 20, Apple, 1.493, 1.067, 0.440, 0, 0, 0, 50 [SEP] 21, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 50 [SEP] 22, Plate, -0.483, 0.144, 0.582, 0, 0, 0, 58 [SEP] 23, SaltShaker, 0.150, 0.755, 6.291, 0, 270, 0, 86 [SEP] 24, Lettuce, -0.621, 0.848, 6.604, 0, 270, 0, 86 [SEP] 25, SoapBottle, 1.140, 1.579, 0.163, 0, 0, 0, 57 [SEP] 26, Spatula, -0.096, 0.775, 6.941, 0, 0, 0, 86 [SEP] 27, PaperTowelRoll, 0.169, 0.864, 6.807, 0, 225, 0, 86 [SEP] 28, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 45 [SEP] 29, Potato, -0.762, 1.027, 0.486, 0, 0, 0, 50 [SEP] 30, ButterKnife, -0.459, 0.992, 0.670, 0, 0, 0, 50 [SEP] 31, PepperShaker, 0.167, 1.574, 0.119, 0, 0, 0, 63 [SEP] 32, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 44 [SEP] 33, Tomato, 1.497, 0.940, 2.137, 0, 90, 0, 73 [SEP] 34, DishSponge, 0.150, 0.759, 6.666, 0, 270, 0, 86 [SEP] 35, Cup, -0.384, 0.988, 0.486, 0, 0, 0, 50 [SEP] 36, Spoon, -0.334, 0.761, 6.742, 0, 135, 0, 86 [SEP] 37, Mug, 0.080, 0.755, 6.895, 0, 225, 0, 86 [SEP] 38, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 39, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 40, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 41, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 42, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 43, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 44, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 45, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 46, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 47, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 48, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 49, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 50, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 51, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 52, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 53, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 54, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 55, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 56, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 57, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 58, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 59, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 60, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 61, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 63, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 64, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 65, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 66, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 67, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 68, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 69, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 70, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 71, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 72, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 73, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 74, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 75, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 76, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 77, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 78, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 79, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 80, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 81, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 82, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 83, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 84, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 85, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 86, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 87, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 88, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Walk straight ahead to the white garbage bag and turn left, walk straight ahead to the counter with the coffee maker on it.  | STEP 2: Pick up the apple to the right of the coffee maker.  | STEP 3: Turn and walk to the microwave.  | STEP 4: Open the microwave door, put the apple in the microwave, close the door, heat up the apple, open the door, take the apple out of the microwave, and close the door.  | STEP 5: Walk to the black bin to the left of the fridge.  | STEP 6: Put the apple inside of the black bin.  | END


Input: Put a rinsed slice of apple in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 1.25, 0, 90, 0,  [SEP] 1, Potato, -3.307, 0.942, 2.849, 0, 90, 0, 64 [SEP] 2, Potato, -0.771, 1.155, 0.115, 0, 0, 0, 59 [SEP] 3, Ladle, -0.785, 1.087, 3.042, 0, 0, 0, 47 [SEP] 4, ButterKnife, -1.288, 0.931, 0.359, 0, 0, 0, 69 [SEP] 5, Fork, -0.538, 1.048, 2.817, 0, 0, 0, 47 [SEP] 6, Fork, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 7, Spoon, -1.885, 1.126, 0.473, 0, 90, 0, 57 [SEP] 8, Spoon, -2.388, 1.126, 0.567, 0, 0, 0, 57 [SEP] 9, Spatula, -0.939, 1.139, 0.478, 0, 90, 0, 59 [SEP] 10, Spatula, -1.199, 0.946, 0.567, 0, 270, 0, 69 [SEP] 11, Cup, -1.465, 0.929, 0.636, 0, 0, 0, 69 [SEP] 12, Knife, -0.662, 1.079, 2.593, 0, 90, 0, 47 [SEP] 13, Knife, -2.011, 1.157, 0.190, 0, 0, 0, 57 [SEP] 14, SoapBottle, -1.601, 0.049, 0.608, 0, 0, 0, 62 [SEP] 15, SoapBottle, -1.640, 0.049, 0.325, 0, 0, 0, 62 [SEP] 16, SaltShaker, -0.908, 1.044, 3.042, 0, 0, 0, 47 [SEP] 17, Bread, -2.262, 1.211, 0.567, 0, 0, 0, 57 [SEP] 18, Mug, -0.662, 1.042, 3.042, 0, 0, 0, 47 [SEP] 19, Mug, -0.168, 1.043, 2.144, 0, 0, 0, 47 [SEP] 20, Fork, -1.553, 0.932, 0.498, 0, 0, 0, 69 [SEP] 21, SoapBottle, -3.542, 0.113, 1.978, 0, 0, 0, 68 [SEP] 22, Pot, -0.292, 1.051, 2.593, 0, 0, 0, 47 [SEP] 23, Ladle, -0.771, 1.164, 0.569, 0, 0, 0, 59 [SEP] 24, Potato, -0.908, 1.077, 2.817, 0, 0, 0, 47 [SEP] 25, Plate, -0.662, 1.045, 3.266, 0, 0, 0, 47 [SEP] 26, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 47 [SEP] 27, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 64 [SEP] 28, Spatula, -1.642, 0.946, 0.290, 0, 90, 0, 69 [SEP] 29, Pan, -3.475, 1.133, 0.227, 0, 90, 0, 43 [SEP] 30, Egg, -0.883, 1.155, 0.296, 0, 0, 0, 59 [SEP] 31, Cup, -1.376, 0.929, 0.359, 0, 0, 0, 69 [SEP] 32, SaltShaker, -1.443, 0.045, 0.495, 0, 0, 0, 62 [SEP] 33, Knife, -0.785, 1.080, 2.144, 0, 0, 0, 47 [SEP] 34, Bowl, -2.011, 1.122, 0.567, 0, 0, 0, 57 [SEP] 35, PepperShaker, -1.076, 0.045, 0.324, 0, 0, 0, 51 [SEP] 36, ButterKnife, -0.771, 1.124, 0.206, 0, 0, 0, 59 [SEP] 37, Apple, -2.639, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -3.798, 0.153, 2.008, 0, 0, 0, 68 [SEP] 39, DishSponge, -0.883, 1.124, 0.115, 0, 0, 0, 59 [SEP] 40, Spoon, -0.785, 1.048, 3.266, 0, 0, 0, 47 [SEP] 41, Mug, -0.538, 1.042, 2.593, 0, 0, 0, 47 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,

Output: STEP 1: Turn right and go to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter to the left of the stove. | STEP 4: Cut the apple on the counter. | STEP 5: Go back to the sink. | STEP 6: Put the knife on the bowl to the right of the sink. | STEP 7: Go back to the stove. | STEP 8: Take a slice of apple on the counter. | STEP 9: Turn around and head back to the sink. | STEP 10: Put the apple in the sink, rinse it and pick it back up. | STEP 11: Turn right, go across the room and turn right toward to the trash can. | STEP 12: Put the slice of apple in the trash can. | END


Input: Move a box with a pencil in it to the dining room table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.902, 3.5, 0, 90, 0,  [SEP] 1, Bowl, -2.473, 0.345, 4.809, 0, 0, 0, 46 [SEP] 2, Plate, -1.825, 0.689, 1.670, 0, 0, 0, 56 [SEP] 3, Plate, -2.253, 0.747, -0.072, 0, 0, 0, 52 [SEP] 4, Newspaper, -2.318, 0.602, 4.731, 0, 270, 0, 45 [SEP] 5, Newspaper, -2.933, 0.481, 3.525, 0, 0, 0, 50 [SEP] 6, Watch, -0.284, 0.705, 3.285, 0, 0, 0, 40 [SEP] 7, Watch, -2.510, 0.238, 6.119, 0, 0, 0, 47 [SEP] 8, Statue, -2.490, 0.695, 1.299, 0, 0, 0, 57 [SEP] 9, Statue, -2.269, 0.695, 1.299, 0, 0, 0, 44 [SEP] 10, Pen, -0.252, 0.710, 3.116, 0, 0, 0, 40 [SEP] 11, Pen, -1.825, 0.694, 1.423, 0, 0, 0, 44 [SEP] 12, KeyChain, -2.241, 0.346, 4.887, 0, 0, 0, 46 [SEP] 13, KeyChain, -2.496, 0.649, -0.022, 0, 270, 0, 53 [SEP] 14, Book, -2.318, 0.100, 4.964, 0, 0, 0, 48 [SEP] 15, Box, -2.404, 0.678, 3.436, 0, 180, 0, 50 [SEP] 16, Statue, -2.134, 0.243, 6.156, 0, 0, 0, 47 [SEP] 17, Laptop, -1.874, 0.478, 3.615, 0, 0, 0, 50 [SEP] 18, TissueBox, -2.639, 0.725, 6.053, 0, 0, 0, 49 [SEP] 19, CreditCard, -1.974, 0.747, -0.115, 0, 0, 0, 52 [SEP] 20, Plate, -2.241, 0.348, 4.731, 0, 0, 0, 46 [SEP] 21, KeyChain, -2.636, 0.238, 6.083, 0, 0, 0, 47 [SEP] 22, Vase, -2.934, 0.693, 1.793, 0, 0, 0, 44 [SEP] 23, Pencil, -2.396, 0.607, 5.042, 0, 0, 0, 45 [SEP] 24, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 50 [SEP] 25, Bowl, -1.834, 0.747, -0.159, 0, 0, 0, 52 [SEP] 26, RemoteControl, -2.318, 0.603, 4.887, 0, 0, 0, 45 [SEP] 27, Watch, -0.313, 0.615, 3.598, 0, 0, 0, 41 [SEP] 28, Pen, -1.603, 0.694, 1.670, 0, 0, 0, 56 [SEP] 29, Newspaper, -2.139, 0.481, 3.525, 0, 0, 0, 50 [SEP] 30, Painting, -2.048, 1.615, -0.303, 0, 0, 0,  [SEP] 31, Curtains, -0.083, 2.420, 0.969, 0, 0, 0,  [SEP] 32, Television, -2.357, 1.205, 6.245, 0, 180, 0,  [SEP] 33, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0,  [SEP] 34, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0,  [SEP] 35, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0,  [SEP] 36, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0,  [SEP] 37, Window, -0.057, 0.925, 1.764, 90, 270, 0,  [SEP] 38, Window, -0.057, 1.130, 4.886, 90, 270, 0,  [SEP] 39, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0,  [SEP] 40, SideTable, -0.255, 0.001, 3.369, 0, 270, 0,  [SEP] 41, Drawer, -0.306, 0.626, 3.369, 0, 270, 0,  [SEP] 42, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0,  [SEP] 43, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0,  [SEP] 44, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0,  [SEP] 45, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0,  [SEP] 46, Shelf, -2.326, 0.338, 4.922, 0, 0, 0,  [SEP] 47, Shelf, -2.385, 0.238, 6.296, 0, 0, 0,  [SEP] 48, Shelf, -2.326, 0.089, 4.922, 0, 0, 0,  [SEP] 49, TVStand, -2.385, 0.006, 6.296, 0, 0, 0,  [SEP] 50, Sofa, -2.404, -0.003, 3.417, 0, 0, 0,  [SEP] 51, SideTable, -2.935, 0.004, -0.103, 0, 0, 0,  [SEP] 52, SideTable, -2.113, 0.002, -0.139, 0, 0, 0,  [SEP] 53, Drawer, -2.113, 0.654, -0.069, 0, 0, 0,  [SEP] 54, Chair, -1.862, 0.020, 1.035, 0, 0, 0,  [SEP] 55, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0,  [SEP] 56, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0,  [SEP] 57, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0,  [SEP] 58, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0,  [SEP] 59, Chair, -1.335, 0.020, 1.430, 0, 270, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, EastWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, WestWall, , , , , , ,

Output: STEP 1: Move to stand between the coffee table and television, facing the coffee table. | STEP 2: Pick up the pencil from the coffee table. | STEP 3: Carry the pencil around the table to stand between the table and sofa, facing the sofa. | STEP 4: Place the pencil in the open box on the sofa to the right of the laptop.  | STEP 5: Pick up the box with the pencil in it from the sofa. | STEP 6: Carry the box with the pencil in it around the sofa to stand between the sofa and dining room table, facing the table. | STEP 7: Place the box with the pencil on the table directly in front of the two sculptures. | END


Input: Place a cool egg inside the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 270, 0,  [SEP] 1, ButterKnife, 1.503, 0.944, 1.714, 0, 180, 0, 62 [SEP] 2, Fork, -0.689, 0.747, 1.050, 0, 270, 0, 58 [SEP] 3, Fork, -0.960, 0.938, 0.765, 0, 0, 0, 60 [SEP] 4, Spoon, 1.503, 0.945, 1.631, 0, 180, 0, 62 [SEP] 5, Spatula, -0.710, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 7, Cup, 1.385, 1.070, 0.071, 0, 0, 0, 41 [SEP] 8, Plate, 1.391, 0.086, 0.777, 0, 0, 0, 61 [SEP] 9, Plate, 1.669, 0.942, 0.806, 0, 0, 0, 40 [SEP] 10, Tomato, 1.748, 0.999, 1.244, 0, 0, 0, 40 [SEP] 11, Tomato, -1.018, 1.380, 0.118, 0, 90, 0, 67 [SEP] 12, Bowl, -0.840, 0.196, -0.044, 0, 90, 0, 67 [SEP] 13, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 67 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -1.077, 1.828, -0.081, 0, 0, 0, 48 [SEP] 16, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 35 [SEP] 17, Fork, 1.275, 0.747, 0.916, 0, 90, 0, 65 [SEP] 18, Tomato, -0.971, 1.560, 0.042, 0, 90, 0, 67 [SEP] 19, Bowl, 1.352, 0.078, 2.251, 0, 0, 0, 44 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 60 [SEP] 22, Knife, 1.414, 0.768, 1.052, 0, 270, 0, 65 [SEP] 23, SaltShaker, -1.151, 1.946, 1.782, 0, 0, 0, 50 [SEP] 24, Apple, 1.390, 0.119, 2.912, 0, 0, 0, 73 [SEP] 25, PepperShaker, -0.712, 0.934, 2.159, 0, 0, 0, 36 [SEP] 26, ButterKnife, -0.793, 0.937, 0.687, 0, 0, 0, 60 [SEP] 27, Potato, -1.209, 0.970, 0.687, 0, 0, 0, 60 [SEP] 28, Plate, 1.380, 1.751, -0.035, 0, 0, 0, 43 [SEP] 29, DishSponge, -0.791, 0.083, 0.915, 0, 0, 0, 47 [SEP] 30, Egg, 1.550, 0.979, 1.798, 0, 180, 0, 62 [SEP] 31, Cup, 1.409, 0.943, 1.673, 0, 180, 0, 62 [SEP] 32, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 43 [SEP] 33, Spoon, 1.503, 0.945, 1.756, 0, 180, 0, 62 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the sink. | STEP 2: Pick up the egg sitting next to the spoon. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Place the egg inside the fridge, cool it then remove it. | STEP 5: With the egg, turn right and walk to the sink to your right. | STEP 6: Place the egg inside the sink. | END


Input: put a chilled egg into the sink basin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 270, 0,  [SEP] 1, ButterKnife, 1.503, 0.944, 1.714, 0, 180, 0, 62 [SEP] 2, Fork, -0.689, 0.747, 1.050, 0, 270, 0, 58 [SEP] 3, Fork, -0.960, 0.938, 0.765, 0, 0, 0, 60 [SEP] 4, Spoon, 1.503, 0.945, 1.631, 0, 180, 0, 62 [SEP] 5, Spatula, -0.710, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 7, Cup, 1.385, 1.070, 0.071, 0, 0, 0, 41 [SEP] 8, Plate, 1.391, 0.086, 0.777, 0, 0, 0, 61 [SEP] 9, Plate, 1.669, 0.942, 0.806, 0, 0, 0, 40 [SEP] 10, Tomato, 1.748, 0.999, 1.244, 0, 0, 0, 40 [SEP] 11, Tomato, -1.018, 1.380, 0.118, 0, 90, 0, 67 [SEP] 12, Bowl, -0.840, 0.196, -0.044, 0, 90, 0, 67 [SEP] 13, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 67 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -1.077, 1.828, -0.081, 0, 0, 0, 48 [SEP] 16, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 35 [SEP] 17, Fork, 1.275, 0.747, 0.916, 0, 90, 0, 65 [SEP] 18, Tomato, -0.971, 1.560, 0.042, 0, 90, 0, 67 [SEP] 19, Bowl, 1.352, 0.078, 2.251, 0, 0, 0, 44 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 60 [SEP] 22, Knife, 1.414, 0.768, 1.052, 0, 270, 0, 65 [SEP] 23, SaltShaker, -1.151, 1.946, 1.782, 0, 0, 0, 50 [SEP] 24, Apple, 1.390, 0.119, 2.912, 0, 0, 0, 73 [SEP] 25, PepperShaker, -0.712, 0.934, 2.159, 0, 0, 0, 36 [SEP] 26, ButterKnife, -0.793, 0.937, 0.687, 0, 0, 0, 60 [SEP] 27, Potato, -1.209, 0.970, 0.687, 0, 0, 0, 60 [SEP] 28, Plate, 1.380, 1.751, -0.035, 0, 0, 0, 43 [SEP] 29, DishSponge, -0.791, 0.083, 0.915, 0, 0, 0, 47 [SEP] 30, Egg, 1.550, 0.979, 1.798, 0, 180, 0, 62 [SEP] 31, Cup, 1.409, 0.943, 1.673, 0, 180, 0, 62 [SEP] 32, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 43 [SEP] 33, Spoon, 1.503, 0.945, 1.756, 0, 180, 0, 62 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: turn around to face the sink | STEP 2: pick up the brown egg from the sink sideboard | STEP 3: turn around to face the fridge | STEP 4: put the egg in the fridge for a few seconds, take the egg out of fridge | STEP 5: turn around to face the sink | STEP 6: put the egg into the sink basin | END