Input: put a pot and vase on coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.927, 4.0, 0, 90, 0,  [SEP] 1, Newspaper, -5.939, 0.641, 1.861, 0, 0, 0, 75 [SEP] 2, Newspaper, -3.732, 0.276, 3.521, 0, 0, 0, 76 [SEP] 3, KeyChain, -6.185, 0.643, 2.564, 0, 0, 0, 75 [SEP] 4, CreditCard, -4.838, 1.581, 5.205, 0, 0, 0, 57 [SEP] 5, CreditCard, -3.066, 1.037, 5.240, 0, 0, 0, 58 [SEP] 6, Box, -5.694, 0.823, 2.564, 0, 0, 0, 75 [SEP] 7, Laptop, -2.554, 0.298, 1.997, 0, 0, 0, 79 [SEP] 8, Laptop, -2.925, 0.274, 3.451, 0, 0, 0, 76 [SEP] 9, Box, -6.062, 0.823, 3.266, 0, 0, 0, 75 [SEP] 10, Statue, -5.694, 0.647, 1.510, 0, 0, 0, 75 [SEP] 11, KeyChain, -5.939, 0.643, 1.510, 0, 0, 0, 75 [SEP] 12, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 30 [SEP] 13, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 47 [SEP] 14, Vase, -6.062, 0.646, 3.617, 0, 0, 0, 75 [SEP] 15, Newspaper, -5.817, 0.641, 3.266, 0, 0, 0, 75 [SEP] 16, CreditCard, -5.694, 0.641, 1.861, 0, 0, 0, 75 [SEP] 17, RemoteControl, -2.804, 0.301, 2.226, 0, 270, 0, 79 [SEP] 18, Laptop, -5.571, 0.639, 2.915, 0, 0, 0, 75 [SEP] 19, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 78 [SEP] 20, Vase, -6.185, 0.642, 2.212, 0, 0, 0, 75 [SEP] 21, Statue, -5.571, 0.651, 3.617, 0, 0, 0, 75 [SEP] 22, Vase, -4.772, 0.960, 5.205, 0, 0, 0, 44 [SEP] 23, Plate, -2.082, 0.492, 0.264, 0, 90, 0, 50 [SEP] 24, Vase, -6.620, 1.038, 5.17, 0, 0, 0, 36 [SEP] 25, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 57 [SEP] 26, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 49 [SEP] 27, Statue, -5.448, 0.651, 2.564, 0, 90, 0, 75 [SEP] 28, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 58 [SEP] 29, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 75 [SEP] 30, Shelf, -1.776, 0.988, 0.184, 0, 180, 0,  [SEP] 31, Chair, -5.413, 0.024, 1.780, 0, 0, 0,  [SEP] 32, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0,  [SEP] 33, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0,  [SEP] 34, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0,  [SEP] 35, Shelf, -3.937, 0.988, 5.170, 0, 0, 0,  [SEP] 36, Shelf, -6.572, 1.144, 5.170, 0, 0, 0,  [SEP] 37, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0,  [SEP] 38, Shelf, -5.606, 0.444, 5.170, 0, 0, 0,  [SEP] 39, Drawer, -6.324, 0.823, 5.001, 0, 0, 0,  [SEP] 40, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0,  [SEP] 41, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0,  [SEP] 42, Drawer, -1.093, 0.233, 0.462, 0, 0, 0,  [SEP] 43, Shelf, -4.672, 1.317, 5.170, 0, 0, 0,  [SEP] 44, Shelf, -4.672, 0.998, 5.170, 0, 0, 0,  [SEP] 45, Shelf, -2.221, 0.444, 5.170, 0, 0, 0,  [SEP] 46, Drawer, -6.324, 0.508, 5.001, 0, 0, 0,  [SEP] 47, Shelf, -1.041, 0.998, 0.184, 0, 180, 0,  [SEP] 48, Drawer, -4.264, 0.233, 0.462, 0, 0, 0,  [SEP] 49, Shelf, -0.810, 1.688, 0.185, 0, 180, 0,  [SEP] 50, Shelf, -2.671, 0.610, 0.272, 0, 90, 0,  [SEP] 51, Drawer, -2.681, 0.233, 0.462, 0, 0, 0,  [SEP] 52, Drawer, -2.940, 0.508, 5.001, 0, 0, 0,  [SEP] 53, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0,  [SEP] 54, Shelf, -1.041, 1.317, 0.184, 0, 180, 0,  [SEP] 55, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0,  [SEP] 56, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0,  [SEP] 57, Shelf, -4.903, 1.688, 5.170, 0, 0, 0,  [SEP] 58, Shelf, -3.187, 1.144, 5.170, 0, 0, 0,  [SEP] 59, Drawer, -2.940, 0.823, 5.001, 0, 0, 0,  [SEP] 60, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0,  [SEP] 61, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0,  [SEP] 62, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0,  [SEP] 63, Chair, -6.296, 0.024, 1.672, 0, 180, 0,  [SEP] 64, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0,  [SEP] 65, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0,  [SEP] 66, Television, -3.503, 1.506, 0.001, 0, 0, 0,  [SEP] 67, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0,  [SEP] 68, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0,  [SEP] 69, Painting, -5.769, 1.394, -0.026, 90, 180, 0,  [SEP] 70, Window, 0.001, 1.246, 2.471, 90, 270, 0,  [SEP] 71, Window, 0.001, 1.246, 3.558, 90, 270, 0,  [SEP] 72, Window, 0.001, 1.246, 1.368, 90, 270, 0,  [SEP] 73, Painting, -0.967, 1.396, 5.268, 90, 180, 0,  [SEP] 74, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0,  [SEP] 75, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0,  [SEP] 76, Sofa, -3.328, 0.023, 3.632, 0, 180, 0,  [SEP] 77, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0,  [SEP] 78, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0,  [SEP] 79, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: walk to face white shelves | STEP 2: pick up glass vase from shelves | STEP 3: walk to face coffee table | STEP 4: put vase on coffee table | STEP 5: walk to face shelves with blue vase | STEP 6: pick up blue pot from shelves | STEP 7: walk to face coffee table | STEP 8: put pot on coffee table | END


Input: Put two yellow spray bottles into the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.0, 0, 90, 0,  [SEP] 1, Cloth, -1.694, 0.039, 3.811, 0, 0, 0, 30 [SEP] 2, SoapBar, -1.542, 0.040, 3.316, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.652, 0.947, 2.741, 0, 0, 10.090, 40 [SEP] 4, Candle, -1.519, 0.917, 3.147, 0, 0, 0, 24 [SEP] 5, SprayBottle, -1.795, 0.037, 3.272, 0, 0, 0, 27 [SEP] 6, SprayBottle, -1.912, 0.950, 1.759, 0, 180, 0, 36 [SEP] 7, SprayBottle, -1.755, 0.915, 3.172, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.542, 0.040, 2.464, 0, 270, 0, 21 [SEP] 9, SoapBottle, -1.885, 0.954, 2.071, 0, 270, 0, 36 [SEP] 10, Candle, -1.872, 0.917, 3.933, 0, 0, 0, 24 [SEP] 11, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 34 [SEP] 12, SoapBottle, -1.795, 0.040, 2.508, 0, 0, 0, 21 [SEP] 13, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 31 [SEP] 14, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 27 [SEP] 15, SoapBar, -1.858, 0.953, 1.696, 0, 180, 0, 36 [SEP] 16, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 32 [SEP] 17, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 18, SprayBottle, -1.744, 0.037, 3.404, 0, 0, 0, 27 [SEP] 19, ToiletPaper, -1.476, 0.042, 1.372, 0, 0, 0, 33 [SEP] 20, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 21, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0,  [SEP] 22, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0,  [SEP] 23, Sink, -1.746, 0.884, 3.553, 0, 90, 0,  [SEP] 24, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0,  [SEP] 25, Faucet, -1.894, 1.006, 2.730, 0, 0, 0,  [SEP] 26, Mirror, -1.943, 1.532, 3.443, 0, 0, 0,  [SEP] 27, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0,  [SEP] 28, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0,  [SEP] 29, Painting, -0.566, 1.591, 1.173, 0, 0, 0,  [SEP] 30, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0,  [SEP] 31, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0,  [SEP] 33, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0,  [SEP] 34, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0,  [SEP] 35, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0,  [SEP] 36, Toilet, -1.447, 0.000, 1.961, 0, 90, 0,  [SEP] 37, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090,  [SEP] 38, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0,  [SEP] 39, Faucet, -1.894, 1.006, 3.560, 0, 0, 0,  [SEP] 40, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090,  [SEP] 41, Sink, -1.746, 0.884, 2.723, 0, 90, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the sinks. | STEP 2: Pick up the yellow spray bottle from in between the sinks. | STEP 3: Make a left to walk to the trash can next to the toilet. | STEP 4: Put the yellow spray bottle in the trash can. | STEP 5: Turn to face the toilet. | STEP 6: Pick up the yellow spray bottle on top of the toilet. | STEP 7: Turn to face the trash can next to the toilet. | STEP 8: Put the other yellow spray bottle into the trash can. | END


Input: Put the two spray bottle in the trash bin 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, -1.694, 0.039, 3.811, 0, 0, 0, 30 [SEP] 2, SoapBar, -1.542, 0.040, 3.316, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.652, 0.947, 2.741, 0, 0, 10.090, 40 [SEP] 4, Candle, -1.519, 0.917, 3.147, 0, 0, 0, 24 [SEP] 5, SprayBottle, -1.795, 0.037, 3.272, 0, 0, 0, 27 [SEP] 6, SprayBottle, -1.912, 0.950, 1.759, 0, 180, 0, 36 [SEP] 7, SprayBottle, -1.755, 0.915, 3.172, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.542, 0.040, 2.464, 0, 270, 0, 21 [SEP] 9, SoapBottle, -1.885, 0.954, 2.071, 0, 270, 0, 36 [SEP] 10, Candle, -1.872, 0.917, 3.933, 0, 0, 0, 24 [SEP] 11, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 34 [SEP] 12, SoapBottle, -1.795, 0.040, 2.508, 0, 0, 0, 21 [SEP] 13, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 31 [SEP] 14, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 27 [SEP] 15, SoapBar, -1.858, 0.953, 1.696, 0, 180, 0, 36 [SEP] 16, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 32 [SEP] 17, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 18, SprayBottle, -1.744, 0.037, 3.404, 0, 0, 0, 27 [SEP] 19, ToiletPaper, -1.476, 0.042, 1.372, 0, 0, 0, 33 [SEP] 20, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 21, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0,  [SEP] 22, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0,  [SEP] 23, Sink, -1.746, 0.884, 3.553, 0, 90, 0,  [SEP] 24, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0,  [SEP] 25, Faucet, -1.894, 1.006, 2.730, 0, 0, 0,  [SEP] 26, Mirror, -1.943, 1.532, 3.443, 0, 0, 0,  [SEP] 27, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0,  [SEP] 28, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0,  [SEP] 29, Painting, -0.566, 1.591, 1.173, 0, 0, 0,  [SEP] 30, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0,  [SEP] 31, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0,  [SEP] 33, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0,  [SEP] 34, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0,  [SEP] 35, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0,  [SEP] 36, Toilet, -1.447, 0.000, 1.961, 0, 90, 0,  [SEP] 37, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090,  [SEP] 38, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0,  [SEP] 39, Faucet, -1.894, 1.006, 3.560, 0, 0, 0,  [SEP] 40, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090,  [SEP] 41, Sink, -1.746, 0.884, 2.723, 0, 90, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn left then head to the sink counter | STEP 2: Pick up the spray bottle on the counter | STEP 3: Turn left then head to the trash bin beside the toilet | STEP 4: Put the spray bottle in the trash bin | STEP 5: Move forward the toilet | STEP 6: Pick up the spray bottle on the toilet tank | STEP 7: Turn around and move backwards  | STEP 8: Put the spray bottle in the trash bin | END


Input: Place a mug with a knife on it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 90, 0,  [SEP] 1, ButterKnife, -2.666, 0.923, -2.345, 0, 0, 0, 74 [SEP] 2, ButterKnife, -2.552, 0.923, -1.193, 0, 0, 0, 74 [SEP] 3, WineBottle, -2.666, 0.924, -1.193, 0, 0, 0, 74 [SEP] 4, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 74 [SEP] 5, Spatula, -2.324, 0.938, -1.884, 0, 0, 0, 74 [SEP] 6, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 67 [SEP] 7, Spoon, -0.743, 0.916, -3.555, 0, 90, 0, 49 [SEP] 8, Plate, -2.438, 0.925, -0.963, 0, 0, 0, 74 [SEP] 9, Plate, -2.666, 0.925, -1.423, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.975, 0.025, -3.763, 0, 0, 0, 65 [SEP] 11, SoapBottle, -0.460, 0.079, -2.109, 0, 0, 0, 54 [SEP] 12, Tomato, -0.815, 0.979, -3.485, 0, 0, 0, 49 [SEP] 13, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 62 [SEP] 14, Bowl, -0.457, 0.914, -3.697, 0, 0, 0, 49 [SEP] 15, SaltShaker, -2.438, 0.919, -1.423, 0, 0, 0, 74 [SEP] 16, SaltShaker, -0.538, 0.077, -1.666, 0, 0, 0, 54 [SEP] 17, Apple, -0.268, 1.764, -0.455, 0, 270, 0, 66 [SEP] 18, Apple, -0.343, 1.172, -0.769, 0, 270, 0, 66 [SEP] 19, Apple, -0.295, 1.464, -0.979, 0, 270, 0, 66 [SEP] 20, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 66 [SEP] 21, Glassbottle, -0.350, 0.797, -1.860, 0, 270, 0, 67 [SEP] 22, Egg, -0.188, 1.723, -0.560, 0, 270, 0, 66 [SEP] 23, Pen, -2.552, 0.926, -0.963, 0, 0, 0, 74 [SEP] 24, Fork, -0.671, 0.916, -3.697, 0, 0, 0, 49 [SEP] 25, SoapBottle, -2.780, 0.922, -2.345, 0, 0, 0, 74 [SEP] 26, Pencil, -0.661, 0.747, -3.586, 0, 270, 0, 48 [SEP] 27, WineBottle, -2.780, 0.924, -1.193, 0, 0, 0, 74 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.343, 1.443, -0.77, 0, 270, 0, 66 [SEP] 30, Tomato, -0.815, 0.979, -3.697, 0, 0, 0, 49 [SEP] 31, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 45 [SEP] 32, Cup, -0.295, 1.097, -0.455, 0, 270, 0, 66 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.457, 0.912, -3.909, 0, 0, 0, 49 [SEP] 35, Potato, -0.228, 1.722, -0.665, 0, 270, 0, 66 [SEP] 36, PepperShaker, -2.096, 0.919, -1.193, 0, 0, 0, 74 [SEP] 37, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 74 [SEP] 38, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 74 [SEP] 39, Spoon, -2.666, 0.924, -1.654, 0, 0, 0, 74 [SEP] 40, Plate, -2.666, 0.925, -2.115, 0, 0, 0, 74 [SEP] 41, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 74 [SEP] 42, Mug, -1.100, 1.964, -3.773, 0, 0, 0, 50 [SEP] 43, Bowl, -0.747, 0.081, -3.584, 0, 0, 0, 55 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Turn left and look at the table. | STEP 2: Pick up the butter knife. | STEP 3: Turn right and walk to the microwave and look at it. | STEP 4: Open the top left cabinet above the microwave and put the knife in the black mug. | STEP 5: Take the mug out of the cabinet. | STEP 6: Turn around and walk to the right side of the table. | STEP 7: Place the mug on the table to the right of the sponge. | END


Input: Put a mug with a knife in it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 90, 0,  [SEP] 1, ButterKnife, -2.666, 0.923, -2.345, 0, 0, 0, 74 [SEP] 2, ButterKnife, -2.552, 0.923, -1.193, 0, 0, 0, 74 [SEP] 3, WineBottle, -2.666, 0.924, -1.193, 0, 0, 0, 74 [SEP] 4, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 74 [SEP] 5, Spatula, -2.324, 0.938, -1.884, 0, 0, 0, 74 [SEP] 6, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 67 [SEP] 7, Spoon, -0.743, 0.916, -3.555, 0, 90, 0, 49 [SEP] 8, Plate, -2.438, 0.925, -0.963, 0, 0, 0, 74 [SEP] 9, Plate, -2.666, 0.925, -1.423, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.975, 0.025, -3.763, 0, 0, 0, 65 [SEP] 11, SoapBottle, -0.460, 0.079, -2.109, 0, 0, 0, 54 [SEP] 12, Tomato, -0.815, 0.979, -3.485, 0, 0, 0, 49 [SEP] 13, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 62 [SEP] 14, Bowl, -0.457, 0.914, -3.697, 0, 0, 0, 49 [SEP] 15, SaltShaker, -2.438, 0.919, -1.423, 0, 0, 0, 74 [SEP] 16, SaltShaker, -0.538, 0.077, -1.666, 0, 0, 0, 54 [SEP] 17, Apple, -0.268, 1.764, -0.455, 0, 270, 0, 66 [SEP] 18, Apple, -0.343, 1.172, -0.769, 0, 270, 0, 66 [SEP] 19, Apple, -0.295, 1.464, -0.979, 0, 270, 0, 66 [SEP] 20, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 66 [SEP] 21, Glassbottle, -0.350, 0.797, -1.860, 0, 270, 0, 67 [SEP] 22, Egg, -0.188, 1.723, -0.560, 0, 270, 0, 66 [SEP] 23, Pen, -2.552, 0.926, -0.963, 0, 0, 0, 74 [SEP] 24, Fork, -0.671, 0.916, -3.697, 0, 0, 0, 49 [SEP] 25, SoapBottle, -2.780, 0.922, -2.345, 0, 0, 0, 74 [SEP] 26, Pencil, -0.661, 0.747, -3.586, 0, 270, 0, 48 [SEP] 27, WineBottle, -2.780, 0.924, -1.193, 0, 0, 0, 74 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.343, 1.443, -0.77, 0, 270, 0, 66 [SEP] 30, Tomato, -0.815, 0.979, -3.697, 0, 0, 0, 49 [SEP] 31, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 45 [SEP] 32, Cup, -0.295, 1.097, -0.455, 0, 270, 0, 66 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.457, 0.912, -3.909, 0, 0, 0, 49 [SEP] 35, Potato, -0.228, 1.722, -0.665, 0, 270, 0, 66 [SEP] 36, PepperShaker, -2.096, 0.919, -1.193, 0, 0, 0, 74 [SEP] 37, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 74 [SEP] 38, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 74 [SEP] 39, Spoon, -2.666, 0.924, -1.654, 0, 0, 0, 74 [SEP] 40, Plate, -2.666, 0.925, -2.115, 0, 0, 0, 74 [SEP] 41, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 74 [SEP] 42, Mug, -1.100, 1.964, -3.773, 0, 0, 0, 50 [SEP] 43, Bowl, -0.747, 0.081, -3.584, 0, 0, 0, 55 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and face the green table. | STEP 2: Pick the butter knife up from behind the cup. | STEP 3: Bring the butter knife over to the stove and look up at the cabinet. | STEP 4: Put the butter knife in the black mug in the cabinet. | STEP 5: Pick up the black mug with the butter knife in it. | STEP 6: Go back over to the green table, stand between it and the fridge and turn left to face the table. | STEP 7: Put the mug down on the edge of the table in front of the spatula with the black handle. | END


Input: Put a mug holding a knife on the table by a sponge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 90, 0,  [SEP] 1, ButterKnife, -2.666, 0.923, -2.345, 0, 0, 0, 74 [SEP] 2, ButterKnife, -2.552, 0.923, -1.193, 0, 0, 0, 74 [SEP] 3, WineBottle, -2.666, 0.924, -1.193, 0, 0, 0, 74 [SEP] 4, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 74 [SEP] 5, Spatula, -2.324, 0.938, -1.884, 0, 0, 0, 74 [SEP] 6, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 67 [SEP] 7, Spoon, -0.743, 0.916, -3.555, 0, 90, 0, 49 [SEP] 8, Plate, -2.438, 0.925, -0.963, 0, 0, 0, 74 [SEP] 9, Plate, -2.666, 0.925, -1.423, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.975, 0.025, -3.763, 0, 0, 0, 65 [SEP] 11, SoapBottle, -0.460, 0.079, -2.109, 0, 0, 0, 54 [SEP] 12, Tomato, -0.815, 0.979, -3.485, 0, 0, 0, 49 [SEP] 13, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 62 [SEP] 14, Bowl, -0.457, 0.914, -3.697, 0, 0, 0, 49 [SEP] 15, SaltShaker, -2.438, 0.919, -1.423, 0, 0, 0, 74 [SEP] 16, SaltShaker, -0.538, 0.077, -1.666, 0, 0, 0, 54 [SEP] 17, Apple, -0.268, 1.764, -0.455, 0, 270, 0, 66 [SEP] 18, Apple, -0.343, 1.172, -0.769, 0, 270, 0, 66 [SEP] 19, Apple, -0.295, 1.464, -0.979, 0, 270, 0, 66 [SEP] 20, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 66 [SEP] 21, Glassbottle, -0.350, 0.797, -1.860, 0, 270, 0, 67 [SEP] 22, Egg, -0.188, 1.723, -0.560, 0, 270, 0, 66 [SEP] 23, Pen, -2.552, 0.926, -0.963, 0, 0, 0, 74 [SEP] 24, Fork, -0.671, 0.916, -3.697, 0, 0, 0, 49 [SEP] 25, SoapBottle, -2.780, 0.922, -2.345, 0, 0, 0, 74 [SEP] 26, Pencil, -0.661, 0.747, -3.586, 0, 270, 0, 48 [SEP] 27, WineBottle, -2.780, 0.924, -1.193, 0, 0, 0, 74 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.343, 1.443, -0.77, 0, 270, 0, 66 [SEP] 30, Tomato, -0.815, 0.979, -3.697, 0, 0, 0, 49 [SEP] 31, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 45 [SEP] 32, Cup, -0.295, 1.097, -0.455, 0, 270, 0, 66 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.457, 0.912, -3.909, 0, 0, 0, 49 [SEP] 35, Potato, -0.228, 1.722, -0.665, 0, 270, 0, 66 [SEP] 36, PepperShaker, -2.096, 0.919, -1.193, 0, 0, 0, 74 [SEP] 37, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 74 [SEP] 38, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 74 [SEP] 39, Spoon, -2.666, 0.924, -1.654, 0, 0, 0, 74 [SEP] 40, Plate, -2.666, 0.925, -2.115, 0, 0, 0, 74 [SEP] 41, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 74 [SEP] 42, Mug, -1.100, 1.964, -3.773, 0, 0, 0, 50 [SEP] 43, Bowl, -0.747, 0.081, -3.584, 0, 0, 0, 55 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Turn left and look at the items on the table. | STEP 2: Pick up the knife next to the honey. | STEP 3: Turn right and walk forward to face the cupboard above the stove. | STEP 4: Open the cupboard and put the knife in the mug that is on the shelf. | STEP 5: Pick up the mug that you placed the knife in. | STEP 6: Bring the mug and knife to chest level, then turn right and head to the table that will be on your left. | STEP 7: Place the mug holding the knife on the table to the right of the sponge. | END


Input: Put two scoops in the top drawer to the left of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0,  [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0,  [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0,  [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0,  [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0,  [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0,  [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0,  [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0,  [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0,  [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0,  [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0,  [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0,  [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0,  [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0,  [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0,  [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0,  [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0,  [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0,  [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0,  [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0,  [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0,  [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0,  [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0,  [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0,  [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0,  [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0,  [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0,  [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0,  [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0,  [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0,  [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0,  [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0,  [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0,  [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0,  [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295,  [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180,  [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180,  [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180,  [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180,  [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180,  [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180,  [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0,  [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0,  [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0,  [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0,  [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0,  [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0,  [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: move to the island in front of the sink | STEP 2: pick up a scoop from the island | STEP 3: move to the end of the counter to the left of the stove | STEP 4: put the scoop in the top drawer | STEP 5: move to the island in front of the sink behind you | STEP 6: pick up a scoop from the island | STEP 7: move to the end of the counter to the left of the stove | STEP 8: put the scoop in the top drawer | END


Input: Put the spoons on the counter in the top left kitchen drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0,  [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0,  [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0,  [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0,  [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0,  [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0,  [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0,  [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0,  [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0,  [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0,  [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0,  [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0,  [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0,  [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0,  [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0,  [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0,  [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0,  [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0,  [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0,  [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0,  [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0,  [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0,  [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0,  [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0,  [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0,  [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0,  [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0,  [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0,  [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0,  [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0,  [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0,  [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0,  [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0,  [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0,  [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295,  [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180,  [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180,  [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180,  [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180,  [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180,  [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180,  [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0,  [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0,  [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0,  [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0,  [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0,  [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0,  [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk forward, turn right, walk forward, stand at the end of the counter near the phone. | STEP 2: Pick up the spoon | STEP 3: Turn right, walk forward, turn left, walk forward, stand in front of the drawers at the end of the counter. | STEP 4: Open the top left drawer and put the spoon inside, then close the drawer. | STEP 5: Turn around and face the counter in front of the other spoon. | STEP 6: Pick up the spoon. | STEP 7: Turn around and face the drawers again. | STEP 8: Open the top left drawer again and place the spoon inside. | END


Input: Put two measuring cups in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0,  [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0,  [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0,  [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0,  [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0,  [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0,  [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0,  [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0,  [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0,  [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0,  [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0,  [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0,  [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0,  [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0,  [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0,  [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0,  [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0,  [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0,  [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0,  [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0,  [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0,  [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0,  [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0,  [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0,  [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0,  [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0,  [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0,  [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0,  [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0,  [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0,  [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0,  [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0,  [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0,  [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0,  [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295,  [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180,  [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180,  [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180,  [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180,  [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180,  [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180,  [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0,  [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0,  [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0,  [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0,  [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0,  [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0,  [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn left and take a few steps, then walk right to the far side kitchen island by the sink. | STEP 2: Pick up the measuring spoon. | STEP 3: Walk to the right of the island and go to the furthest part of the counter. | STEP 4: Put the measuring cup in the top drawer. | STEP 5: Turn around and take a step. | STEP 6: Pick up the measuring cup on the counter. | STEP 7: Turn around and look at the same part of the counter as before. | STEP 8: Put this measuring cup in the same drawer as the other one. | END


Input: Put all the gold spoons with blue handles in the bottom drawer to the left of the stove top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0,  [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0,  [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0,  [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0,  [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0,  [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0,  [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0,  [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0,  [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0,  [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0,  [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0,  [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0,  [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0,  [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0,  [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0,  [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0,  [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0,  [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0,  [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0,  [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0,  [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0,  [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0,  [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0,  [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0,  [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0,  [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0,  [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0,  [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0,  [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0,  [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0,  [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0,  [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0,  [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0,  [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0,  [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295,  [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180,  [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180,  [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180,  [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180,  [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180,  [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180,  [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0,  [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0,  [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0,  [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0,  [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0,  [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0,  [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn the left, walk straight, turn right, walk to the sink, then turn around to the island counter. | STEP 2: Pick up the gold spoon spoon with blue handle. | STEP 3: Walk right, then turn left and walks to the counter to the left of the stove top. | STEP 4: Put the spoon in the drawer below the counter. | STEP 5: Turn around and face the island counter. | STEP 6: Pick up the gold spoon spoon with blue handle. | STEP 7: Turn around and face the counter to the left of the stove top. | STEP 8: Put the spoon in the drawer below the counter. | END


Input: Slice lettuce, chill, remove, and place in the green container. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0,  [SEP] 1, Potato, 0.457, 0.942, -2.169, 0, 0, 0, 61 [SEP] 2, Potato, -0.064, 0.793, -2.026, 0, 0, 0, 73 [SEP] 3, DishSponge, 1.909, 1.657, -1.673, 0, 270, 0, 51 [SEP] 4, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 61 [SEP] 5, Pot, 0.180, 0.928, 0.762, 0, 90, 0, 78 [SEP] 6, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 78 [SEP] 7, Fork, 1.738, 0.914, -1.095, 0, 270, 0, 61 [SEP] 8, Fork, 0.235, 0.914, -1.737, 0, 0, 0, 61 [SEP] 9, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 62 [SEP] 10, Egg, -1.610, 0.913, -1.013, 0, 90, 0, 69 [SEP] 11, Tomato, 1.828, 0.965, -1.095, 0, 0, 0, 61 [SEP] 12, Tomato, -1.380, 1.235, -1.013, 0, 90, 0, 69 [SEP] 13, Bowl, 1.850, 0.910, -1.918, 0, 0, 0, 61 [SEP] 14, Bowl, 1.919, 0.910, -1.329, 0, 0, 0, 61 [SEP] 15, SaltShaker, 1.153, 0.909, -1.751, 0, 0, 0, 61 [SEP] 16, PepperShaker, 0.180, 0.923, 0.534, 0, 0, 0, 78 [SEP] 17, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 71 [SEP] 18, Mug, 1.462, 0.548, 2.431, 0, 0, 0, 87 [SEP] 19, Apple, -1.380, 1.254, -0.599, 0, 90, 0, 69 [SEP] 20, Potato, 1.919, 0.942, -1.563, 0, 0, 0, 61 [SEP] 21, Bowl, -0.160, 0.927, 0.305, 0, 0, 0, 78 [SEP] 22, SoapBottle, 0.522, 0.925, 0.762, 0, 0, 0, 78 [SEP] 23, Fork, 0.522, 0.927, 0.534, 0, 0, 0, 78 [SEP] 24, Ladle, 0.180, 0.975, 1.220, 0, 0, 0, 78 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 358.278, 78 [SEP] 26, Lettuce, -0.160, 1.008, 1.448, 0, 0, 0, 78 [SEP] 27, WineBottle, -1.116, 0.127, -1.426, 0, 90, 0, 56 [SEP] 28, Spatula, 0.294, 0.928, 0.076, 0, 0, 0, 78 [SEP] 29, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 78 [SEP] 30, SaltShaker, -0.616, 0.909, -2.134, 0, 0, 0, 61 [SEP] 31, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 32, Cup, 0.066, 0.930, 1.448, 0, 0, 0, 78 [SEP] 33, PepperShaker, -0.984, 0.122, -1.463, 0, 90, 0, 54 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 1.618, 0.913, -2.002, 0, 0, 0, 61 [SEP] 36, Tomato, -1.438, 1.235, -0.806, 0, 90, 0, 69 [SEP] 37, DishSponge, -0.047, 0.930, 0.762, 0, 0, 0, 78 [SEP] 38, Egg, -0.283, 0.818, -1.936, 0, 0, 0, 73 [SEP] 39, Spoon, -0.047, 0.928, 1.220, 0, 0, 0, 78 [SEP] 40, Knife, 0.294, 0.950, 1.220, 0, 0, 0, 78 [SEP] 41, Mug, -0.210, 0.759, -2.026, 0, 180, 0, 73 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 87, , , , , , , ,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Torn around towards the island. | STEP 2: Pick up the knife next to the right of large scoop on the island. | STEP 3: Move to your right around the island to the left side of the stool. | STEP 4: Slice the head of lettuce on the island . | STEP 5: Move around the stool to your right. | STEP 6: Place the knife on the island beside the lettuce. | STEP 7: Move back around the stool to your left. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn to your right and go to the refrigerator. | STEP 10: Put the slice of lettuce on the second shelf below the tomatoes, let chill, remove, and close refrigerator. | STEP 11: Turn around and go to the green container to the left of the stove. | STEP 12: Place the lettuce into the container. | END


Input: TO cool a lettuce slice and place it 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, 1.0, 0.900, 1.5, 0, 180, 0,  [SEP] 1, Potato, 0.457, 0.942, -2.169, 0, 0, 0, 61 [SEP] 2, Potato, -0.064, 0.793, -2.026, 0, 0, 0, 73 [SEP] 3, DishSponge, 1.909, 1.657, -1.673, 0, 270, 0, 51 [SEP] 4, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 61 [SEP] 5, Pot, 0.180, 0.928, 0.762, 0, 90, 0, 78 [SEP] 6, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 78 [SEP] 7, Fork, 1.738, 0.914, -1.095, 0, 270, 0, 61 [SEP] 8, Fork, 0.235, 0.914, -1.737, 0, 0, 0, 61 [SEP] 9, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 62 [SEP] 10, Egg, -1.610, 0.913, -1.013, 0, 90, 0, 69 [SEP] 11, Tomato, 1.828, 0.965, -1.095, 0, 0, 0, 61 [SEP] 12, Tomato, -1.380, 1.235, -1.013, 0, 90, 0, 69 [SEP] 13, Bowl, 1.850, 0.910, -1.918, 0, 0, 0, 61 [SEP] 14, Bowl, 1.919, 0.910, -1.329, 0, 0, 0, 61 [SEP] 15, SaltShaker, 1.153, 0.909, -1.751, 0, 0, 0, 61 [SEP] 16, PepperShaker, 0.180, 0.923, 0.534, 0, 0, 0, 78 [SEP] 17, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 71 [SEP] 18, Mug, 1.462, 0.548, 2.431, 0, 0, 0, 87 [SEP] 19, Apple, -1.380, 1.254, -0.599, 0, 90, 0, 69 [SEP] 20, Potato, 1.919, 0.942, -1.563, 0, 0, 0, 61 [SEP] 21, Bowl, -0.160, 0.927, 0.305, 0, 0, 0, 78 [SEP] 22, SoapBottle, 0.522, 0.925, 0.762, 0, 0, 0, 78 [SEP] 23, Fork, 0.522, 0.927, 0.534, 0, 0, 0, 78 [SEP] 24, Ladle, 0.180, 0.975, 1.220, 0, 0, 0, 78 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 358.278, 78 [SEP] 26, Lettuce, -0.160, 1.008, 1.448, 0, 0, 0, 78 [SEP] 27, WineBottle, -1.116, 0.127, -1.426, 0, 90, 0, 56 [SEP] 28, Spatula, 0.294, 0.928, 0.076, 0, 0, 0, 78 [SEP] 29, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 78 [SEP] 30, SaltShaker, -0.616, 0.909, -2.134, 0, 0, 0, 61 [SEP] 31, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 32, Cup, 0.066, 0.930, 1.448, 0, 0, 0, 78 [SEP] 33, PepperShaker, -0.984, 0.122, -1.463, 0, 90, 0, 54 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 1.618, 0.913, -2.002, 0, 0, 0, 61 [SEP] 36, Tomato, -1.438, 1.235, -0.806, 0, 90, 0, 69 [SEP] 37, DishSponge, -0.047, 0.930, 0.762, 0, 0, 0, 78 [SEP] 38, Egg, -0.283, 0.818, -1.936, 0, 0, 0, 73 [SEP] 39, Spoon, -0.047, 0.928, 1.220, 0, 0, 0, 78 [SEP] 40, Knife, 0.294, 0.950, 1.220, 0, 0, 0, 78 [SEP] 41, Mug, -0.210, 0.759, -2.026, 0, 180, 0, 73 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 87, , , , , , , ,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk around to face the opposite side of the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Look down to face the lettuce on the center table. | STEP 4: Cut the lettuce on the center table into slices. | STEP 5: Take a step to the right to face the center table. | STEP 6: Place the knife on the center table. | STEP 7: Take a step to the left to face the lettuce on the center table. | STEP 8: Pick up a slice of lettuce on the center table. | STEP 9: Turn right and walk to the fridge and turn right to face it. | STEP 10: Cool the lettuce slice in the fridge and remove it. | STEP 11: Turn around and cross the room to face the trash can. | STEP 12: Place the lettuce slice in the trash can. | END


Input: Put washed soap on the toilet tank lid.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.902, 2.5, 0, 270, 0,  [SEP] 1, Candle, 0.645, 0.489, 2.318, 0, 0, 0, 25 [SEP] 2, Candle, 0.432, 0.740, 1.297, 0, 0, 0, 20 [SEP] 3, SprayBottle, -2.493, 1.047, 1.822, 0, 90, 0, 36 [SEP] 4, HandTowel, 1.033, 1.671, 3.127, 0, 90, 0, 33 [SEP] 5, Towel, 0.474, 1.182, 0.134, 0, 0, 0, 29 [SEP] 6, SoapBar, -2.524, 1.046, 1.428, 0, 90, 0, 36 [SEP] 7, ToiletPaper, 0.884, 0.738, 1.225, 0, 0, 0, 20 [SEP] 8, SoapBottle, 0.404, 0.742, 1.840, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -2.603, 1.039, 1.514, 1.051, 0, 358.832, 36 [SEP] 10, ScrubBrush, -2.557, 0.001, 2.200, 0, 0, 0,  [SEP] 11, Plunger, -2.568, 0.000, 1.992, 0, 0, 0,  [SEP] 12, Cloth, 0.604, 0.254, 2.625, 0, 0, 0, 21 [SEP] 13, Candle, -2.616, 1.044, 1.756, 0, 90, 0, 36 [SEP] 14, SprayBottle, -2.493, 1.047, 1.625, 0, 90, 0, 36 [SEP] 15, Window, -2.808, 0.962, 0.514, 0, 0, 0,  [SEP] 16, Bathtub, -1.062, 0.300, 0.427, 0, 0, 0,  [SEP] 17, Drawer, 0.409, 0.551, 1.486, 0, 0, 0,  [SEP] 18, Mirror, 0.986, 1.676, 1.896, 0, 0, 0,  [SEP] 19, ShowerDoor, -2.671, 1.001, 2.797, 0, 0, 0,  [SEP] 20, CounterTop, 0.732, 0.697, 1.955, 0, 0, 0,  [SEP] 21, Drawer, 0.409, 0.314, 2.420, 0, 0, 0,  [SEP] 22, ShowerGlass, -1.713, 1.276, 3.298, 0, 0, 0,  [SEP] 23, CounterTop, -0.298, 0.157, 0.531, 0, 0, 0,  [SEP] 24, Sink, 0.812, 0.703, 1.920, 0, 270, 0,  [SEP] 25, Drawer, 0.409, 0.551, 2.420, 0, 0, 0,  [SEP] 26, Window, -0.957, 1.563, -0.059, 0, 0, 0,  [SEP] 27, Drawer, 0.409, 0.314, 1.486, 0, 0, 0,  [SEP] 28, TowelHolder, 1.038, 1.179, 0.495, 0, 270, 0,  [SEP] 29, TowelHolder, 0.474, 1.168, 0.027, 0, 0, 0,  [SEP] 30, ToiletPaperHanger, -2.695, 0.929, 1.200, 0, 90, 0,  [SEP] 31, SinkBasin, 0.720, 0.812, 1.896, 349.201, 270, 0,  [SEP] 32, BathtubBasin, -0.721, 0.171, 0.479, 0, 0, 0,  [SEP] 33, HandTowelHolder, 1.071, 1.773, 3.127, 0, 180, 0,  [SEP] 34, LightSwitch, 0.220, 1.416, 3.998, 0, 180, 0,  [SEP] 35, GarbageCan, 0.713, -0.028, 3.110, 0, 0, 0,  [SEP] 36, Toilet, -2.232, 0.001, 1.628, 0, 180, 0,  [SEP] 37, ShowerHead, -2.619, 1.819, 3.361, 0, 270, 0,  [SEP] 38, Faucet, 1.047, 1.036, 1.921, 0, 0, 0,  [SEP] 39, Faucet, 0.318, 0.631, 0.479, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Move to the toilet on the left. | STEP 2: Pick up the soap on the toilet tank lid.  | STEP 3: Turn around, bring the soap to the sink.  | STEP 4: Wash the soap in the sink with water.  | STEP 5: Turn around, bring the soap back to the toilet. | STEP 6: Put the soap back on the toilet tank lid. | END


Input: Chill an egg in the fridge.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -1.5, 0, 180, 0,  [SEP] 1, Pan, -0.447, 0.912, -3.729, 0, 0, 0, 39 [SEP] 2, ButterKnife, -2.439, 0.713, -0.433, 0, 270, 0, 83 [SEP] 3, Spatula, -2.740, 0.731, -0.069, 0, 0, 0, 83 [SEP] 4, Spoon, -0.530, 0.748, -1.563, 0, 90, 0, 62 [SEP] 5, Egg, -0.220, 1.048, -0.802, 0, 270, 0, 76 [SEP] 6, Egg, -0.189, 1.048, -0.950, 0, 270, 0, 76 [SEP] 7, Plate, -3.393, 0.911, -3.327, 0, 0, 0, 39 [SEP] 8, Bowl, -1.523, 0.080, -3.634, 0, 0, 0, 55 [SEP] 9, Bowl, -0.374, 0.078, -1.337, 0, 0, 0, 44 [SEP] 10, SaltShaker, -3.176, 1.864, -2.334, 0, 0, 0, 48 [SEP] 11, SaltShaker, -3.292, 0.713, -0.370, 0, 270, 0, 83 [SEP] 12, PepperShaker, -3.288, 1.288, -3.108, 0, 0, 0, 51 [SEP] 13, PepperShaker, -0.419, 0.912, -0.524, 0, 0, 0, 66 [SEP] 14, Lettuce, -0.160, 1.001, -2.911, 0, 0, 0, 39 [SEP] 15, Lettuce, -2.576, 0.801, -0.608, 0, 135, 0, 83 [SEP] 16, Bread, -2.928, 0.754, -0.638, 0, 0, 0, 83 [SEP] 17, Apple, -0.500, 0.958, -1.493, 0, 0, 0, 66 [SEP] 18, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 39 [SEP] 19, Egg, -0.344, 0.115, 0.012, 0, 270, 0, 78 [SEP] 20, Cup, -0.128, 1.868, -1.888, 0, 0, 0, 57 [SEP] 21, Bread, -2.664, 0.754, -0.294, 0, 225, 0, 83 [SEP] 22, Fork, -1.638, 0.791, -3.790, 0, 90, 0, 81 [SEP] 23, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 68 [SEP] 24, Potato, -1.058, 0.957, -3.952, 0, 0, 0, 39 [SEP] 25, Lettuce, -3.130, 1.486, -2.002, 0, 90, 0, 80 [SEP] 26, Tomato, -2.270, 0.963, -3.878, 0, 0, 0, 39 [SEP] 27, Apple, -3.027, 0.683, -2.187, 0, 90, 0, 80 [SEP] 28, SoapBottle, -0.338, 0.915, -0.542, 0, 0, 0, 66 [SEP] 29, Spatula, -1.914, 0.805, -3.832, 0, 90, 0, 81 [SEP] 30, SaltShaker, -0.382, 0.743, -1.331, 0, 0, 0, 62 [SEP] 31, Knife, -0.352, 0.778, -1.563, 0, 90, 0, 62 [SEP] 32, PepperShaker, -3.150, 0.710, -0.495, 0, 270, 0, 83 [SEP] 33, ButterKnife, -2.519, 0.713, -0.753, 0, 135, 0, 83 [SEP] 34, Plate, -3.226, 1.866, -2.566, 0, 0, 0, 48 [SEP] 35, DishSponge, -0.253, 0.079, -0.115, 0, 270, 0, 78 [SEP] 36, Spoon, -0.530, 0.747, -2.968, 0, 90, 0, 69 [SEP] 37, Mug, -2.930, 0.762, -0.358, 0, 135, 0, 79 [SEP] 38, Bowl, -2.652, 0.711, -0.886, 0, 135, 0, 83 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and face the counter. | STEP 2: Open the microwave and take out the egg. Close the microwave.  | STEP 3: Turn to the right and walk forward to the oven. Make a right at the oven and head to the fridge.  | STEP 4: Open the fridge and place the egg inside. Close the fridge and chill the egg. Open the fridge and take out the egg.  | STEP 5: Turn and walk to the right with the egg. Turn around and walk forward to the other side of the kitchen. | STEP 6: Place the egg on the counter that is to your right.  | END


Input: Place a roll of toilet paper on a toilet paper holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.75, 0, 90, 0,  [SEP] 1, SoapBar, -1.689, 0.941, 2.741, 0, 0, 10.090, 36 [SEP] 2, SoapBar, -1.846, 0.040, 3.316, 0, 0, 0, 23 [SEP] 3, Candle, -1.872, 0.917, 3.221, 0, 0, 0, 20 [SEP] 4, ToiletPaper, -1.744, 0.037, 2.464, 0, 0, 0, 17 [SEP] 5, ToiletPaper, -1.427, 0.071, 1.404, 0, 0, 0, 29 [SEP] 6, Candle, -1.938, 0.953, 2.071, 0, 180, 0, 32 [SEP] 7, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.912, 0.954, 2.009, 0, 180, 0, 32 [SEP] 9, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 27 [SEP] 10, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 23 [SEP] 11, SoapBar, -1.912, 0.953, 1.759, 0, 180, 0, 32 [SEP] 12, ToiletPaper, -1.744, 0.037, 3.448, 0, 0, 0, 23 [SEP] 13, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 14, SprayBottle, -1.593, 0.037, 2.870, 0, 0, 0, 18 [SEP] 15, ToiletPaper, -1.578, 0.915, 3.933, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 17, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0,  [SEP] 18, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0,  [SEP] 19, Sink, -1.746, 0.884, 3.553, 0, 90, 0,  [SEP] 20, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0,  [SEP] 21, Faucet, -1.894, 1.006, 2.730, 0, 0, 0,  [SEP] 22, Mirror, -1.943, 1.532, 3.443, 0, 0, 0,  [SEP] 23, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0,  [SEP] 24, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0,  [SEP] 25, Painting, -0.566, 1.591, 1.173, 0, 0, 0,  [SEP] 26, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0,  [SEP] 27, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0,  [SEP] 28, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0,  [SEP] 29, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0,  [SEP] 30, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0,  [SEP] 31, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0,  [SEP] 32, Toilet, -1.447, 0.000, 1.961, 0, 90, 0,  [SEP] 33, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090,  [SEP] 34, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0,  [SEP] 35, Faucet, -1.894, 1.006, 3.560, 0, 0, 0,  [SEP] 36, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090,  [SEP] 37, Sink, -1.746, 0.884, 2.723, 0, 90, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk left to the toilet. | STEP 2: Pick up the toilet paper out of the green bin. | STEP 3: Turn left to face the wall. | STEP 4: Place the toilet paper on the toilet paper holder. | END


Input: Move a cell phone to the desk from the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.0, 0, 0, 0,  [SEP] 1, Mug, 1.152, 0.727, 0.901, 0, 0, 0, 39 [SEP] 2, CD, -0.213, 0.689, -1.749, 0, 0, 0, 41 [SEP] 3, CD, 1.070, 0.077, 0.611, 0, 0, 0, 29 [SEP] 4, Pen, 1.098, 0.081, 1.737, 0, 0, 0, 37 [SEP] 5, KeyChain, 1.278, 1.139, 1.246, 0, 270, 0, 36 [SEP] 6, KeyChain, 0.255, 0.691, -1.660, 0, 0, 0, 41 [SEP] 7, Book, 1.080, 0.780, -0.440, 0, 0, 0, 28 [SEP] 8, Book, 1.145, 0.721, 1.806, 0, 0, 0, 38 [SEP] 9, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 10, CellPhone, 0.829, 0.782, -0.440, 0, 0, 0, 28 [SEP] 11, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 12, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 39 [SEP] 13, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 14, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 39 [SEP] 15, CreditCard, 1.016, 0.728, 1.066, 0, 0, 0, 39 [SEP] 16, KeyChain, 1.405, 1.139, 1.558, 0, 270, 0, 36 [SEP] 17, AlarmClock, 0.021, 0.690, -1.572, 0, 0, 0, 41 [SEP] 18, Pencil, 0.021, 0.693, -1.705, 0, 0, 0, 41 [SEP] 19, Pillow, 1.080, 0.849, -0.988, 0, 0, 0, 28 [SEP] 20, CD, 1.220, 0.728, 1.066, 0, 0, 0, 39 [SEP] 21, Pen, 1.342, 1.144, 1.089, 0, 270, 0, 36 [SEP] 22, Mug, 1.423, 0.727, 1.727, 0, 0, 0, 39 [SEP] 23, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 24, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 25, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 26, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 27, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 28, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 29, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 30, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 31, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 32, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 33, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 34, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 35, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 36, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 37, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 38, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 39, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 40, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 41, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 42, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 43, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn to face the bed. | STEP 2: Pick up the cell phone from the bed. | STEP 3: Carry the phone to the desk in the corner, left of the bed. | STEP 4: Place the phone on the desk in front of the laptop. | END


Input: Slice a potato, cool it off upon preparing it in the microwave. 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, -0.75, 0, 270, 0,  [SEP] 1, Kettle, 0.387, 0.111, 0.270, 0, 0, 0, 60 [SEP] 2, Potato, 0.447, 0.806, -1.552, 0, 270, 0, 72 [SEP] 3, Potato, 0.804, 0.949, -1.582, 0, 270, 0, 47 [SEP] 4, Potato, -0.329, 0.100, 0.482, 0, 90, 0, 78 [SEP] 5, DishSponge, -1.791, 0.951, 0.255, 0, 90, 0, 82 [SEP] 6, DishSponge, -2.477, 0.951, 0.524, 0, 90, 0, 82 [SEP] 7, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 51 [SEP] 8, Spoon, -2.477, 0.953, 0.255, 0, 90, 0, 82 [SEP] 9, Egg, -1.959, 0.546, -1.677, 0, 0, 0, 79 [SEP] 10, Knife, -2.340, 0.977, 0.255, 0, 90, 0, 82 [SEP] 11, SoapBottle, 0.167, 0.910, 0.292, 0, 0, 0, 48 [SEP] 12, Bowl, 1.785, 0.911, 0.292, 0, 0, 0, 64 [SEP] 13, Bowl, -0.147, 0.110, -1.508, 0, 0, 0, 58 [SEP] 14, PepperShaker, -0.544, 0.908, -1.737, 0, 0, 0, 49 [SEP] 15, Bread, 1.781, 0.995, -1.571, 0, 0, 0, 49 [SEP] 16, Lettuce, -2.222, 1.582, -1.763, 0, 0, 0, 79 [SEP] 17, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 73 [SEP] 18, Apple, -0.975, 1.082, -1.704, 0, 0, 0, 71 [SEP] 19, Apple, -2.31, 0.847, -1.806, 0, 0, 0, 79 [SEP] 20, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 82 [SEP] 21, Knife, 0.753, 0.944, -1.582, 0, 270, 0, 47 [SEP] 22, Fork, 0.341, 0.783, -1.648, 0, 180, 0, 72 [SEP] 23, Bowl, -0.267, 0.911, -1.820, 0, 0, 0, 49 [SEP] 24, Kettle, -1.791, 0.953, 0.614, 0, 90, 0, 82 [SEP] 25, Cup, -2.203, 0.950, 0.524, 0, 90, 0, 82 [SEP] 26, Tomato, -2.397, 0.829, -1.677, 0, 0, 0, 79 [SEP] 27, SoapBottle, -0.427, 0.068, 0.482, 0, 90, 0, 78 [SEP] 28, Plate, -2.222, 0.512, -1.763, 0, 0, 0, 79 [SEP] 29, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 54 [SEP] 30, Spatula, -2.065, 0.967, 0.255, 0, 90, 0, 82 [SEP] 31, PaperTowelRoll, 1.968, 1.016, 0.458, 0, 0, 0, 64 [SEP] 32, Egg, 0.908, 0.954, -1.582, 0, 270, 0, 47 [SEP] 33, Lettuce, 1.846, 1.002, 0.540, 0, 0, 0, 64 [SEP] 34, SaltShaker, -0.082, 0.908, -1.406, 0, 0, 0, 49 [SEP] 35, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 82 [SEP] 36, Apple, 0.300, 0.979, 0.292, 0, 0, 0, 48 [SEP] 37, ButterKnife, 0.908, 0.919, -1.649, 0, 270, 0, 47 [SEP] 38, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 47 [SEP] 39, Pan, 1.535, 1.328, -1.809, 0, 270, 0, 65 [SEP] 40, DishSponge, 1.907, 0.911, 0.706, 0, 0, 0, 64 [SEP] 41, Spoon, 0.432, 0.913, 0.209, 0, 0, 0, 48 [SEP] 42, Mug, -0.096, 0.907, 0.375, 0, 0, 0, 48 [SEP] 43, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 44, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 45, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 46, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 47, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 48, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 49, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 50, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 51, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 52, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 53, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 54, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 55, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 56, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 57, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 58, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 59, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 60, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 61, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 62, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 63, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 64, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 65, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 66, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 67, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 68, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 69, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 70, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 71, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 72, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 73, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 74, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 75, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 76, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 77, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 78, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 79, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 80, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 81, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 82, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Turn right towards the white table | STEP 2: Pick up the knife next to the spoon | STEP 3: Turn to the right and walk across the room and turn right moving forward towards the sink | STEP 4: Slice potato in sink | STEP 5: Put down knife by sticking in first slice of potato | STEP 6: Pick up a slice of a potato | STEP 7: Turn right move forward across the room and turn left facing the fridge | STEP 8: Open up fridge and place potato slice inside for 3 seconds to cool off. | STEP 9: Take out potato slice and turn left. Move forward and turn right towards red microwave. | STEP 10: Open microwave and place potato slice inside with apple remaining inside. | END


Input: pick up knife, cut potato, cook in microwave, place in the fridge  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 1.0, 0, 270, 0,  [SEP] 1, Potato, 1.444, 0.956, 0.706, 0, 0, 0, 68 [SEP] 2, Potato, -0.082, 0.803, -0.533, 0, 0, 0, 95 [SEP] 3, CellPhone, -1.060, 0.909, -0.817, 0, 0, 0, 74 [SEP] 4, DishSponge, -1.475, 0.749, 2.087, 0, 0, 0, 49 [SEP] 5, DishSponge, 1.450, 0.885, 2.369, 0, 0, 0, 100 [SEP] 6, ButterKnife, 1.444, 0.911, 0.422, 0, 0, 0, 68 [SEP] 7, ButterKnife, 1.367, 0.886, 2.584, 0, 0, 0, 100 [SEP] 8, Glassbottle, -1.206, 0.751, 0.988, 0, 90, 0, 88 [SEP] 9, WineBottle, 1.087, 0.117, 0.030, 0, 0, 0, 60 [SEP] 10, WineBottle, -1.320, 0.752, 0.778, 0, 90, 0, 88 [SEP] 11, Kettle, -1.012, 0.750, 1.902, 0, 0, 0, 49 [SEP] 12, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 81 [SEP] 13, Cup, -1.433, 0.911, -0.430, 0, 0, 0, 74 [SEP] 14, Tomato, 1.049, 0.961, 0.422, 0, 0, 0, 68 [SEP] 15, Tomato, -1.320, 1.686, 1.289, 0, 90, 0, 88 [SEP] 16, SoapBottle, 1.444, 0.912, -0.428, 0, 0, 0, 68 [SEP] 17, SoapBottle, 1.117, 0.887, 2.369, 0, 90, 0, 100 [SEP] 18, Bowl, -1.162, 0.340, 0.883, 0, 90, 0, 88 [SEP] 19, Bread, 1.128, 0.974, 0.706, 0, 0, 0, 68 [SEP] 20, PepperShaker, -1.357, 1.652, 0.260, 0, 0, 0, 57 [SEP] 21, Apple, -1.475, 0.809, 2.644, 0, 0, 0, 49 [SEP] 22, Apple, -1.435, 1.697, 0.781, 0, 90, 0, 88 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 49 [SEP] 24, Glassbottle, 1.200, 0.887, 2.800, 0, 0, 0, 100 [SEP] 25, Fork, -0.919, 0.749, 2.087, 0, 90, 0, 49 [SEP] 26, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 49 [SEP] 27, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 88 [SEP] 28, Plate, -1.105, 0.750, 3.015, 0, 0, 0, 49 [SEP] 29, CellPhone, -1.475, 0.746, 2.273, 0, 0, 0, 49 [SEP] 30, Lettuce, -0.813, 0.983, -0.669, 0, 0, 0, 74 [SEP] 31, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 77 [SEP] 32, SoapBottle, 1.200, 0.887, 2.153, 0, 0, 0, 100 [SEP] 33, WineBottle, 1.286, 0.912, -0.428, 0, 0, 0, 68 [SEP] 34, Spatula, -1.290, 0.764, 2.459, 0, 0, 0, 49 [SEP] 35, Bowl, -1.325, 2.151, 0.594, 0, 0, 0, 66 [SEP] 36, Apple, -0.020, 0.818, -0.691, 0, 0, 0, 95 [SEP] 37, Cup, -1.012, 0.748, 2.459, 0, 0, 0, 49 [SEP] 38, Knife, -0.658, 0.934, -0.430, 0, 0, 0, 74 [SEP] 39, Egg, -0.206, 0.792, -0.573, 0, 0, 0, 95 [SEP] 40, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 49 [SEP] 41, PepperShaker, 1.117, 0.882, 2.261, 0, 0, 0, 100 [SEP] 42, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 100 [SEP] 43, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 68 [SEP] 44, DishSponge, -1.105, 0.748, 2.830, 0, 0, 0, 49 [SEP] 45, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 74 [SEP] 46, Spoon, 1.070, 0.777, -0.049, 0, 90, 0, 69 [SEP] 47, SprayBottle, 1.523, 0.910, 0.706, 0, 0, 0, 68 [SEP] 48, Mug, 0.951, 0.881, 2.800, 0, 0, 0, 100 [SEP] 49, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 50, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 51, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 52, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 53, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 54, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 55, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 56, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 57, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 59, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 60, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 61, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 62, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 63, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 64, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 65, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 67, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 68, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 69, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 70, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 71, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 72, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 73, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 74, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 75, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 76, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 77, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 78, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 79, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 80, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 81, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 82, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 83, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 84, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 85, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 87, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 88, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 89, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 90, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 91, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 92, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 93, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 94, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 95, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 96, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 97, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 98, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 99, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 100, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: turn left to the counter | STEP 2: pick up the knife from the counter | STEP 3: turn left, turn right to the sink | STEP 4: cut potato with the knife | STEP 5: turn right, walk straight to the microwave  | STEP 6: open door, place knife on shelf, close door | STEP 7: turn around, turn right to the sink | STEP 8: pick up potato from the sink | STEP 9: turn right to the microwave | STEP 10: open door, place potato on shelf, close door, cook, open door, remove potato, close door | STEP 11: turn right, turn left to the fridge | STEP 12: open door, put potato on shelf, close door | END


Input: Put the credit card in the box, move the box to the sofa with white pillow SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.25, 0, 180, 0,  [SEP] 1, Statue, -2.152, 0.554, 2.744, 0, 0, 0, 38 [SEP] 2, Statue, -5.007, 1.089, 2.310, 0, 0, 0, 35 [SEP] 3, Watch, -2.279, 0.453, 2.744, 0, 0, 0, 38 [SEP] 4, Watch, -4.587, 0.886, 3.008, 0, 0, 0, 29 [SEP] 5, RemoteControl, -4.569, 0.987, 1.742, 0, 0, 0, 35 [SEP] 6, Box, -0.505, 0.778, 3.311, 0, 0, 0, 39 [SEP] 7, Pillow, -0.505, 0.614, 1.714, 0, 0, 0, 40 [SEP] 8, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 38 [SEP] 9, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 10, CreditCard, 0.219, 0.707, 4.639, 0, 0, 0, 43 [SEP] 11, KeyChain, -2.658, 0.453, 2.455, 0, 0, 0, 38 [SEP] 12, Pillow, -2.702, 0.597, 0.843, 0, 0, 0, 41 [SEP] 13, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 35 [SEP] 14, RemoteControl, -3.177, 0.523, 0.752, 0, 0, 0, 41 [SEP] 15, Watch, -2.279, 0.453, 2.648, 0, 0, 0, 38 [SEP] 16, Statue, -2.658, 0.554, 2.840, 0, 0, 0, 38 [SEP] 17, Curtains, -2.535, 2.596, 0.111, 0, 0, 0,  [SEP] 18, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0,  [SEP] 19, Television, -4.883, 1.472, 2.434, 0, 90, 0,  [SEP] 20, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0,  [SEP] 21, Painting, -0.293, 1.820, 0.016, 90, 0, 0,  [SEP] 22, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0,  [SEP] 23, Painting, -5.118, 1.480, 4.396, 90, 270, 0,  [SEP] 24, Painting, -5.118, 1.480, 0.656, 90, 270, 0,  [SEP] 25, Window, -1.715, 1.554, 0.006, 90, 180, 0,  [SEP] 26, Window, -3.244, 1.554, 0.006, 90, 180, 0,  [SEP] 27, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0,  [SEP] 28, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0,  [SEP] 29, Drawer, -4.497, 0.901, 2.854, 0, 90, 0,  [SEP] 30, Drawer, -4.497, 0.901, 2.339, 0, 90, 0,  [SEP] 31, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0,  [SEP] 32, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0,  [SEP] 33, Drawer, -4.497, 0.901, 3.372, 0, 90, 0,  [SEP] 34, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0,  [SEP] 35, Dresser, -4.744, 4.321, 2.595, 0, 90, 0,  [SEP] 36, Drawer, -4.497, 0.901, 1.818, 0, 90, 0,  [SEP] 37, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0,  [SEP] 38, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0,  [SEP] 39, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0,  [SEP] 40, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0,  [SEP] 41, Sofa, -2.464, -0.002, 0.700, 0, 0, 0,  [SEP] 42, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0,  [SEP] 43, SideTable, -0.041, 0.002, 4.619, 0, 0, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to the corner with end table | STEP 2: Grab the credit card on the table | STEP 3: Turn around, and turn left to the sofa, | STEP 4: Put the credit card in the box on the sofa | STEP 5: Take the whole box with card in it | STEP 6: Turn around, walk to the sofa with white pillow on it | STEP 7: Put the box down on the sofa by the white pillow | END


Input: Place the two purple pillows from the bed on to the chair. 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, 0.5, 0, 270, 0,  [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0,  [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0,  [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0,  [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0,  [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0,  [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0,  [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0,  [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0,  [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0,  [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0,  [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0,  [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0,  [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0,  [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0,  [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0,  [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Take a step to the left. | STEP 2: Pick up the purple pillow closest to you. | STEP 3: Turn left and walk towards the sofa chair on your right. | STEP 4: Place the pillow on the chair. | STEP 5: Turn right and head towards the other pillow on the bed. | STEP 6: Pick up the pillow from the bed. | STEP 7: Turn left and walk towards the sofa chair on your right. | STEP 8: Place the pillow on the chair. | END


Input: Move the purple pillows to the arm chair from the bed. 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, 0.5, 0, 270, 0,  [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0,  [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0,  [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0,  [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0,  [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0,  [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0,  [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0,  [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0,  [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0,  [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0,  [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0,  [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0,  [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0,  [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0,  [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0,  [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Move to the middle of the bed in front of you | STEP 2: Pick up a pillow from the bed. | STEP 3: Move to the arm chair in the left corner to the left of you, | STEP 4: Place the pillow on the arm chair. | STEP 5: Move to the foot of the bed to your right. | STEP 6: Pick up the second pillow from the bed. | STEP 7: Move to the arm chair to the left of you. | STEP 8: Place the pillow on the arm chair next to the other one. | END


Input: To move two pillows from the bed to the chair.  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, 0.5, 0, 270, 0,  [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0,  [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0,  [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0,  [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0,  [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0,  [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0,  [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0,  [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0,  [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0,  [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0,  [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0,  [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0,  [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0,  [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0,  [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0,  [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Move in front of the pillow that's on the bed and to the left.  | STEP 2: Pick up the pillow on the left.  | STEP 3: Turn left and walk in front of the chair that is next to the window.  | STEP 4: Put the pillow on the chair next to the keys.  | STEP 5: Walk back to the front of the bed.  | STEP 6: Pick up the remaining pillow on the bed.  | STEP 7: Walk back to the chair next to the window.  | STEP 8: place the pillow on the chair to the right of the first pillow.  | END