Input: Put a cooked slice of potato on the small black table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.869, 0.0, 0, 90, 0,  [SEP] 1, DishSponge, 0.601, 0.664, 0.508, 0, 0, 0, 42 [SEP] 2, ButterKnife, 0.841, 0.664, 0.326, 0, 0, 0, 42 [SEP] 3, ButterKnife, -1.719, 0.701, -0.983, 0, 90, 0, 73 [SEP] 4, Spatula, -0.654, 0.915, 1.272, 0, 0, 0, 63 [SEP] 5, Spatula, -0.051, 0.915, 1.015, 0, 0, 0, 63 [SEP] 6, Egg, 0.630, 0.809, -0.625, 0, 270, 0, 60 [SEP] 7, Cup, 0.785, 1.373, -1.958, 0, 270, 0, 57 [SEP] 8, SoapBottle, -1.187, 0.051, -3.611, 0, 270, 0, 52 [SEP] 9, SoapBottle, -1.578, 0.695, -3.614, 0, 0, 0, 64 [SEP] 10, PepperShaker, -1.535, 0.692, -3.276, 0, 0, 0, 64 [SEP] 11, PepperShaker, -0.051, 0.896, 0.929, 0, 270, 0, 63 [SEP] 12, SaltShaker, 0.566, 0.012, -0.637, 0, 0, 0, 40 [SEP] 13, SaltShaker, 0.621, 0.012, -0.898, 0, 0, 0, 40 [SEP] 14, Lettuce, 0.715, 0.859, -0.790, 0, 270, 0, 60 [SEP] 15, Pot, -2.071, 0.927, 0.772, 0, 266.284, 0, 39 [SEP] 16, Plate, 0.732, 0.019, -0.119, 0, 0, 0, 47 [SEP] 17, Fork, 0.729, 0.884, -0.108, 0, 0, 0, 37 [SEP] 18, SoapBottle, 0.901, 0.664, 0.508, 0, 0, 0, 42 [SEP] 19, Apple, -1.297, 0.105, -3.647, 0, 270, 0, 52 [SEP] 20, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 41 [SEP] 21, Egg, -0.252, 0.937, 1.272, 0, 270, 0, 63 [SEP] 22, Spatula, 0.817, 0.775, -0.188, 0, 0, 0, 36 [SEP] 23, Potato, 0.841, 0.805, -0.515, 0, 270, 0, 60 [SEP] 24, Cup, 0.961, 0.664, 0.326, 0, 0, 0, 42 [SEP] 25, SaltShaker, 0.858, 1.460, -0.331, 0, 0, 0, 48 [SEP] 26, PepperShaker, 0.729, 0.879, -0.314, 0, 0, 0, 37 [SEP] 27, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 60 [SEP] 28, DishSponge, 0.799, 0.772, -0.625, 0, 270, 0, 60 [SEP] 29, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 63 [SEP] 30, Lettuce, 0.721, 0.751, 0.387, 0, 0, 0, 42 [SEP] 31, Tomato, 0.746, 1.207, -1.802, 0, 270, 0, 57 [SEP] 32, Spoon, 0.769, 0.761, -0.061, 0, 0, 0, 36 [SEP] 33, Knife, 0.149, 0.923, 1.015, 0, 270, 0, 63 [SEP] 34, Mug, -2.002, 0.794, -3.640, 0, 0, 0, 59 [SEP] 35, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 48 [SEP] 36, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 37, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 38, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 39, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 40, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 41, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 42, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 43, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 44, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 45, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 46, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 47, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 48, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 49, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 50, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 51, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 52, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 53, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 54, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 55, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 56, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 57, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 58, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 59, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 60, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 61, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 62, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 63, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 64, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 65, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 66, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 67, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 68, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 69, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 70, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 71, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 72, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 73, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 74, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Go to the white table | STEP 2: Pick up the knife | STEP 3: Go to the sink | STEP 4: Cut the potato in the sink | STEP 5: Put the knife in the sink | STEP 6: Pick up a potato slice | STEP 7: Go to the microwave | STEP 8: Heat the potato slice | STEP 9: Go to the small black table | STEP 10: Put the potato down on the black table | END


Input: Put a bowl with a pencil on the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 0, 0,  [SEP] 1, Bowl, -1.699, 1.146, -1.959, 0, 90, 0, 40 [SEP] 2, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 45 [SEP] 3, Statue, -1.730, 0.982, -0.339, 0, 0, 0, 45 [SEP] 4, CellPhone, -1.804, 0.972, -0.540, 0, 0, 0, 45 [SEP] 5, Pen, -1.720, 0.670, -2.074, 0, 0, 0, 41 [SEP] 6, Pen, -1.605, 1.643, -2.073, 0, 90, 0, 39 [SEP] 7, KeyChain, -1.663, 0.802, -0.349, 0, 0, 0, 46 [SEP] 8, Book, -1.664, 0.409, 0.349, 0, 0, 0, 54 [SEP] 9, Book, 1.02, 0.774, -0.990, 0, 0, 0, 27 [SEP] 10, Pillow, 0.778, 0.836, -1.579, 0, 0, 0, 27 [SEP] 11, Book, -1.607, 0.035, -0.723, 0, 0, 0, 53 [SEP] 12, KeyChain, 1.576, 0.682, 2.262, 0, 0, 0, 55 [SEP] 13, AlarmClock, 2.438, 0.680, -1.581, 0, 0, 0, 58 [SEP] 14, Pillow, 1.02, 0.836, -0.106, 0, 0, 0, 27 [SEP] 15, Pillow, 1.502, 0.836, -0.106, 0, 0, 0, 27 [SEP] 16, Vase, -1.730, 1.638, -1.959, 0, 90, 0, 39 [SEP] 17, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 45 [SEP] 18, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 39 [SEP] 19, Pencil, -1.583, 0.976, -0.742, 0, 0, 0, 45 [SEP] 20, CreditCard, 2.592, 0.432, 1.584, 0, 90, 0, 61 [SEP] 21, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 22, Pen, -1.494, 0.805, -0.442, 0, 0, 0, 46 [SEP] 23, CellPhone, -1.721, 0.606, 0.535, 0, 0, 0, 47 [SEP] 24, CD, 1.405, 0.082, 2.177, 0, 0, 0, 56 [SEP] 25, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 40 [SEP] 26, Statue, -1.583, 0.982, 0.464, 0, 90, 0, 45 [SEP] 27, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 28, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 29, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 30, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 31, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 32, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 33, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 34, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 35, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 36, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 37, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 38, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 39, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 40, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 41, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 42, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 43, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 45, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 46, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 47, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 48, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 53, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 54, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 55, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 56, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 57, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 58, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 59, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 60, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 61, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Move to the left of the dresser to the right of the bed | STEP 2: Pick up a pencil from the dresser | STEP 3: Move to the shelf behind you | STEP 4: Place the pencil in a bowl on the shelf | STEP 5: Pick up the bowl from the shelf | STEP 6: Move to the dresser to the right of you | STEP 7: Place the bowl on the dresser | END


Input: Put the pencil in the bowl, put the bowl on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 0, 0,  [SEP] 1, Bowl, -1.699, 1.146, -1.959, 0, 90, 0, 40 [SEP] 2, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 45 [SEP] 3, Statue, -1.730, 0.982, -0.339, 0, 0, 0, 45 [SEP] 4, CellPhone, -1.804, 0.972, -0.540, 0, 0, 0, 45 [SEP] 5, Pen, -1.720, 0.670, -2.074, 0, 0, 0, 41 [SEP] 6, Pen, -1.605, 1.643, -2.073, 0, 90, 0, 39 [SEP] 7, KeyChain, -1.663, 0.802, -0.349, 0, 0, 0, 46 [SEP] 8, Book, -1.664, 0.409, 0.349, 0, 0, 0, 54 [SEP] 9, Book, 1.02, 0.774, -0.990, 0, 0, 0, 27 [SEP] 10, Pillow, 0.778, 0.836, -1.579, 0, 0, 0, 27 [SEP] 11, Book, -1.607, 0.035, -0.723, 0, 0, 0, 53 [SEP] 12, KeyChain, 1.576, 0.682, 2.262, 0, 0, 0, 55 [SEP] 13, AlarmClock, 2.438, 0.680, -1.581, 0, 0, 0, 58 [SEP] 14, Pillow, 1.02, 0.836, -0.106, 0, 0, 0, 27 [SEP] 15, Pillow, 1.502, 0.836, -0.106, 0, 0, 0, 27 [SEP] 16, Vase, -1.730, 1.638, -1.959, 0, 90, 0, 39 [SEP] 17, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 45 [SEP] 18, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 39 [SEP] 19, Pencil, -1.583, 0.976, -0.742, 0, 0, 0, 45 [SEP] 20, CreditCard, 2.592, 0.432, 1.584, 0, 90, 0, 61 [SEP] 21, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 22, Pen, -1.494, 0.805, -0.442, 0, 0, 0, 46 [SEP] 23, CellPhone, -1.721, 0.606, 0.535, 0, 0, 0, 47 [SEP] 24, CD, 1.405, 0.082, 2.177, 0, 0, 0, 56 [SEP] 25, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 40 [SEP] 26, Statue, -1.583, 0.982, 0.464, 0, 90, 0, 45 [SEP] 27, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 28, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 29, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 30, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 31, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 32, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 33, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 34, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 35, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 36, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 37, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 38, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 39, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 40, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 41, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 42, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 43, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 45, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 46, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 47, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 48, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 53, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 54, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 55, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 56, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 57, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 58, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 59, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 60, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 61, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Walk to the black dresser | STEP 2: Take the pencil from the dresser | STEP 3: Turn around, head to the black shelf | STEP 4: Put the pencil in the bowl | STEP 5: Take the bowl from the shelf | STEP 6: Turn to the right, head to the black dresser | STEP 7: Put the bowl on the dresser | END


Input: Put a chilled pan on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.914, 1.75, 0, 180, 0,  [SEP] 1, Pan, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 2, Potato, -3.654, 0.948, 1.607, 0, 0, 0, 49 [SEP] 3, Potato, -3.654, 0.947, 2.844, 0, 0, 0, 40 [SEP] 4, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 60 [SEP] 5, Fork, -3.463, 0.916, 1.524, 0, 0, 0, 49 [SEP] 6, Fork, -1.857, 0.790, 3.662, 0, 90, 0, 70 [SEP] 7, Egg, -1.224, 0.121, 3.852, 0, 270, 0, 72 [SEP] 8, Egg, -3.410, 1.581, 2.068, 0, 90, 0, 71 [SEP] 9, Cup, -2.800, 0.080, 3.701, 0, 0, 0, 52 [SEP] 10, Cup, -3.492, 1.994, 2.054, 0, 0, 0, 54 [SEP] 11, Knife, -1.127, 0.915, 0.152, 0, 180, 0, 76 [SEP] 12, SaltShaker, -1.504, 0.911, 4.231, 0, 0, 0, 40 [SEP] 13, PepperShaker, -3.538, 1.451, 3.805, 0, 0, 0, 57 [SEP] 14, PepperShaker, -1.127, 0.887, 0.358, 0, 90, 0, 76 [SEP] 15, Apple, -3.081, 0.975, 1.273, 0, 0, 0, 49 [SEP] 16, Apple, -3.537, 1.606, 2.120, 0, 90, 0, 71 [SEP] 17, Egg, -1.602, 0.824, 3.662, 0, 0, 0, 70 [SEP] 18, Knife, -1.259, 0.915, 0.049, 0, 90, 0, 76 [SEP] 19, Fork, -1.523, 0.892, 0.049, 0, 90, 0, 76 [SEP] 20, Bread, -3.559, 0.997, 1.357, 0, 0, 0, 49 [SEP] 21, Potato, -1.127, 0.923, 0.461, 0, 90, 0, 76 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 46 [SEP] 24, Kettle, -1.787, 0.892, 0.358, 0, 90, 0, 76 [SEP] 25, WineBottle, -0.994, 0.892, 0.255, 0, 90, 0, 76 [SEP] 26, Bowl, -1.787, 0.890, 0.049, 0, 90, 0, 76 [SEP] 27, Tomato, -2.022, 0.984, 4.188, 0, 0, 0, 40 [SEP] 28, Cup, -1.608, 0.915, 4.146, 0, 0, 0, 40 [SEP] 29, Spatula, -2.126, 0.930, 4.231, 0, 270, 0, 40 [SEP] 30, SoapBottle, -3.272, 0.915, 1.440, 0, 0, 0, 49 [SEP] 31, Lettuce, -1.523, 0.977, 0.358, 0, 90, 0, 76 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.192, 0.147, 3.756, 0, 270, 0, 72 [SEP] 34, SaltShaker, -3.508, 1.455, 2.846, 0, 0, 0, 47 [SEP] 35, PepperShaker, -1.259, 0.887, 0.049, 0, 90, 0, 76 [SEP] 36, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 70 [SEP] 37, DishSponge, -1.259, 0.891, 0.461, 0, 90, 0, 76 [SEP] 38, Spoon, -3.463, 0.916, 1.189, 0, 0, 0, 49 [SEP] 39, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 40 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: Go to the stove in front of you. | STEP 2: Pick up the frying pan. | STEP 3: Turn around and go to the fridge. | STEP 4: Put the pan in the fridge, leave it for a few moments, then take it out again. | STEP 5: Go back to the stove. | STEP 6: Put the pan on the back left burner of the stove. | END


Input: To move two salt shakers to the small black table at the end of the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.869, -2.75, 0, 90, 0,  [SEP] 1, Pan, 0.746, 0.664, -1.880, 0, 0, 0, 65 [SEP] 2, Potato, -0.855, 0.933, 1.187, 0, 270, 0, 71 [SEP] 3, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 4, ButterKnife, -1.719, 0.701, -0.875, 0, 0, 0, 81 [SEP] 5, Spoon, 0.623, 0.760, -0.124, 0, 180, 0, 44 [SEP] 6, Fork, 0.574, 0.761, 0.002, 0, 270, 0, 44 [SEP] 7, Egg, 0.961, 0.701, 0.387, 0, 0, 0, 50 [SEP] 8, Egg, -1.578, 0.736, -3.614, 0, 0, 0, 72 [SEP] 9, Cup, -1.056, 0.899, 0.758, 0, 270, 0, 71 [SEP] 10, Tomato, 0.785, 1.423, -1.725, 0, 270, 0, 65 [SEP] 11, SoapBottle, -1.803, 0.701, -1.199, 0, 0, 0, 81 [SEP] 12, SoapBottle, 0.149, 0.899, 1.015, 0, 270, 0, 71 [SEP] 13, Bowl, -1.719, 0.700, -1.416, 0, 0, 0, 81 [SEP] 14, Bowl, 0.721, 0.663, 0.387, 0, 0, 0, 50 [SEP] 15, PepperShaker, 0.803, 0.879, 0.098, 0, 0, 0, 45 [SEP] 16, PepperShaker, 0.732, 0.012, -0.571, 0, 0, 0, 48 [SEP] 17, SaltShaker, -1.556, 0.696, -3.361, 0, 0, 0, 72 [SEP] 18, SaltShaker, -1.599, 0.696, -3.529, 0, 0, 0, 72 [SEP] 19, Bread, 0.149, 0.944, 0.843, 0, 270, 0, 71 [SEP] 20, Lettuce, -0.252, 0.987, 1.101, 0, 270, 0, 71 [SEP] 21, Apple, 0.961, 0.718, 0.508, 0, 0, 0, 50 [SEP] 22, Apple, 0.757, 0.826, -0.790, 0, 270, 0, 68 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 81 [SEP] 25, Fork, -1.970, 0.702, -0.983, 0, 0, 0, 81 [SEP] 26, SoapBottle, 0.842, 0.014, -0.250, 0, 0, 0, 55 [SEP] 27, Apple, -1.297, 0.105, -3.647, 0, 270, 0, 60 [SEP] 28, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 29, Egg, 0.630, 1.411, -1.880, 0, 270, 0, 65 [SEP] 30, Spatula, 0.866, 0.774, 0.002, 0, 270, 0, 44 [SEP] 31, Potato, 1.024, 0.916, -0.314, 0, 0, 0, 45 [SEP] 32, Cup, 0.746, 1.373, -1.958, 0, 270, 0, 65 [SEP] 33, SaltShaker, 0.803, 0.879, -0.245, 0, 0, 0, 45 [SEP] 34, PepperShaker, 0.949, 1.460, 0.411, 0, 0, 0, 57 [SEP] 35, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 68 [SEP] 36, DishSponge, 0.715, 0.772, -0.570, 0, 270, 0, 68 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, -0.051, 0.987, 1.015, 0, 270, 0, 71 [SEP] 39, Tomato, -0.051, 0.949, 1.187, 0, 270, 0, 71 [SEP] 40, Spoon, 0.671, 0.760, 0.002, 0, 0, 0, 44 [SEP] 41, Knife, 0.877, 0.906, -0.176, 0, 90, 0, 45 [SEP] 42, Mug, -1.719, 0.696, -1.091, 0, 90, 0, 81 [SEP] 43, Bowl, 0.949, 1.462, -0.084, 0, 0, 0, 56 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the salt on the end of the table. | STEP 2: Pick up the salt on the table. | STEP 3: Turn right and cross the room and turn right to face the small black table. | STEP 4: Place the salt on the small black table. | STEP 5: Take a step to the right to face the salt on the counter. | STEP 6: Pick up the salt on the counter. | STEP 7: Take a step to the left to face the small black table. | STEP 8: Place the salt on the table. | END


Input: put two salt shakers on kitchen shelves SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.869, -2.75, 0, 90, 0,  [SEP] 1, Pan, 0.746, 0.664, -1.880, 0, 0, 0, 65 [SEP] 2, Potato, -0.855, 0.933, 1.187, 0, 270, 0, 71 [SEP] 3, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 4, ButterKnife, -1.719, 0.701, -0.875, 0, 0, 0, 81 [SEP] 5, Spoon, 0.623, 0.760, -0.124, 0, 180, 0, 44 [SEP] 6, Fork, 0.574, 0.761, 0.002, 0, 270, 0, 44 [SEP] 7, Egg, 0.961, 0.701, 0.387, 0, 0, 0, 50 [SEP] 8, Egg, -1.578, 0.736, -3.614, 0, 0, 0, 72 [SEP] 9, Cup, -1.056, 0.899, 0.758, 0, 270, 0, 71 [SEP] 10, Tomato, 0.785, 1.423, -1.725, 0, 270, 0, 65 [SEP] 11, SoapBottle, -1.803, 0.701, -1.199, 0, 0, 0, 81 [SEP] 12, SoapBottle, 0.149, 0.899, 1.015, 0, 270, 0, 71 [SEP] 13, Bowl, -1.719, 0.700, -1.416, 0, 0, 0, 81 [SEP] 14, Bowl, 0.721, 0.663, 0.387, 0, 0, 0, 50 [SEP] 15, PepperShaker, 0.803, 0.879, 0.098, 0, 0, 0, 45 [SEP] 16, PepperShaker, 0.732, 0.012, -0.571, 0, 0, 0, 48 [SEP] 17, SaltShaker, -1.556, 0.696, -3.361, 0, 0, 0, 72 [SEP] 18, SaltShaker, -1.599, 0.696, -3.529, 0, 0, 0, 72 [SEP] 19, Bread, 0.149, 0.944, 0.843, 0, 270, 0, 71 [SEP] 20, Lettuce, -0.252, 0.987, 1.101, 0, 270, 0, 71 [SEP] 21, Apple, 0.961, 0.718, 0.508, 0, 0, 0, 50 [SEP] 22, Apple, 0.757, 0.826, -0.790, 0, 270, 0, 68 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 81 [SEP] 25, Fork, -1.970, 0.702, -0.983, 0, 0, 0, 81 [SEP] 26, SoapBottle, 0.842, 0.014, -0.250, 0, 0, 0, 55 [SEP] 27, Apple, -1.297, 0.105, -3.647, 0, 270, 0, 60 [SEP] 28, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 29, Egg, 0.630, 1.411, -1.880, 0, 270, 0, 65 [SEP] 30, Spatula, 0.866, 0.774, 0.002, 0, 270, 0, 44 [SEP] 31, Potato, 1.024, 0.916, -0.314, 0, 0, 0, 45 [SEP] 32, Cup, 0.746, 1.373, -1.958, 0, 270, 0, 65 [SEP] 33, SaltShaker, 0.803, 0.879, -0.245, 0, 0, 0, 45 [SEP] 34, PepperShaker, 0.949, 1.460, 0.411, 0, 0, 0, 57 [SEP] 35, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 68 [SEP] 36, DishSponge, 0.715, 0.772, -0.570, 0, 270, 0, 68 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, -0.051, 0.987, 1.015, 0, 270, 0, 71 [SEP] 39, Tomato, -0.051, 0.949, 1.187, 0, 270, 0, 71 [SEP] 40, Spoon, 0.671, 0.760, 0.002, 0, 0, 0, 44 [SEP] 41, Knife, 0.877, 0.906, -0.176, 0, 90, 0, 45 [SEP] 42, Mug, -1.719, 0.696, -1.091, 0, 90, 0, 81 [SEP] 43, Bowl, 0.949, 1.462, -0.084, 0, 0, 0, 56 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: turn to face table next to garbage can | STEP 2: pick up salt shaker from table | STEP 3: walk forward to face small black shelves  | STEP 4: put shaker on shelves | STEP 5: move slightly right to face counter to right of shelves | STEP 6: pick up salt shaker from counter | STEP 7: move left to face black shelves | STEP 8: put shaker on shelves | END


Input: Grab the tissue box near TV, turn on the lamp on side table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.906, 3.5, 0, 90, 0,  [SEP] 1, TissueBox, -1.816, 0.197, 2.872, 0, 0, 0, 37 [SEP] 2, TissueBox, -0.178, 0.766, 3.128, 0, 270, 0, 44 [SEP] 3, TissueBox, -2.121, 0.200, 2.757, 0, 0, 0, 37 [SEP] 4, Watch, -0.553, 0.762, 2.528, 0, 270, 0, 44 [SEP] 5, Watch, -0.270, 0.184, 2.744, 0, 270, 0, 42 [SEP] 6, KeyChain, -0.361, 0.183, 2.414, 0, 270, 0, 43 [SEP] 7, CreditCard, -0.328, 0.765, 3.128, 0, 270, 0, 44 [SEP] 8, RemoteControl, -2.121, 0.199, 2.986, 0, 0, 0, 37 [SEP] 9, RemoteControl, -1.969, 0.196, 2.643, 0, 0, 0, 37 [SEP] 10, Box, -4.661, 0.521, 2.640, 0, 270, 0, 46 [SEP] 11, Box, -1.384, 0.521, 4.649, 0, 0, 0, 47 [SEP] 12, CreditCard, -0.478, 0.761, 3.128, 0, 270, 0, 44 [SEP] 13, TissueBox, -0.178, 0.763, 2.678, 0, 270, 0, 44 [SEP] 14, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 44 [SEP] 15, Vase, -2.880, 1.518, 0.144, 0, 0, 0,  [SEP] 16, RemoteControl, -1.878, 0.420, 4.491, 0, 0, 0, 47 [SEP] 17, Pillow, -2.371, 0.484, 4.412, 0, 0, 0, 47 [SEP] 18, KeyChain, -0.102, 0.762, 2.978, 0, 270, 0, 44 [SEP] 19, Watch, -4.653, 0.512, 3.476, 0, 0, 0, 35 [SEP] 20, Newspaper, -1.892, 0.197, 2.413, 0, 180, 0, 37 [SEP] 21, Statue, -0.403, 0.769, 2.828, 0, 270, 0, 44 [SEP] 22, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 23, Curtains, -1.030, 2.113, 0.0, 0, 0, 0,  [SEP] 24, Curtains, -3.927, 2.113, 0.0, 0, 0, 0,  [SEP] 25, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0,  [SEP] 26, Television, 0.0, 1.376, 2.661, 0, 270, 0,  [SEP] 27, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0,  [SEP] 28, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0,  [SEP] 29, Painting, -2.507, 1.817, 0.108, 90, 0, 0,  [SEP] 30, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0,  [SEP] 31, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0,  [SEP] 32, Window, -1.011, 1.391, 0.029, 90, 180, 0,  [SEP] 33, Window, -3.900, 1.391, 0.029, 90, 180, 0,  [SEP] 34, Drawer, -4.433, 0.473, 3.344, 0, 90, 0,  [SEP] 35, SideTable, -4.612, 0.009, 3.346, 0, 90, 0,  [SEP] 36, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0,  [SEP] 37, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0,  [SEP] 38, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0,  [SEP] 39, Shelf, -0.340, 0.480, 3.046, 0, 270, 0,  [SEP] 40, Shelf, -0.340, 0.649, 3.046, 0, 270, 0,  [SEP] 41, Shelf, -0.340, 0.603, 2.312, 0, 270, 0,  [SEP] 42, Shelf, -0.340, 0.448, 2.678, 0, 270, 0,  [SEP] 43, Shelf, -0.340, 0.308, 2.312, 0, 270, 0,  [SEP] 44, TVStand, -0.335, 0.005, 2.679, 0, 270, 0,  [SEP] 45, Shelf, -0.340, 0.279, 3.046, 0, 270, 0,  [SEP] 46, Sofa, -4.566, 0.009, 1.880, 0, 90, 0,  [SEP] 47, Sofa, -2.124, 0.009, 4.558, 0, 180, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,

Output: STEP 1: Walk straight to the tv cabinet, turn around, facing the white shelf on the floor | STEP 2: Grab the tissue box near the edge | STEP 3: Walk across the room to the side table by the sofa | STEP 4: Turn on the lamp on the side table | END


Input: Examine a tissue box in the light of the lamp 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, -3.25, 0.906, 3.5, 0, 90, 0,  [SEP] 1, TissueBox, -1.816, 0.197, 2.872, 0, 0, 0, 37 [SEP] 2, TissueBox, -0.178, 0.766, 3.128, 0, 270, 0, 44 [SEP] 3, TissueBox, -2.121, 0.200, 2.757, 0, 0, 0, 37 [SEP] 4, Watch, -0.553, 0.762, 2.528, 0, 270, 0, 44 [SEP] 5, Watch, -0.270, 0.184, 2.744, 0, 270, 0, 42 [SEP] 6, KeyChain, -0.361, 0.183, 2.414, 0, 270, 0, 43 [SEP] 7, CreditCard, -0.328, 0.765, 3.128, 0, 270, 0, 44 [SEP] 8, RemoteControl, -2.121, 0.199, 2.986, 0, 0, 0, 37 [SEP] 9, RemoteControl, -1.969, 0.196, 2.643, 0, 0, 0, 37 [SEP] 10, Box, -4.661, 0.521, 2.640, 0, 270, 0, 46 [SEP] 11, Box, -1.384, 0.521, 4.649, 0, 0, 0, 47 [SEP] 12, CreditCard, -0.478, 0.761, 3.128, 0, 270, 0, 44 [SEP] 13, TissueBox, -0.178, 0.763, 2.678, 0, 270, 0, 44 [SEP] 14, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 44 [SEP] 15, Vase, -2.880, 1.518, 0.144, 0, 0, 0,  [SEP] 16, RemoteControl, -1.878, 0.420, 4.491, 0, 0, 0, 47 [SEP] 17, Pillow, -2.371, 0.484, 4.412, 0, 0, 0, 47 [SEP] 18, KeyChain, -0.102, 0.762, 2.978, 0, 270, 0, 44 [SEP] 19, Watch, -4.653, 0.512, 3.476, 0, 0, 0, 35 [SEP] 20, Newspaper, -1.892, 0.197, 2.413, 0, 180, 0, 37 [SEP] 21, Statue, -0.403, 0.769, 2.828, 0, 270, 0, 44 [SEP] 22, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 23, Curtains, -1.030, 2.113, 0.0, 0, 0, 0,  [SEP] 24, Curtains, -3.927, 2.113, 0.0, 0, 0, 0,  [SEP] 25, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0,  [SEP] 26, Television, 0.0, 1.376, 2.661, 0, 270, 0,  [SEP] 27, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0,  [SEP] 28, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0,  [SEP] 29, Painting, -2.507, 1.817, 0.108, 90, 0, 0,  [SEP] 30, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0,  [SEP] 31, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0,  [SEP] 32, Window, -1.011, 1.391, 0.029, 90, 180, 0,  [SEP] 33, Window, -3.900, 1.391, 0.029, 90, 180, 0,  [SEP] 34, Drawer, -4.433, 0.473, 3.344, 0, 90, 0,  [SEP] 35, SideTable, -4.612, 0.009, 3.346, 0, 90, 0,  [SEP] 36, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0,  [SEP] 37, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0,  [SEP] 38, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0,  [SEP] 39, Shelf, -0.340, 0.480, 3.046, 0, 270, 0,  [SEP] 40, Shelf, -0.340, 0.649, 3.046, 0, 270, 0,  [SEP] 41, Shelf, -0.340, 0.603, 2.312, 0, 270, 0,  [SEP] 42, Shelf, -0.340, 0.448, 2.678, 0, 270, 0,  [SEP] 43, Shelf, -0.340, 0.308, 2.312, 0, 270, 0,  [SEP] 44, TVStand, -0.335, 0.005, 2.679, 0, 270, 0,  [SEP] 45, Shelf, -0.340, 0.279, 3.046, 0, 270, 0,  [SEP] 46, Sofa, -4.566, 0.009, 1.880, 0, 90, 0,  [SEP] 47, Sofa, -2.124, 0.009, 4.558, 0, 180, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,

Output: STEP 1: Move to the coffee table. | STEP 2: Pick up the tissue box closest to the TV from the coffee table.  | STEP 3: Bring the tissue box to the lamp on the side table. | STEP 4: Turn on the lamp on the table.  | END


Input: Examine the baseball bat under the light of the table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 270, 0,  [SEP] 1, Bowl, 1.152, 0.729, 0.901, 0, 0, 0, 41 [SEP] 2, CD, 1.341, 1.138, 1.558, 0, 270, 0, 38 [SEP] 3, CD, 1.288, 0.728, 1.066, 0, 0, 0, 41 [SEP] 4, CellPhone, -0.213, 0.696, -1.794, 0, 0, 0, 43 [SEP] 5, Pen, -0.213, 0.695, -1.572, 0, 0, 0, 43 [SEP] 6, Pencil, 1.356, 0.732, 1.562, 0, 0, 0, 41 [SEP] 7, CreditCard, 0.255, 0.690, -1.616, 0, 0, 0, 43 [SEP] 8, KeyChain, 0.078, 0.389, -1.617, 0, 180, 0, 45 [SEP] 9, Pillow, 0.704, 0.849, -0.988, 0, 0, 0, 30 [SEP] 10, Book, 1.145, 0.721, 1.806, 0, 0, 0, 40 [SEP] 11, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 12, CellPhone, 1.098, 0.319, 1.666, 0, 0, 0, 42 [SEP] 13, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 14, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 41 [SEP] 15, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 16, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 41 [SEP] 17, CreditCard, 1.016, 0.728, 1.231, 0, 0, 0, 41 [SEP] 18, KeyChain, 1.310, 1.139, 1.402, 0, 270, 0, 38 [SEP] 19, AlarmClock, 1.278, 1.139, 1.089, 0, 270, 0, 38 [SEP] 20, Pencil, 1.247, 1.142, 1.246, 0, 270, 0, 38 [SEP] 21, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 30 [SEP] 22, CD, 1.405, 1.138, 1.402, 0, 270, 0, 38 [SEP] 23, Pen, 1.084, 0.734, 1.231, 0, 180, 0, 41 [SEP] 24, Mug, 0.138, 0.691, -1.660, 0, 0, 0, 43 [SEP] 25, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 26, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 27, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 28, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 29, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 30, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 31, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 32, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 33, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 34, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 35, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 36, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 37, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 38, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 39, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 40, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 41, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 42, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 43, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 44, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 45, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the baseball bat leaning on the wall | STEP 2: Pick up the baseball bat from the ground | STEP 3: Turn right and approach the small wooden dresser by the window | STEP 4: Turn on the table lamp on the dresser | END


Input: Hold a baseball bat while turning on a lamp.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 270, 0,  [SEP] 1, Bowl, 1.152, 0.729, 0.901, 0, 0, 0, 41 [SEP] 2, CD, 1.341, 1.138, 1.558, 0, 270, 0, 38 [SEP] 3, CD, 1.288, 0.728, 1.066, 0, 0, 0, 41 [SEP] 4, CellPhone, -0.213, 0.696, -1.794, 0, 0, 0, 43 [SEP] 5, Pen, -0.213, 0.695, -1.572, 0, 0, 0, 43 [SEP] 6, Pencil, 1.356, 0.732, 1.562, 0, 0, 0, 41 [SEP] 7, CreditCard, 0.255, 0.690, -1.616, 0, 0, 0, 43 [SEP] 8, KeyChain, 0.078, 0.389, -1.617, 0, 180, 0, 45 [SEP] 9, Pillow, 0.704, 0.849, -0.988, 0, 0, 0, 30 [SEP] 10, Book, 1.145, 0.721, 1.806, 0, 0, 0, 40 [SEP] 11, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 12, CellPhone, 1.098, 0.319, 1.666, 0, 0, 0, 42 [SEP] 13, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 14, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 41 [SEP] 15, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 16, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 41 [SEP] 17, CreditCard, 1.016, 0.728, 1.231, 0, 0, 0, 41 [SEP] 18, KeyChain, 1.310, 1.139, 1.402, 0, 270, 0, 38 [SEP] 19, AlarmClock, 1.278, 1.139, 1.089, 0, 270, 0, 38 [SEP] 20, Pencil, 1.247, 1.142, 1.246, 0, 270, 0, 38 [SEP] 21, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 30 [SEP] 22, CD, 1.405, 1.138, 1.402, 0, 270, 0, 38 [SEP] 23, Pen, 1.084, 0.734, 1.231, 0, 180, 0, 41 [SEP] 24, Mug, 0.138, 0.691, -1.660, 0, 0, 0, 43 [SEP] 25, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 26, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 27, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 28, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 29, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 30, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 31, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 32, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 33, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 34, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 35, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 36, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 37, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 38, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 39, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 40, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 41, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 42, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 43, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 44, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 45, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Go left towards the baseball bat. | STEP 2: Pick up the baseball bat.  | STEP 3: Turn towards the dresser and walk towards it. | STEP 4: Turn the lamp on the dresser.  | END


Input: Heat a bowl and place it in a cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.899, 2.5, 0, 90, 0,  [SEP] 1, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 93 [SEP] 2, Pencil, -0.488, 0.925, 6.261, 0, 0, 0, 63 [SEP] 3, Potato, -0.259, 1.369, 3.231, 0, 270, 0, 111 [SEP] 4, ButterKnife, -3.859, 0.923, 1.875, 0, 0, 0, 78 [SEP] 5, ButterKnife, -0.181, 0.925, 5.932, 0, 0, 0, 63 [SEP] 6, WineBottle, -4.341, 1.457, 2.048, 0, 45, 0, 79 [SEP] 7, Fork, -4.184, 0.924, 4.640, 0, 90, 0, 78 [SEP] 8, Fork, -3.135, 0.924, 5.182, 0, 90, 0, 78 [SEP] 9, Spoon, -4.033, 0.924, 4.381, 0, 90, 0, 78 [SEP] 10, Spatula, -2.026, 0.938, 1.8, 0, 90, 0, 60 [SEP] 11, Cup, -3.135, 0.922, 5.566, 0, 90, 0, 78 [SEP] 12, Cup, -4.411, 0.922, 5.159, 0, 90, 0, 78 [SEP] 13, Cup, -3.374, 0.922, 5.106, 0, 90, 0, 78 [SEP] 14, Plate, -2.583, 1.547, 1.666, 0, 0, 0, 108 [SEP] 15, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 63 [SEP] 16, SoapBottle, -4.006, 0.080, 3.510, 0, 270, 0, 83 [SEP] 17, Tomato, -4.271, 0.848, 3.347, 0, 270, 0, 110 [SEP] 18, Tomato, -0.259, 1.742, 3.854, 0, 270, 0, 111 [SEP] 19, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 111 [SEP] 20, Bowl, -3.507, 0.079, 5.152, 0, 90, 0, 96 [SEP] 21, SaltShaker, -3.454, 1.456, 5.440, 0, 90, 0, 64 [SEP] 22, SaltShaker, -2.109, 0.919, 1.875, 0, 0, 0, 60 [SEP] 23, PepperShaker, -1.610, 0.919, 1.724, 0, 0, 0, 60 [SEP] 24, PepperShaker, -4.335, 0.919, 4.900, 0, 90, 0, 78 [SEP] 25, Lettuce, -0.295, 1.165, 3.974, 0, 270, 0, 111 [SEP] 26, Lettuce, -0.401, 1.165, 3.726, 0, 270, 0, 111 [SEP] 27, Mug, -0.342, 1.575, 3.530, 0, 270, 0, 111 [SEP] 28, Egg, -4.271, 0.826, 3.472, 0, 270, 0, 110 [SEP] 29, Apple, -4.121, 0.844, 3.347, 0, 270, 0, 110 [SEP] 30, Knife, -0.411, 0.954, 4.615, 0, 0, 0, 63 [SEP] 31, Potato, -3.675, 0.102, 6.457, 0, 270, 0, 104 [SEP] 32, Fork, -3.733, 0.924, 5.106, 0, 180, 0, 78 [SEP] 33, Bowl, -4.312, 0.920, 2.533, 0, 0, 0, 78 [SEP] 34, Plate, -0.258, 0.925, 4.944, 0, 0, 0, 63 [SEP] 35, Lettuce, -3.733, 1.018, 5.182, 0, 180, 0, 78 [SEP] 36, Bread, -0.401, 1.150, 3.355, 0, 270, 0, 111 [SEP] 37, Tomato, -0.342, 1.392, 3.602, 0, 270, 0, 111 [SEP] 38, WineBottle, -3.675, 0.069, 6.292, 0, 270, 0, 104 [SEP] 39, Spatula, -0.258, 0.940, 5.932, 0, 180, 0, 63 [SEP] 40, PaperTowelRoll, -0.258, 1.029, 5.273, 0, 0, 0, 63 [SEP] 41, Cup, -4.032, 0.922, 2.533, 0, 0, 0, 78 [SEP] 42, Pencil, -3.859, 0.923, 1.724, 0, 0, 0, 78 [SEP] 43, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 61 [SEP] 44, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 75 [SEP] 45, SaltShaker, -4.204, 0.919, 1.951, 0, 0, 0, 78 [SEP] 46, SoapBottle, -1.693, 0.923, 1.648, 0, 0, 0, 60 [SEP] 47, PepperShaker, -4.055, 0.750, 2.501, 0, 0, 0, 58 [SEP] 48, ButterKnife, -4.242, 0.923, 2.882, 0, 0, 0, 78 [SEP] 49, DishSponge, -4.035, 1.455, 1.832, 0, 45, 0, 79 [SEP] 50, Spoon, -0.488, 0.926, 5.273, 0, 0, 0, 63 [SEP] 51, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 99 [SEP] 52, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 53, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 54, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 55, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 56, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 57, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 58, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 59, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 60, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 61, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 62, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 63, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 64, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 65, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 66, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 67, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 68, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 69, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 70, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 71, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 72, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 73, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 74, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 75, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 76, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 77, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 78, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 79, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 80, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 81, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 82, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 83, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 84, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 85, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 86, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 87, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 88, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 89, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 90, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 91, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 92, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 93, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 94, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 95, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 96, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 97, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 98, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 99, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 100, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 101, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 102, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 103, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 104, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 105, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 106, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 107, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 108, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 109, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 110, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 111, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: Turn to the counter | STEP 2: Pick up the black bowl | STEP 3: Go to the microwave | STEP 4: Heat the bowl in the microwave | STEP 5: Go to the cabinet | STEP 6: Place the bowl in the cabinet | END


Input: Place a heated glass in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.899, 2.5, 0, 90, 0,  [SEP] 1, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 93 [SEP] 2, Pencil, -0.488, 0.925, 6.261, 0, 0, 0, 63 [SEP] 3, Potato, -0.259, 1.369, 3.231, 0, 270, 0, 111 [SEP] 4, ButterKnife, -3.859, 0.923, 1.875, 0, 0, 0, 78 [SEP] 5, ButterKnife, -0.181, 0.925, 5.932, 0, 0, 0, 63 [SEP] 6, WineBottle, -4.341, 1.457, 2.048, 0, 45, 0, 79 [SEP] 7, Fork, -4.184, 0.924, 4.640, 0, 90, 0, 78 [SEP] 8, Fork, -3.135, 0.924, 5.182, 0, 90, 0, 78 [SEP] 9, Spoon, -4.033, 0.924, 4.381, 0, 90, 0, 78 [SEP] 10, Spatula, -2.026, 0.938, 1.8, 0, 90, 0, 60 [SEP] 11, Cup, -3.135, 0.922, 5.566, 0, 90, 0, 78 [SEP] 12, Cup, -4.411, 0.922, 5.159, 0, 90, 0, 78 [SEP] 13, Cup, -3.374, 0.922, 5.106, 0, 90, 0, 78 [SEP] 14, Plate, -2.583, 1.547, 1.666, 0, 0, 0, 108 [SEP] 15, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 63 [SEP] 16, SoapBottle, -4.006, 0.080, 3.510, 0, 270, 0, 83 [SEP] 17, Tomato, -4.271, 0.848, 3.347, 0, 270, 0, 110 [SEP] 18, Tomato, -0.259, 1.742, 3.854, 0, 270, 0, 111 [SEP] 19, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 111 [SEP] 20, Bowl, -3.507, 0.079, 5.152, 0, 90, 0, 96 [SEP] 21, SaltShaker, -3.454, 1.456, 5.440, 0, 90, 0, 64 [SEP] 22, SaltShaker, -2.109, 0.919, 1.875, 0, 0, 0, 60 [SEP] 23, PepperShaker, -1.610, 0.919, 1.724, 0, 0, 0, 60 [SEP] 24, PepperShaker, -4.335, 0.919, 4.900, 0, 90, 0, 78 [SEP] 25, Lettuce, -0.295, 1.165, 3.974, 0, 270, 0, 111 [SEP] 26, Lettuce, -0.401, 1.165, 3.726, 0, 270, 0, 111 [SEP] 27, Mug, -0.342, 1.575, 3.530, 0, 270, 0, 111 [SEP] 28, Egg, -4.271, 0.826, 3.472, 0, 270, 0, 110 [SEP] 29, Apple, -4.121, 0.844, 3.347, 0, 270, 0, 110 [SEP] 30, Knife, -0.411, 0.954, 4.615, 0, 0, 0, 63 [SEP] 31, Potato, -3.675, 0.102, 6.457, 0, 270, 0, 104 [SEP] 32, Fork, -3.733, 0.924, 5.106, 0, 180, 0, 78 [SEP] 33, Bowl, -4.312, 0.920, 2.533, 0, 0, 0, 78 [SEP] 34, Plate, -0.258, 0.925, 4.944, 0, 0, 0, 63 [SEP] 35, Lettuce, -3.733, 1.018, 5.182, 0, 180, 0, 78 [SEP] 36, Bread, -0.401, 1.150, 3.355, 0, 270, 0, 111 [SEP] 37, Tomato, -0.342, 1.392, 3.602, 0, 270, 0, 111 [SEP] 38, WineBottle, -3.675, 0.069, 6.292, 0, 270, 0, 104 [SEP] 39, Spatula, -0.258, 0.940, 5.932, 0, 180, 0, 63 [SEP] 40, PaperTowelRoll, -0.258, 1.029, 5.273, 0, 0, 0, 63 [SEP] 41, Cup, -4.032, 0.922, 2.533, 0, 0, 0, 78 [SEP] 42, Pencil, -3.859, 0.923, 1.724, 0, 0, 0, 78 [SEP] 43, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 61 [SEP] 44, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 75 [SEP] 45, SaltShaker, -4.204, 0.919, 1.951, 0, 0, 0, 78 [SEP] 46, SoapBottle, -1.693, 0.923, 1.648, 0, 0, 0, 60 [SEP] 47, PepperShaker, -4.055, 0.750, 2.501, 0, 0, 0, 58 [SEP] 48, ButterKnife, -4.242, 0.923, 2.882, 0, 0, 0, 78 [SEP] 49, DishSponge, -4.035, 1.455, 1.832, 0, 45, 0, 79 [SEP] 50, Spoon, -0.488, 0.926, 5.273, 0, 0, 0, 63 [SEP] 51, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 99 [SEP] 52, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 53, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 54, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 55, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 56, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 57, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 58, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 59, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 60, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 61, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 62, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 63, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 64, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 65, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 66, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 67, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 68, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 69, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 70, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 71, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 72, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 73, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 74, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 75, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 76, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 77, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 78, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 79, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 80, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 81, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 82, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 83, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 84, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 85, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 86, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 87, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 88, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 89, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 90, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 91, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 92, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 93, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 94, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 95, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 96, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 97, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 98, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 99, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 100, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 101, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 102, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 103, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 104, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 105, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 106, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 107, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 108, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 109, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 110, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 111, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the counter ahead. | STEP 2: Pick up the black glass on the counter in front of the gray bowl. | STEP 3: Turn around and walk to the white stove on the right. | STEP 4: Put the glass inside the microwave above the stove, heat it for a few seconds, remove it and close the door. | STEP 5: Turn right and walk to the cabinets under the counter ahead. | STEP 6: Open the lower left cabinet, put the heated glass inside and close the door. | END


Input: To pick up the racket and turn on the lamp.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.5, 0, 90, 0,  [SEP] 1, CellPhone, -1.582, 0.599, -0.250, 0, 0, 0, 45 [SEP] 2, CellPhone, 0.269, 0.415, -2.550, 0, 0, 0, 40 [SEP] 3, Pencil, 0.651, 0.734, -2.764, 0, 180, 0, 38 [SEP] 4, KeyChain, 1.787, 0.356, -2.282, 0, 0, 0, 53 [SEP] 5, Laptop, -0.333, 0.415, -1.733, 0, 0, 0, 44 [SEP] 6, AlarmClock, -1.582, 0.599, -0.392, 0, 0, 0, 45 [SEP] 7, Box, 1.996, 0.316, -1.042, 0, 254.839, 0,  [SEP] 8, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 38 [SEP] 9, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 44 [SEP] 10, CellPhone, -1.780, 0.599, -0.250, 0, 0, 0, 45 [SEP] 11, Vase, -1.714, 0.599, -0.533, 0, 0, 0, 45 [SEP] 12, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0,  [SEP] 13, CreditCard, 1.194, 1.178, -2.256, 0, 0, 0, 26 [SEP] 14, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714,  [SEP] 15, KeyChain, 2.045, 1.179, -2.298, 0, 0, 0, 27 [SEP] 16, AlarmClock, 0.076, 0.730, -2.647, 0, 180, 0, 38 [SEP] 17, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0,  [SEP] 18, Laptop, -1.024, 0.415, -1.610, 0, 0, 0, 44 [SEP] 19, CD, -1.846, 0.598, 0.031, 0, 0, 0, 45 [SEP] 20, CD, -1.912, 0.598, -0.109, 0, 0, 0, 45 [SEP] 21, Pen, -1.582, 0.604, -0.675, 0, 0, 0, 45 [SEP] 22, Pencil, -1.791, 0.512, -1.232, 0, 0, 0, 47 [SEP] 23, Mug, -1.828, 0.506, -1.107, 0, 0, 0, 47 [SEP] 24, Shelf, 1.311, 0.969, -2.298, 0, 0, 0,  [SEP] 25, Shelf, 1.843, 0.969, -2.298, 0, 0, 0,  [SEP] 26, Shelf, 1.311, 1.171, -2.298, 0, 0, 0,  [SEP] 27, Shelf, 1.843, 1.171, -2.298, 0, 0, 0,  [SEP] 28, Shelf, 1.311, 1.368, -2.298, 0, 0, 0,  [SEP] 29, Shelf, 1.843, 1.570, -2.298, 0, 0, 0,  [SEP] 30, Shelf, 1.843, 1.368, -2.298, 0, 0, 0,  [SEP] 31, Shelf, 1.311, 1.570, -2.298, 0, 0, 0,  [SEP] 32, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0,  [SEP] 33, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0,  [SEP] 34, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0,  [SEP] 35, Poster, 0.001, 1.495, -2.642, 90, 90, 0,  [SEP] 36, Mirror, -1.072, 1.469, 0.497, 0, 0, 0,  [SEP] 37, Window, 0.435, 1.398, -2.855, 90, 0, 0,  [SEP] 38, SideTable, 0.435, 0.036, -2.647, 0, 0, 0,  [SEP] 39, Drawer, 0.433, 0.203, -2.445, 0, 0, 0,  [SEP] 40, Drawer, 0.433, 0.505, -2.445, 0, 0, 0,  [SEP] 41, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0,  [SEP] 42, Blinds, 0.449, 2.164, -2.845, 0, 0, 0,  [SEP] 43, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412,  [SEP] 44, Bed, -1.047, -0.000, -1.851, 0, 270, 0,  [SEP] 45, Desk, -1.710, 0.000, -0.374, 0, 90, 0,  [SEP] 46, Drawer, -1.790, 0.245, -1.144, 0, 90, 0,  [SEP] 47, SideTable, -1.824, 0.000, -1.144, 0, 90, 0,  [SEP] 48, Drawer, -1.790, 0.392, -1.144, 0, 90, 0,  [SEP] 49, Drawer, -1.790, 0.097, -1.144, 0, 90, 0,  [SEP] 50, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0,  [SEP] 51, Shelf, 1.591, 0.606, -2.305, 0, 0, 0,  [SEP] 52, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0,  [SEP] 53, Shelf, 1.854, 0.453, -2.298, 0, 0, 0,  [SEP] 54, Shelf, 1.321, 0.155, -2.296, 0, 0, 0,  [SEP] 55, Shelf, 1.323, 0.456, -2.300, 0, 0, 0,  [SEP] 56, Shelf, 1.852, 0.152, -2.294, 0, 0, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, EastWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, WestWall, , , , , , ,

Output: STEP 1: Move in front of the book shelf on the right, turn left to face the racket on the floor.  | STEP 2: Pick up the racket with the orange handle.  | STEP 3: Turn around and walk to the lamp across the room on the left side of the desk.  | STEP 4: Turn on the lamp.  | END


Input: Place warm bread into a trash bin.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 3.5, 0, 180, 0,  [SEP] 1, Ladle, -0.669, 1.066, 1.821, 0, 0, 0, 54 [SEP] 2, ButterKnife, 2.398, 0.764, 4.022, 0, 225, 0, 52 [SEP] 3, Glassbottle, 2.228, 0.765, 3.445, 0, 0, 0, 52 [SEP] 4, Pot, 2.683, 1.029, 1.004, 0, 136.999, 0, 51 [SEP] 5, Spatula, 2.710, 0.779, 4.229, 0, 315, 0, 52 [SEP] 6, Spatula, 2.451, 0.779, 4.044, 0, 0, 0, 52 [SEP] 7, Egg, -1.101, 0.367, -0.295, 0, 90, 0, 95 [SEP] 8, Egg, 2.228, 0.808, 3.795, 0, 0, 0, 52 [SEP] 9, Cup, 1.848, 1.025, 1.900, 0, 136.999, 0, 51 [SEP] 10, Cup, 2.685, 0.763, 3.994, 0, 225, 0, 52 [SEP] 11, Knife, 2.033, 0.789, 3.867, 0, 315, 0, 52 [SEP] 12, Knife, 2.013, 0.827, 1.489, 0, 227.0, 0, 65 [SEP] 13, Tomato, -1.059, 1.495, -0.184, 0, 90, 0, 95 [SEP] 14, Tomato, 2.621, 1.080, -0.846, 0, 0, 0, 51 [SEP] 15, Bowl, 1.301, 1.779, -1.911, 0, 0, 0, 91 [SEP] 16, Bowl, -0.858, 0.332, -0.516, 0, 90, 0, 95 [SEP] 17, PepperShaker, 2.763, 0.760, 4.177, 0, 225, 0, 52 [SEP] 18, PepperShaker, 2.801, 0.760, 4.044, 0, 270, 0, 52 [SEP] 19, Bread, 2.239, 0.832, 4.484, 0, 329.999, 0, 52 [SEP] 20, Bread, 2.726, 0.832, 3.492, 0, 329.999, 0, 52 [SEP] 21, Lettuce, 2.605, 0.822, 4.334, 0, 225, 0, 52 [SEP] 22, Mug, 2.763, 0.759, 3.726, 0, 329.999, 0, 52 [SEP] 23, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 49 [SEP] 24, Glassbottle, -0.916, 0.077, 2.811, 0, 0, 0, 106 [SEP] 25, Knife, -0.782, 0.841, 1.570, 0, 180, 0, 108 [SEP] 26, SoapBottle, -1.159, 1.026, 1.612, 0, 0, 0, 54 [SEP] 27, Egg, -0.851, 0.860, 1.181, 0, 90, 0, 108 [SEP] 28, Fork, 2.788, 0.765, 4.412, 0, 225, 0, 52 [SEP] 29, Potato, -0.669, 1.069, 2.434, 0, 0, 0, 54 [SEP] 30, Ladle, -1.045, 1.066, 2.556, 0, 0, 0, 54 [SEP] 31, Tomato, -0.851, 0.870, 1.414, 0, 90, 0, 108 [SEP] 32, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 94 [SEP] 33, WineBottle, -0.418, 1.028, 0.785, 0, 0, 0, 54 [SEP] 34, Plate, 2.737, 0.033, -1.228, 0, 0, 0, 93 [SEP] 35, Spatula, 2.302, 0.779, 3.62, 0, 90, 0, 52 [SEP] 36, PaperTowelRoll, 2.868, 0.868, 4.072, 0, 135, 0, 52 [SEP] 37, Lettuce, 2.451, 0.822, 3.895, 0, 270, 0, 52 [SEP] 38, Apple, -0.577, 0.866, 1.492, 0, 90, 0, 108 [SEP] 39, SaltShaker, 1.563, 0.797, 1.784, 0, 317.0, 0, 66 [SEP] 40, PepperShaker, 2.595, 0.797, -0.175, 0, 0, 0, 61 [SEP] 41, ButterKnife, -0.590, 0.800, 0.615, 0, 0, 0, 53 [SEP] 42, Bread, 1.290, 1.094, -1.454, 0, 90, 0, 51 [SEP] 43, Cup, -0.891, 0.044, 1.895, 0, 0, 0, 80 [SEP] 44, DishSponge, -0.544, 1.027, 0.508, 0, 0, 0, 54 [SEP] 45, Bowl, -0.627, 0.044, 2.012, 0, 0, 0, 80 [SEP] 46, Spoon, -0.669, 1.028, 0.416, 0, 180, 0, 54 [SEP] 47, Mug, -1.069, 0.781, -0.627, 0, 90, 0, 95 [SEP] 48, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 49, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 50, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 51, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 52, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 53, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 54, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 55, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 56, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 57, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 58, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 59, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 60, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 62, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 63, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 64, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 65, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 66, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 67, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 68, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 69, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 70, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 71, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 72, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 73, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 74, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 75, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 76, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 77, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 78, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 79, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 80, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 81, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 82, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 83, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 84, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 85, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 86, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 87, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 88, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 89, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 90, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 91, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 92, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 93, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 94, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 95, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 96, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 97, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 98, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 99, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 100, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 101, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 102, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 103, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 104, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 105, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 106, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 107, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 108, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 109, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 110, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 111, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 112, , , , , , , ,  [SEP] 113, NorthWall, , , , , , ,  [SEP] 114, EastWall, , , , , , ,  [SEP] 115, SouthWall, , , , , , ,  [SEP] 116, WestWall, , , , , , ,

Output: STEP 1: Back up, turn to the left and walk to the table in the corner of the room.  | STEP 2: Pick up the knife from the edge of the table.  | STEP 3: Walk forward and closer to the table.  | STEP 4: Slice the bread that is at the back, left side of the table.  | STEP 5: Turn to the right and walk to the trash can.  | STEP 6: Place the knife into the trash bin.  | STEP 7: Turn to the left and walk back to the table.  | STEP 8: Grab two slices of bread that you had cut prior.  | STEP 9: Turn to the right and walk over to the stove.  | STEP 10: Open the microwave door above the stove, place the bread inside, close the door, warm the bread, remove the bread  | STEP 11: Close the microwave door, turn right and walk over to the trash bin.  | STEP 12: Toss the bread into the trash bin.  | END


Input: clean off the dish from the table and put 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, -1.5, 0.900, -1.0, 0, 180, 0,  [SEP] 1, Glassbottle, -2.552, 0.924, -1.884, 0, 0, 0, 78 [SEP] 2, Glassbottle, -2.324, 0.924, -1.423, 0, 0, 0, 78 [SEP] 3, Potato, -0.308, 1.722, -0.979, 0, 270, 0, 70 [SEP] 4, Potato, -2.096, 0.954, -2.345, 0, 0, 0, 78 [SEP] 5, DishSponge, -2.438, 0.923, -1.884, 0, 0, 0, 78 [SEP] 6, ButterKnife, -0.600, 0.915, -3.839, 0, 0, 0, 53 [SEP] 7, WineBottle, -1.943, 0.027, -3.799, 0, 0, 0, 69 [SEP] 8, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 9, Spatula, -2.666, 0.938, -2.345, 0, 270, 0, 78 [SEP] 10, Spoon, -2.552, 0.924, -1.423, 0, 0, 0, 78 [SEP] 11, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 78 [SEP] 12, Plate, -0.295, 1.533, -3.637, 0, 45, 0, 61 [SEP] 13, Plate, -2.780, 0.925, -1.654, 0, 0, 0, 78 [SEP] 14, Egg, -0.508, 0.948, -2.764, 0, 0, 0, 53 [SEP] 15, Tomato, -0.222, 0.979, -3.368, 0, 0, 0, 53 [SEP] 16, Bowl, -0.348, 1.689, -0.665, 0, 270, 0, 70 [SEP] 17, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 78 [SEP] 18, Lettuce, -0.392, 1.483, -0.665, 0, 270, 0, 70 [SEP] 19, SaltShaker, -2.552, 0.919, -2.345, 0, 0, 0, 78 [SEP] 20, SaltShaker, -0.749, 0.743, -3.527, 0, 0, 0, 52 [SEP] 21, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 67 [SEP] 22, Mug, -0.197, 1.093, -0.560, 0, 0, 0, 70 [SEP] 23, Apple, -2.324, 0.996, -2.345, 0, 90, 0, 78 [SEP] 24, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.210, 0.924, -2.345, 0, 0, 0, 78 [SEP] 26, Egg, -0.246, 1.423, -0.770, 0, 270, 0, 70 [SEP] 27, Pen, -2.780, 0.926, -2.115, 0, 0, 0, 78 [SEP] 28, Fork, -2.210, 0.924, -1.884, 0, 0, 0, 78 [SEP] 29, SoapBottle, -2.666, 0.922, -0.963, 0, 0, 0, 78 [SEP] 30, Pencil, -2.210, 0.923, -1.654, 0, 0, 0, 78 [SEP] 31, WineBottle, -2.666, 0.924, -1.884, 0, 0, 0, 78 [SEP] 32, Spatula, -2.666, 0.938, -1.193, 0, 0, 0, 78 [SEP] 33, Bread, -0.405, 0.972, -3.622, 6.286, 358.675, 354.861, 53 [SEP] 34, Tomato, -2.666, 0.987, -2.115, 0, 0, 0, 78 [SEP] 35, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 78 [SEP] 36, Cup, -0.421, 0.080, -3.205, 0, 0, 0, 59 [SEP] 37, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 38, SaltShaker, -0.690, 0.742, -3.586, 0, 0, 0, 52 [SEP] 39, Potato, -1.943, 0.058, -3.690, 0, 0, 0, 69 [SEP] 40, PepperShaker, -2.438, 0.919, -0.963, 0, 0, 0, 78 [SEP] 41, ButterKnife, -2.438, 0.923, -1.654, 0, 0, 0, 78 [SEP] 42, DishSponge, -2.210, 0.923, -2.115, 0, 0, 0, 78 [SEP] 43, Spoon, -2.210, 0.924, -1.654, 0, 0, 0, 78 [SEP] 44, Plate, -0.343, 1.101, -0.874, 0, 270, 0, 70 [SEP] 45, Knife, -0.525, 0.924, -3.709, 332.383, 3.109, 355.571, 53 [SEP] 46, Mug, -0.743, 0.903, -3.697, 0, 90, 0, 53 [SEP] 47, Bowl, -2.552, 0.922, -1.654, 0, 0, 0, 78 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 85, NorthWall, , , , , , ,  [SEP] 86, EastWall, , , , , , ,  [SEP] 87, SouthWall, , , , , , ,  [SEP] 88, WestWall, , , , , , ,

Output: STEP 1: look down at the floor and walk forward and stop mid table turn right  | STEP 2: pick up the square dish from the table  | STEP 3: turning to the right turn around and walk towards the sink  | STEP 4: place the dish into the sink and rinse with water pick the clean dish back up  | STEP 5: turn to the right turn all  the way around then back to the left  walk towards the stove and open the microwave  | STEP 6: place the dish in the microwave  | END


Input: Put a cold egg in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.930, 0.25, 0, 90, 0,  [SEP] 1, Potato, -1.052, 1.036, 1.417, 0, 180, 0, 112 [SEP] 2, Ladle, -0.868, 0.168, -0.011, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.360, 0.907, 0.747, 0, 0, 0, 95 [SEP] 4, DishSponge, 3.029, 0.712, 0.761, 0, 180, 0, 86 [SEP] 5, Glassbottle, -0.904, 0.901, -0.928, 0, 45, 0, 64 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 59 [SEP] 7, Kettle, 3.198, 0.176, -0.404, 0, 0, 0, 75 [SEP] 8, Pot, -0.862, 0.900, 0.623, 0, 0, 0, 64 [SEP] 9, Spatula, -0.950, 0.721, 1.168, 0, 90, 0, 57 [SEP] 10, Spatula, -0.950, 0.341, 0.489, 0, 90, 0, 65 [SEP] 11, Spoon, 3.122, 0.901, -0.798, 0, 0, 0, 63 [SEP] 12, Spoon, 3.111, 0.748, 0.298, 0, 0, 0, 109 [SEP] 13, Fork, -0.868, 0.326, 0.076, 0, 0, 0, 69 [SEP] 14, Fork, -0.053, 0.900, -1.682, 0, 45, 0, 85 [SEP] 15, CellPhone, -0.717, 0.897, -0.270, 0, 0, 0, 64 [SEP] 16, Mug, 0.808, 1.669, -1.759, 0, 0, 0, 79 [SEP] 17, Apple, 1.360, 0.981, 0.889, 0, 0, 0, 95 [SEP] 18, Apple, -0.574, 0.974, -0.652, 0, 45, 0, 64 [SEP] 19, SaltShaker, 0.054, 0.896, -1.481, 0, 45, 0, 85 [SEP] 20, Tomato, -0.702, 0.937, -0.726, 0, 45, 0, 64 [SEP] 21, Tomato, 0.929, 1.110, -1.503, 0, 0, 0, 110 [SEP] 22, Egg, 0.842, 0.960, 0.650, 0, 36.810, 0, 95 [SEP] 23, Cup, -1.018, 0.995, 1.311, 0, 90, 0, 112 [SEP] 24, Plate, 0.808, 1.687, -1.480, 0, 0, 0, 79 [SEP] 25, Plate, 0.661, 0.923, 0.176, 0, 36.810, 0, 95 [SEP] 26, Glassbottle, 0.179, 0.901, -1.445, 0, 0, 0, 85 [SEP] 27, SoapBottle, 3.122, 0.909, -0.897, 0, 0, 0, 63 [SEP] 28, Potato, 1.008, 0.751, -1.459, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.744, 0, 270, 0, 51 [SEP] 30, Ladle, -0.991, 0.168, 0.576, 0, 90, 0, 94 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.836, 0.925, 0.322, 0, 180, 0, 95 [SEP] 34, Knife, 0.798, 0.936, 0.827, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.356, 0.973, 0.426, 0, 0, 0, 95 [SEP] 36, Cup, 3.279, 1.262, -0.885, 0, 0, 0, 77 [SEP] 37, SaltShaker, 3.179, 1.260, -0.885, 0, 0, 0, 77 [SEP] 38, Egg, 3.028, 0.799, -0.100, 0, 90, 0, 109 [SEP] 39, PepperShaker, 0.783, 0.907, 0.572, 0, 36.810, 0, 95 [SEP] 40, ButterKnife, -0.868, 0.706, -0.011, 0, 0, 0, 71 [SEP] 41, Apple, 1.098, 0.984, 0.464, 0, 0, 0, 95 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, 1.534, 0.972, 0.486, 0, 289.287, 0, 95 [SEP] 44, CellPhone, 3.355, 0.898, -0.698, 0, 0, 0, 63 [SEP] 45, DishSponge, 3.101, 0.100, 1.573, 0, 225, 0, 105 [SEP] 46, Tomato, 3.208, 0.137, 1.680, 0, 225, 0, 105 [SEP] 47, Spoon, 0.063, 0.901, -1.286, 0, 45, 0, 85 [SEP] 48, Bowl, 3.249, 1.461, -1.599, 0, 0, 0, 62 [SEP] 49, Mug, 3.044, 0.895, -0.399, 0, 90, 0, 63 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Go to the left a step and face the counter with the pot. | STEP 2: Take the egg next to the salt on the counter. | STEP 3: Turn right, go forward to the stove top, turn left, go forward, turn right at the fridge, go to the fridge. | STEP 4: Put the egg on the lowest shelf in the fridge in front of the potato. Close and then open the fridge. Take the egg from the fridge. | STEP 5: Turn right, go forward to the stove top, turn right, go forward to the wall, turn left, go forward to the microwave. | STEP 6: Put the egg in the microwave. | END


Input: To chill an egg and place 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, 0.0, 0.930, 0.25, 0, 90, 0,  [SEP] 1, Potato, -1.052, 1.036, 1.417, 0, 180, 0, 112 [SEP] 2, Ladle, -0.868, 0.168, -0.011, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.360, 0.907, 0.747, 0, 0, 0, 95 [SEP] 4, DishSponge, 3.029, 0.712, 0.761, 0, 180, 0, 86 [SEP] 5, Glassbottle, -0.904, 0.901, -0.928, 0, 45, 0, 64 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 59 [SEP] 7, Kettle, 3.198, 0.176, -0.404, 0, 0, 0, 75 [SEP] 8, Pot, -0.862, 0.900, 0.623, 0, 0, 0, 64 [SEP] 9, Spatula, -0.950, 0.721, 1.168, 0, 90, 0, 57 [SEP] 10, Spatula, -0.950, 0.341, 0.489, 0, 90, 0, 65 [SEP] 11, Spoon, 3.122, 0.901, -0.798, 0, 0, 0, 63 [SEP] 12, Spoon, 3.111, 0.748, 0.298, 0, 0, 0, 109 [SEP] 13, Fork, -0.868, 0.326, 0.076, 0, 0, 0, 69 [SEP] 14, Fork, -0.053, 0.900, -1.682, 0, 45, 0, 85 [SEP] 15, CellPhone, -0.717, 0.897, -0.270, 0, 0, 0, 64 [SEP] 16, Mug, 0.808, 1.669, -1.759, 0, 0, 0, 79 [SEP] 17, Apple, 1.360, 0.981, 0.889, 0, 0, 0, 95 [SEP] 18, Apple, -0.574, 0.974, -0.652, 0, 45, 0, 64 [SEP] 19, SaltShaker, 0.054, 0.896, -1.481, 0, 45, 0, 85 [SEP] 20, Tomato, -0.702, 0.937, -0.726, 0, 45, 0, 64 [SEP] 21, Tomato, 0.929, 1.110, -1.503, 0, 0, 0, 110 [SEP] 22, Egg, 0.842, 0.960, 0.650, 0, 36.810, 0, 95 [SEP] 23, Cup, -1.018, 0.995, 1.311, 0, 90, 0, 112 [SEP] 24, Plate, 0.808, 1.687, -1.480, 0, 0, 0, 79 [SEP] 25, Plate, 0.661, 0.923, 0.176, 0, 36.810, 0, 95 [SEP] 26, Glassbottle, 0.179, 0.901, -1.445, 0, 0, 0, 85 [SEP] 27, SoapBottle, 3.122, 0.909, -0.897, 0, 0, 0, 63 [SEP] 28, Potato, 1.008, 0.751, -1.459, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.744, 0, 270, 0, 51 [SEP] 30, Ladle, -0.991, 0.168, 0.576, 0, 90, 0, 94 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.836, 0.925, 0.322, 0, 180, 0, 95 [SEP] 34, Knife, 0.798, 0.936, 0.827, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.356, 0.973, 0.426, 0, 0, 0, 95 [SEP] 36, Cup, 3.279, 1.262, -0.885, 0, 0, 0, 77 [SEP] 37, SaltShaker, 3.179, 1.260, -0.885, 0, 0, 0, 77 [SEP] 38, Egg, 3.028, 0.799, -0.100, 0, 90, 0, 109 [SEP] 39, PepperShaker, 0.783, 0.907, 0.572, 0, 36.810, 0, 95 [SEP] 40, ButterKnife, -0.868, 0.706, -0.011, 0, 0, 0, 71 [SEP] 41, Apple, 1.098, 0.984, 0.464, 0, 0, 0, 95 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, 1.534, 0.972, 0.486, 0, 289.287, 0, 95 [SEP] 44, CellPhone, 3.355, 0.898, -0.698, 0, 0, 0, 63 [SEP] 45, DishSponge, 3.101, 0.100, 1.573, 0, 225, 0, 105 [SEP] 46, Tomato, 3.208, 0.137, 1.680, 0, 225, 0, 105 [SEP] 47, Spoon, 0.063, 0.901, -1.286, 0, 45, 0, 85 [SEP] 48, Bowl, 3.249, 1.461, -1.599, 0, 0, 0, 62 [SEP] 49, Mug, 3.044, 0.895, -0.399, 0, 90, 0, 63 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Move over a bit to the left facing the counter.  | STEP 2: Pick up the egg from the counter.  | STEP 3: Turn right and walk to the fridge on the right.  | STEP 4: Open the fridge door, put the egg down on the third shelf, close the door, open the door, take the egg out of the fridge, close the door.  | STEP 5: Turn and walk to the microwave on the other side of the room.  | STEP 6: Put the egg down in the microwave and close the drawer.  | END


Input: Move two remote controls to the armchair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.920, 6.0, 0, 90, 0,  [SEP] 1, Newspaper, -0.240, 0.286, 6.739, 0, 270, 0, 30 [SEP] 2, WateringCan, -0.437, 0.617, 0.997, 0, 0, 0, 43 [SEP] 3, Vase, -2.525, 0.447, 3.836, 0, 0, 0, 46 [SEP] 4, KeyChain, -4.305, 0.474, 6.450, 0, 0, 0, 47 [SEP] 5, CreditCard, -0.674, 1.461, 5.989, 0, 270, 0, 29 [SEP] 6, CreditCard, -2.494, 0.536, 0.601, 0, 0, 0, 45 [SEP] 7, RemoteControl, -0.563, 1.462, 5.742, 0, 270, 0, 29 [SEP] 8, RemoteControl, -0.319, 0.281, 6.244, 0, 270, 0, 30 [SEP] 9, RemoteControl, -0.319, 0.281, 6.492, 0, 270, 0, 30 [SEP] 10, Box, -4.508, 0.661, 2.022, 0, 180, 0, 44 [SEP] 11, Box, -4.279, 0.663, 3.232, 0, 0, 0, 44 [SEP] 12, Plate, -0.555, 0.285, 5.255, 0, 270, 0, 30 [SEP] 13, Vase, -0.750, 0.617, 0.842, 0, 0, 0, 43 [SEP] 14, WateringCan, -2.280, 0.448, 3.836, 0, 0, 0, 46 [SEP] 15, Newspaper, -4.508, 0.543, 2.627, 0, 90, 0, 44 [SEP] 16, Vase, -3.015, 0.454, 4.279, 0, 0, 0, 46 [SEP] 17, KeyChain, -0.555, 0.281, 5.997, 0, 270, 0, 30 [SEP] 18, Pillow, -2.796, 0.606, 0.793, 0, 0, 0, 45 [SEP] 19, Statue, -3.015, 0.455, 3.614, 0, 0, 0, 46 [SEP] 20, RemoteControl, -2.893, 0.450, 4.058, 0, 0, 0, 46 [SEP] 21, CreditCard, -4.049, 0.539, 2.627, 0, 90, 0, 44 [SEP] 22, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 29 [SEP] 23, Laptop, -2.648, 0.447, 4.722, 0, 0, 0, 46 [SEP] 24, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 29 [SEP] 25, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0,  [SEP] 26, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0,  [SEP] 27, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064,  [SEP] 28, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144,  [SEP] 29, Shelf, -0.391, 1.452, 5.953, 0, 270, 0,  [SEP] 30, Shelf, -0.398, 0.270, 5.961, 0, 270, 0,  [SEP] 31, Television, -0.75, 1.661, 3.936, 0, 270, 0,  [SEP] 32, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0,  [SEP] 33, Painting, -2.670, 1.574, 7.000, 90, 180, 0,  [SEP] 34, Bowl, -2.400, 0.464, 3.442, 0, 0, 0,  [SEP] 35, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0,  [SEP] 36, Window, -1.373, 1.565, 0.008, 90, 180, 0,  [SEP] 37, Window, -0.014, 1.567, 1.496, 90, 270, 0,  [SEP] 38, Window, -3.726, 1.565, 0.008, 90, 180, 0,  [SEP] 39, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0,  [SEP] 40, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0,  [SEP] 41, Shelf, -0.594, 0.104, 0.841, 0, 0, 0,  [SEP] 42, Shelf, -0.594, 0.359, 0.841, 0, 0, 0,  [SEP] 43, SideTable, -0.594, 0.018, 0.841, 0, 0, 0,  [SEP] 44, Sofa, -4.360, 0.028, 2.929, 0, 90, 0,  [SEP] 45, Sofa, -2.493, 0.028, 0.725, 0, 0, 0,  [SEP] 46, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0,  [SEP] 47, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,

Output: STEP 1: Turn and go to the shelf by the wall. | STEP 2: Pick up the remote control on the shelf. | STEP 3: Turn around and go to the armchair.  | STEP 4: Put the remote control on the armchair.  | STEP 5: Turn and go to the shelf by the wall. | STEP 6: Pick up the remote control on the shelf. | STEP 7: Turn around and go to the armchair.  | STEP 8: Put the remote control on the armchair.  | END


Input: Rinse a tea kettle to put on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.914, 1.25, 0, 0, 0,  [SEP] 1, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 41 [SEP] 2, Fork, -2.402, 0.916, 3.675, 0, 0, 0, 38 [SEP] 3, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 44 [SEP] 4, Egg, -0.673, 1.021, 3.988, 0, 180, 0, 64 [SEP] 5, Cup, -3.473, 1.546, 2.224, 0, 90, 0, 69 [SEP] 6, Knife, -3.272, 0.939, 1.189, 0, 90, 0, 47 [SEP] 7, Knife, -1.919, 0.939, 4.146, 0, 0, 0, 38 [SEP] 8, SoapBottle, -1.612, 0.080, 3.625, 0, 0, 0, 43 [SEP] 9, Bowl, -0.790, 0.985, 3.988, 0, 180, 0, 64 [SEP] 10, SaltShaker, -3.540, 1.455, 3.224, 0, 0, 0, 45 [SEP] 11, PepperShaker, -3.492, 1.991, 2.537, 0, 0, 0, 53 [SEP] 12, PepperShaker, -2.905, 0.911, 3.998, 0, 0, 0, 38 [SEP] 13, Lettuce, -3.463, 1.001, 1.273, 0, 0, 0, 47 [SEP] 14, Bread, -3.463, 0.996, 2.844, 0, 0, 0, 38 [SEP] 15, Egg, -1.161, 0.121, 3.884, 0, 270, 0, 70 [SEP] 16, Knife, -3.081, 0.939, 1.189, 0, 90, 0, 47 [SEP] 17, Fork, -3.368, 0.916, 1.189, 0, 90, 0, 47 [SEP] 18, Bread, -3.368, 0.996, 3.827, 0, 0, 0, 38 [SEP] 19, Potato, -3.568, 1.578, 2.120, 0, 90, 0, 69 [SEP] 20, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 38 [SEP] 21, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 46 [SEP] 22, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 58 [SEP] 23, WineBottle, -1.256, 0.088, 3.852, 0, 270, 0, 70 [SEP] 24, Bowl, -3.654, 0.914, 1.440, 0, 0, 0, 47 [SEP] 25, Tomato, -0.790, 1.342, 4.027, 0, 180, 0, 64 [SEP] 26, Cup, -0.44, 0.986, 3.988, 0, 180, 0, 64 [SEP] 27, Spatula, -3.368, 0.930, 1.607, 0, 270, 0, 47 [SEP] 28, SoapBottle, -3.654, 0.915, 2.844, 0, 0, 0, 38 [SEP] 29, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 74 [SEP] 30, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 38 [SEP] 31, Apple, -3.081, 0.975, 1.524, 0, 0, 0, 47 [SEP] 32, SaltShaker, -3.272, 0.911, 3.499, 0, 0, 0, 38 [SEP] 33, PepperShaker, -3.098, 0.743, 3.296, 0, 0, 0, 48 [SEP] 34, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 68 [SEP] 35, DishSponge, -3.126, 0.746, 3.027, 0, 0, 0, 40 [SEP] 36, Spoon, -3.272, 0.916, 3.336, 0, 90, 0, 38 [SEP] 37, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 38 [SEP] 38, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 39, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 40, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 41, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 42, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 43, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 44, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 45, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 46, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 47, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 48, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 49, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 50, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 51, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 52, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 53, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 54, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 55, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 56, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 57, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 58, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 59, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 60, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 61, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 62, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 63, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 64, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 65, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 66, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 67, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 68, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 69, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 70, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 71, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 72, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 73, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 74, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 75, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Make a left to walk to the stove. | STEP 2: Pick up the rightmost tea kettle from the stove. | STEP 3: Turn right to walk to the sink. | STEP 4: Rinse the tea kettle in the sink. | STEP 5: Turn right and hang another right to reach the table. | STEP 6: Set the tea kettle down on the table. | END


Input: Fill the tea pot with water and place 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, -1.25, 0.914, 1.25, 0, 0, 0,  [SEP] 1, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 41 [SEP] 2, Fork, -2.402, 0.916, 3.675, 0, 0, 0, 38 [SEP] 3, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 44 [SEP] 4, Egg, -0.673, 1.021, 3.988, 0, 180, 0, 64 [SEP] 5, Cup, -3.473, 1.546, 2.224, 0, 90, 0, 69 [SEP] 6, Knife, -3.272, 0.939, 1.189, 0, 90, 0, 47 [SEP] 7, Knife, -1.919, 0.939, 4.146, 0, 0, 0, 38 [SEP] 8, SoapBottle, -1.612, 0.080, 3.625, 0, 0, 0, 43 [SEP] 9, Bowl, -0.790, 0.985, 3.988, 0, 180, 0, 64 [SEP] 10, SaltShaker, -3.540, 1.455, 3.224, 0, 0, 0, 45 [SEP] 11, PepperShaker, -3.492, 1.991, 2.537, 0, 0, 0, 53 [SEP] 12, PepperShaker, -2.905, 0.911, 3.998, 0, 0, 0, 38 [SEP] 13, Lettuce, -3.463, 1.001, 1.273, 0, 0, 0, 47 [SEP] 14, Bread, -3.463, 0.996, 2.844, 0, 0, 0, 38 [SEP] 15, Egg, -1.161, 0.121, 3.884, 0, 270, 0, 70 [SEP] 16, Knife, -3.081, 0.939, 1.189, 0, 90, 0, 47 [SEP] 17, Fork, -3.368, 0.916, 1.189, 0, 90, 0, 47 [SEP] 18, Bread, -3.368, 0.996, 3.827, 0, 0, 0, 38 [SEP] 19, Potato, -3.568, 1.578, 2.120, 0, 90, 0, 69 [SEP] 20, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 38 [SEP] 21, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 46 [SEP] 22, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 58 [SEP] 23, WineBottle, -1.256, 0.088, 3.852, 0, 270, 0, 70 [SEP] 24, Bowl, -3.654, 0.914, 1.440, 0, 0, 0, 47 [SEP] 25, Tomato, -0.790, 1.342, 4.027, 0, 180, 0, 64 [SEP] 26, Cup, -0.44, 0.986, 3.988, 0, 180, 0, 64 [SEP] 27, Spatula, -3.368, 0.930, 1.607, 0, 270, 0, 47 [SEP] 28, SoapBottle, -3.654, 0.915, 2.844, 0, 0, 0, 38 [SEP] 29, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 74 [SEP] 30, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 38 [SEP] 31, Apple, -3.081, 0.975, 1.524, 0, 0, 0, 47 [SEP] 32, SaltShaker, -3.272, 0.911, 3.499, 0, 0, 0, 38 [SEP] 33, PepperShaker, -3.098, 0.743, 3.296, 0, 0, 0, 48 [SEP] 34, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 68 [SEP] 35, DishSponge, -3.126, 0.746, 3.027, 0, 0, 0, 40 [SEP] 36, Spoon, -3.272, 0.916, 3.336, 0, 90, 0, 38 [SEP] 37, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 38 [SEP] 38, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 39, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 40, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 41, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 42, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 43, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 44, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 45, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 46, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 47, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 48, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 49, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 50, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 51, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 52, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 53, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 54, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 55, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 56, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 57, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 58, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 59, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 60, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 61, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 62, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 63, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 64, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 65, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 66, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 67, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 68, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 69, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 70, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 71, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 72, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 73, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 74, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 75, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Walk over to the oven | STEP 2: Grab the tea pot | STEP 3: Walk over to the sink | STEP 4: Fill the pot with water | STEP 5: Walk over to the table | STEP 6: Place the pot on the table | END


Input: To use the light to see the laptop. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -1.25, 0, 0, 0,  [SEP] 1, CreditCard, -1.480, 0.711, 2.656, 0, 0, 0, 34 [SEP] 2, CreditCard, -3.602, 0.532, 0.723, 0, 0, 0, 32 [SEP] 3, RemoteControl, -1.862, 0.233, 2.825, 0, 0, 0, 33 [SEP] 4, Laptop, -3.341, 0.582, 0.468, 0, 0, 0, 32 [SEP] 5, Laptop, 2.548, 0.782, -0.045, 0, 0, 0, 37 [SEP] 6, Box, 1.27, 0.155, -0.293, 0, 9.804, 0, 37 [SEP] 7, Candle, -1.747, 0.233, 2.900, 0, 0, 0, 33 [SEP] 8, Vase, 1.662, 0.784, 0.077, 0, 0, 0, 37 [SEP] 9, CreditCard, -0.378, 0.290, 1.842, 0, 270, 0, 29 [SEP] 10, Vase, -2.184, 0.458, 0.018, 0, 0, 0, 38 [SEP] 11, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0,  [SEP] 12, Laptop, 2.105, 0.782, -0.292, 0, 0, 0, 37 [SEP] 13, RemoteControl, -1.774, 0.450, 0.018, 0, 0, 0, 38 [SEP] 14, Statue, -3.592, 0.705, 1.431, 0, 90, 0, 35 [SEP] 15, KeyChain, -1.480, 0.711, 2.744, 0, 90, 0, 34 [SEP] 16, Pillow, -1.921, 0.36, -1.500, 0, 0, 0, 31 [SEP] 17, Plate, 2.548, 0.789, -0.538, 0, 0, 0, 37 [SEP] 18, Statue, -2.020, 0.457, -0.237, 0, 0, 0, 38 [SEP] 19, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0,  [SEP] 20, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0,  [SEP] 21, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0,  [SEP] 22, Painting, -0.056, 1.601, 1.733, 90, 270, 0,  [SEP] 23, Painting, 4.136, 1.590, -0.296, 90, 270, 0,  [SEP] 24, Television, -1.859, 1.200, 2.702, 358.970, 180, 0,  [SEP] 25, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0,  [SEP] 26, Window, 1.478, 1.506, -1.927, 90, 0, 0,  [SEP] 27, Window, -2.003, 1.506, -1.927, 90, 0, 0,  [SEP] 28, Window, 3.480, 1.506, -1.927, 90, 0, 0,  [SEP] 29, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0,  [SEP] 30, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0,  [SEP] 31, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0,  [SEP] 32, Sofa, -3.419, 0.009, -0.042, 0, 90, 0,  [SEP] 33, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0,  [SEP] 34, TVStand, -1.857, 0.000, 2.788, 0, 0, 0,  [SEP] 35, SideTable, -3.597, 0.004, 1.437, 0, 0, 0,  [SEP] 36, SideTable, -3.597, 0.004, -1.607, 0, 0, 0,  [SEP] 37, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0,  [SEP] 38, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0,  [SEP] 39, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0,  [SEP] 40, Chair, 2.288, -0.001, -0.780, 0, 0, 0,  [SEP] 41, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0,  [SEP] 42, Chair, 1.638, -0.001, -0.847, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk across the room to the white couch.  | STEP 2: Close the laptop on the white couch and pick it up.  | STEP 3: Turn to the right and walk across the room, then turn right again and walk to the lamp on the other side of the room.  | STEP 4: Turn on the lamp to the left of the white chair.  | END