Input: Gather both pens from the shelf and counter and put them on the nightstand to the left of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Statue, -1.878, 0.982, -0.540, 0, 90, 0, 47 [SEP] 2, CD, 2.408, 0.435, 1.671, 0, 90, 0, 63 [SEP] 3, CD, 1.731, 0.680, 2.217, 0, 0, 0, 57 [SEP] 4, CellPhone, 2.128, 0.433, 1.590, 0, 90, 0, 63 [SEP] 5, Pen, -1.699, 1.152, -2.187, 0, 180, 0, 42 [SEP] 6, Pencil, -1.720, 0.177, -1.763, 0, 0, 0, 45 [SEP] 7, CreditCard, -1.664, 0.605, -0.813, 0, 0, 0, 51 [SEP] 8, KeyChain, -1.657, 0.972, 0.464, 0, 0, 0, 47 [SEP] 9, KeyChain, -1.720, 0.219, -0.815, 0, 90, 0, 55 [SEP] 10, Book, 0.296, 0.774, -1.284, 0, 0, 0, 29 [SEP] 11, Laptop, 1.502, 0.773, -0.695, 0, 0, 0, 29 [SEP] 12, Laptop, 1.261, 0.773, -0.106, 0, 0, 0, 29 [SEP] 13, Book, 2.593, 0.432, 1.668, 0, 90, 0, 63 [SEP] 14, KeyChain, 2.410, 0.453, 1.841, 0, 90, 0, 63 [SEP] 15, AlarmClock, -1.699, 1.637, -2.073, 0, 90, 0, 41 [SEP] 16, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 29 [SEP] 17, Pillow, 0.296, 0.836, -0.106, 0, 0, 0, 29 [SEP] 18, Vase, -1.668, 1.147, -2.073, 0, 90, 0, 42 [SEP] 19, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 47 [SEP] 20, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 41 [SEP] 21, Pencil, -1.663, 0.805, -0.817, 0, 270, 0, 48 [SEP] 22, CreditCard, -1.878, 0.972, 0.062, 0, 0, 0, 47 [SEP] 23, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 24, Pen, -1.657, 0.976, -0.742, 0, 0, 0, 47 [SEP] 25, CellPhone, 2.437, 0.681, -1.671, 0, 0, 0, 60 [SEP] 26, CD, 2.134, 0.439, 2.014, 0, 90, 0, 63 [SEP] 27, Bowl, -1.657, 0.972, -0.540, 0, 0, 0, 47 [SEP] 28, Statue, 1.576, 0.691, 2.082, 0, 0, 0, 57 [SEP] 29, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 30, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 31, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 32, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 33, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 34, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 35, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 36, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 37, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 38, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 39, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 40, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 41, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 42, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 43, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 44, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 45, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 46, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 47, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 48, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 50, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 51, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 53, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 55, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 56, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 57, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 58, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 59, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 60, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 61, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 62, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 63, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Move forward to the window and turn to the right to face the dresser. | STEP 2: Pick up the pen from the shelf. | STEP 3: Turn to the right to move past the foot of the bed and turn right again to walk to the nightstand to the left of the bed. | STEP 4: Place the pen on the nightstand. | STEP 5: Face backwards, turn left, move forward past the end of the bed and turn right to face the counter to the right of the boots. | STEP 6: Pick up the pen from the end of the counter. | STEP 7: Move to the right past the end of the bed then turn to the right and walk to the nightstand. | STEP 8: Place the pen on the nightstand. | END


Input: Put a piece of warm bread in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 2.25, 0, 0, 0,  [SEP] 1, Pan, 0.440, 1.577, 0.295, 0, 270, 0, 77 [SEP] 2, Potato, 2.006, 0.115, 6.439, 0, 0, 0, 87 [SEP] 3, Potato, 0.923, 1.027, 0.486, 0, 0, 0, 63 [SEP] 4, DishSponge, -0.346, 0.759, 6.323, 0, 0, 0, 99 [SEP] 5, DishSponge, -0.083, 0.143, 0.506, 0, 0, 0, 72 [SEP] 6, ButterKnife, 0.696, 0.992, 0.578, 0, 90, 0, 63 [SEP] 7, ButterKnife, 0.847, 0.992, 0.670, 0, 0, 0, 63 [SEP] 8, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 57 [SEP] 9, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 58 [SEP] 10, Spoon, -0.687, 0.993, 0.303, 0, 0, 0, 63 [SEP] 11, Spatula, 0.260, 0.786, 0.396, 0, 90, 0, 60 [SEP] 12, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 99 [SEP] 13, Fork, 0.735, 0.772, 0.563, 0, 0, 0, 55 [SEP] 14, Plate, -0.552, 0.144, 0.506, 0, 0, 0, 71 [SEP] 15, Plate, 0.124, 0.144, 0.353, 0, 0, 0, 72 [SEP] 16, Knife, 0.014, 0.789, 6.217, 0, 135, 0, 99 [SEP] 17, Knife, 0.668, 0.802, 0.563, 0, 270, 0, 55 [SEP] 18, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 85 [SEP] 19, Tomato, 2.137, 1.565, 6.001, 0, 270, 0, 85 [SEP] 20, SoapBottle, 0.305, 0.760, 6.604, 0, 270, 0, 99 [SEP] 21, SoapBottle, -0.332, 0.760, 6.217, 0, 315, 0, 99 [SEP] 22, Bowl, 0.305, 0.759, 6.416, 0, 270, 0, 99 [SEP] 23, PepperShaker, 0.104, 0.755, 6.653, 0, 225, 0, 99 [SEP] 24, Bread, -0.096, 0.829, 6.787, 0, 0, 0, 99 [SEP] 25, Bread, -0.384, 1.062, 0.486, 0, 0, 0, 63 [SEP] 26, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 63 [SEP] 27, Mug, 1.442, 0.886, 2.474, 0, 90, 0, 86 [SEP] 28, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 76 [SEP] 29, Bread, -0.467, 0.829, 6.541, 0, 270, 0, 99 [SEP] 30, Egg, 0.273, 1.147, 0.278, 0, 0, 0, 79 [SEP] 31, Knife, 1.493, 1.022, 1.350, 0, 90, 0, 63 [SEP] 32, Fork, -0.685, 0.772, 0.395, 0, 90, 0, 59 [SEP] 33, Apple, -0.003, 0.834, 6.541, 0, 270, 0, 99 [SEP] 34, Kettle, 1.573, 0.141, 2.012, 0, 0, 0, 52 [SEP] 35, Plate, 1.490, 0.141, 2.572, 0, 0, 0, 75 [SEP] 36, SaltShaker, -0.530, 0.755, 6.196, 0, 225, 0, 99 [SEP] 37, Lettuce, -0.487, 0.848, 6.807, 0, 135, 0, 99 [SEP] 38, SoapBottle, 1.135, 0.992, 4.624, 0, 0, 0, 64 [SEP] 39, Spatula, 1.348, 0.786, 3.360, 0, 0, 0, 56 [SEP] 40, PaperTowelRoll, -0.221, 0.864, 6.941, 0, 0, 0, 99 [SEP] 41, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 62 [SEP] 42, Potato, 2.051, 1.550, 5.626, 0, 270, 0, 85 [SEP] 43, ButterKnife, 1.292, 0.771, 3.291, 0, 0, 0, 56 [SEP] 44, PepperShaker, 0.150, 0.755, 6.354, 0, 270, 0, 99 [SEP] 45, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 58 [SEP] 46, Tomato, 0.544, 1.042, 0.670, 0, 0, 0, 63 [SEP] 47, DishSponge, 1.140, 1.579, 0.251, 0, 0, 0, 70 [SEP] 48, Cup, 2.094, 1.511, 5.876, 0, 270, 0, 85 [SEP] 49, Spoon, 0.213, 0.761, 6.763, 0, 225, 0, 99 [SEP] 50, Mug, 1.225, 0.987, 3.511, 0, 90, 0, 63 [SEP] 51, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 52, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 53, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 54, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 55, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 56, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 57, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 58, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 59, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 60, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 61, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 62, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 63, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 64, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 65, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 66, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 67, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 68, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 69, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 70, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 71, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 72, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 73, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 74, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 75, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 76, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 77, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 78, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 79, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 80, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 81, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 82, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 83, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 84, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 85, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 86, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 87, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 88, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 89, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 90, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 91, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 92, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 93, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 94, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 95, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 96, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 97, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 98, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 99, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 100, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 101, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Walk to the counter over the dishwasher. | STEP 2: Pick up the shark knife on the counter. | STEP 3: Go across the room to the table. | STEP 4: Slice the loaf of bread on the table. | STEP 5: Go to the left side of the table. | STEP 6: Put the sharp knife down next to the pan. | STEP 7: Go back to the right side of the table. | STEP 8: Pick up a piece of bread from the table. | STEP 9: Take the bread across the room to the microwave. | STEP 10: Put the slice of bread into the microwave, heat the bread, and take the warm bread out of the microwave. | STEP 11: Walk across the room to the fridge to the right of the table. | STEP 12: Put the warm bread in the fridge. | END


Input: place a pan with a knife in it in front of the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.75, 0, 270, 0,  [SEP] 1, Spoon, -2.171, 0.699, 3.699, 0, 270, 0, 57 [SEP] 2, Fork, 0.702, 0.692, 2.568, 0, 270, 0, 42 [SEP] 3, Egg, -1.309, 0.733, 3.691, 0, 0, 0, 80 [SEP] 4, Egg, -2.710, 1.444, 2.221, 0, 90, 0, 77 [SEP] 5, Plate, 0.743, 0.129, 2.533, 0, 0, 0, 52 [SEP] 6, Plate, -2.136, 1.402, 3.897, 0, 0, 0, 46 [SEP] 7, Cup, 0.725, 0.822, 2.198, 0, 0, 0, 50 [SEP] 8, Cup, 1.099, 0.822, 1.117, 0, 0, 0, 45 [SEP] 9, SoapBottle, 1.024, 0.822, 1.072, 0, 90, 0, 45 [SEP] 10, Bowl, -1.817, 0.126, 3.713, 0, 0, 0, 67 [SEP] 11, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 12, PepperShaker, 1.024, 0.819, 2.458, 0, 0, 0, 50 [SEP] 13, PepperShaker, -0.754, 0.155, 3.834, 0, 0, 0, 54 [SEP] 14, Mug, -2.868, 0.818, 3.650, 0, 0, 0, 68 [SEP] 15, Apple, -2.694, 0.828, 2.221, 0, 90, 0, 77 [SEP] 16, Apple, -2.645, 1.668, 2.109, 0, 90, 0, 77 [SEP] 17, Plate, -2.786, 1.402, 3.897, 0, 0, 0, 59 [SEP] 18, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, 0.800, 0.838, 0.984, 0, 0, 0, 45 [SEP] 21, PaperTowelRoll, 0.725, 0.927, 0.895, 0, 0, 0, 45 [SEP] 22, Potato, 1.024, 0.866, 2.631, 0, 0, 0, 50 [SEP] 23, SoapBottle, -2.563, 0.822, 3.331, 0, 0, 0, 68 [SEP] 24, Egg, -1.694, 1.395, 3.868, 0, 180, 0, 74 [SEP] 25, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, 0.800, 0.819, 2.198, 0, 0, 0, 50 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.650, 0.819, 2.285, 0, 0, 0, 50 [SEP] 30, ButterKnife, -1.698, 0.823, 3.567, 0, 0, 0, 68 [SEP] 31, Tomato, 0.800, 0.891, 1.072, 0, 0, 0, 45 [SEP] 32, DishSponge, -2.542, 1.848, 1.801, 0, 0, 0, 70 [SEP] 33, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 86 [SEP] 34, Spoon, -1.362, 0.703, 3.774, 0, 0, 0, 80 [SEP] 35, Apple, 0.960, 0.085, 2.889, 0, 0, 0, 79 [SEP] 36, Knife, 1.099, 0.846, 2.285, 0, 90, 0, 50 [SEP] 37, Mug, -0.834, 1.236, 3.857, 0, 0, 0, 49 [SEP] 38, Bowl, -2.541, 1.632, 2.687, 0, 0, 0, 58 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: move to the kitchen sink at the end of the room | STEP 2: grab a butter knife on the counter in front of the sink | STEP 3: turn around and head over to the kitchen stove | STEP 4: place the butter knife inside the pan on the back right burner | STEP 5: grab the pan with the knife in it off of the stove | STEP 6: turn around and walk over to the coffee maker | STEP 7: place the pan in front of the coffee maker | END


Input: Put the knife in the silver bowl, move the bowl from stove to the table 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, 1.75, 0, 270, 0,  [SEP] 1, Spoon, -2.171, 0.699, 3.699, 0, 270, 0, 57 [SEP] 2, Fork, 0.702, 0.692, 2.568, 0, 270, 0, 42 [SEP] 3, Egg, -1.309, 0.733, 3.691, 0, 0, 0, 80 [SEP] 4, Egg, -2.710, 1.444, 2.221, 0, 90, 0, 77 [SEP] 5, Plate, 0.743, 0.129, 2.533, 0, 0, 0, 52 [SEP] 6, Plate, -2.136, 1.402, 3.897, 0, 0, 0, 46 [SEP] 7, Cup, 0.725, 0.822, 2.198, 0, 0, 0, 50 [SEP] 8, Cup, 1.099, 0.822, 1.117, 0, 0, 0, 45 [SEP] 9, SoapBottle, 1.024, 0.822, 1.072, 0, 90, 0, 45 [SEP] 10, Bowl, -1.817, 0.126, 3.713, 0, 0, 0, 67 [SEP] 11, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 12, PepperShaker, 1.024, 0.819, 2.458, 0, 0, 0, 50 [SEP] 13, PepperShaker, -0.754, 0.155, 3.834, 0, 0, 0, 54 [SEP] 14, Mug, -2.868, 0.818, 3.650, 0, 0, 0, 68 [SEP] 15, Apple, -2.694, 0.828, 2.221, 0, 90, 0, 77 [SEP] 16, Apple, -2.645, 1.668, 2.109, 0, 90, 0, 77 [SEP] 17, Plate, -2.786, 1.402, 3.897, 0, 0, 0, 59 [SEP] 18, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, 0.800, 0.838, 0.984, 0, 0, 0, 45 [SEP] 21, PaperTowelRoll, 0.725, 0.927, 0.895, 0, 0, 0, 45 [SEP] 22, Potato, 1.024, 0.866, 2.631, 0, 0, 0, 50 [SEP] 23, SoapBottle, -2.563, 0.822, 3.331, 0, 0, 0, 68 [SEP] 24, Egg, -1.694, 1.395, 3.868, 0, 180, 0, 74 [SEP] 25, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, 0.800, 0.819, 2.198, 0, 0, 0, 50 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.650, 0.819, 2.285, 0, 0, 0, 50 [SEP] 30, ButterKnife, -1.698, 0.823, 3.567, 0, 0, 0, 68 [SEP] 31, Tomato, 0.800, 0.891, 1.072, 0, 0, 0, 45 [SEP] 32, DishSponge, -2.542, 1.848, 1.801, 0, 0, 0, 70 [SEP] 33, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 86 [SEP] 34, Spoon, -1.362, 0.703, 3.774, 0, 0, 0, 80 [SEP] 35, Apple, 0.960, 0.085, 2.889, 0, 0, 0, 79 [SEP] 36, Knife, 1.099, 0.846, 2.285, 0, 90, 0, 50 [SEP] 37, Mug, -0.834, 1.236, 3.857, 0, 0, 0, 49 [SEP] 38, Bowl, -2.541, 1.632, 2.687, 0, 0, 0, 58 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the sink | STEP 2: Grab the knife by the sink | STEP 3: Turn right, turn right,walk to the stove | STEP 4: Put the knife in the silver pan | STEP 5: Grab the silver pan on the stove | STEP 6: Turn around, walk to the coffee machine | STEP 7: Put the silver pan down on the table in front of the coffee machine | END


Input: place a cooked potato slice in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 180, 0,  [SEP] 1, Potato, 1.466, 0.942, -1.680, 0, 0, 0, 73 [SEP] 2, Potato, 1.958, 0.115, 0.121, 0, 0, 0, 74 [SEP] 3, Ladle, 1.465, 1.704, -2.162, 0, 0, 0, 60 [SEP] 4, Ladle, -1.316, 1.704, -1.792, 0, 90, 0, 56 [SEP] 5, DishSponge, -0.047, 0.930, 0.305, 0, 0, 0, 90 [SEP] 6, DishSponge, 1.748, 0.120, -1.200, 0, 270, 0, 67 [SEP] 7, ButterKnife, -0.047, 0.926, 0.991, 0, 90, 0, 90 [SEP] 8, ButterKnife, -0.230, 0.913, -1.713, 0, 0, 0, 73 [SEP] 9, Spatula, 1.557, 0.928, -1.095, 0, 270, 0, 73 [SEP] 10, Spatula, 0.408, 0.941, 1.220, 0, 0, 0, 90 [SEP] 11, Spoon, 1.557, 0.914, -1.446, 0, 0, 0, 73 [SEP] 12, Spoon, 0.235, 0.914, -1.737, 0, 0, 0, 73 [SEP] 13, Egg, -1.495, 0.913, -0.495, 0, 90, 0, 81 [SEP] 14, Cup, -1.610, 1.504, -0.806, 0, 90, 0, 81 [SEP] 15, Plate, 0.066, 0.934, 0.991, 0, 0, 0, 90 [SEP] 16, Knife, 0.457, 0.936, -1.834, 0, 180, 0, 73 [SEP] 17, Knife, 1.919, 0.936, -1.446, 0, 0, 0, 73 [SEP] 18, Tomato, -0.356, 0.816, -2.026, 0, 0, 0, 85 [SEP] 19, Tomato, -0.160, 0.982, 1.220, 0, 0, 0, 90 [SEP] 20, SoapBottle, 1.873, 0.879, 2.483, 0, 0, 0, 99 [SEP] 21, SoapBottle, 0.180, 0.929, 0.762, 0, 0, 0, 90 [SEP] 22, Bowl, 0.563, 1.655, -2.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.137, 0.761, -2.071, 0, 90, 0, 85 [SEP] 24, Lettuce, -0.160, 1.008, 0.762, 0, 0, 0, 90 [SEP] 25, Lettuce, -1.553, 1.264, -0.495, 0, 90, 0, 81 [SEP] 26, SaltShaker, 0.119, 0.909, -1.713, 0, 0, 0, 73 [SEP] 27, PepperShaker, -0.047, 0.926, 1.220, 0, 0, 0, 90 [SEP] 28, PepperShaker, -0.576, 0.108, -2.005, 0, 0, 0, 66 [SEP] 29, Mug, -0.824, 0.908, -2.167, 0, 0, 0, 73 [SEP] 30, Mug, -0.160, 0.925, 0.534, 0, 0, 0, 90 [SEP] 31, Apple, 1.647, 0.984, -1.212, 0, 0, 0, 73 [SEP] 32, Potato, -0.047, 0.956, 0.076, 0, 0, 0, 90 [SEP] 33, Bowl, 1.566, 0.549, 2.431, 0, 0, 0, 93 [SEP] 34, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 90 [SEP] 35, Fork, 1.850, 0.914, -2.169, 0, 0, 0, 73 [SEP] 36, Ladle, 0.180, 0.971, 0.305, 0, 0, 0, 90 [SEP] 37, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 90 [SEP] 38, Lettuce, 0.408, 1.008, 0.534, 0, 0, 0, 90 [SEP] 39, WineBottle, -0.737, 0.112, -1.961, 0, 0, 0, 66 [SEP] 40, Spatula, 0.408, 0.945, 0.762, 0, 0, 0, 90 [SEP] 41, Plate, -1.495, 1.187, -0.806, 0, 90, 0, 81 [SEP] 42, SaltShaker, 1.838, 1.654, -1.199, 0, 270, 0, 64 [SEP] 43, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 55 [SEP] 44, Cup, -0.963, 0.913, -2.115, 0, 0, 0, 73 [SEP] 45, PepperShaker, 0.180, 0.926, 1.448, 0, 0, 0, 90 [SEP] 46, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 54 [SEP] 47, ButterKnife, 0.294, 0.926, 0.991, 0, 0, 0, 90 [SEP] 48, Tomato, -1.380, 0.911, -0.495, 0, 90, 0, 81 [SEP] 49, DishSponge, -0.064, 0.764, -1.936, 0, 0, 0, 85 [SEP] 50, Egg, 0.066, 0.984, 0.534, 0, 0, 0, 90 [SEP] 51, Spoon, 1.828, 0.914, -1.680, 0, 0, 0, 73 [SEP] 52, Knife, 0.180, 0.953, 1.220, 0, 0, 0, 90 [SEP] 53, Mug, -1.495, 1.499, -0.806, 0, 90, 0, 81 [SEP] 54, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 55, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 56, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 57, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 58, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 59, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 60, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 63, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 64, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 65, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 66, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 67, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 68, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 69, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 70, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 71, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 72, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 73, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 74, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 75, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 76, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 77, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 78, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 79, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 80, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 81, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 82, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 83, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 84, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 85, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 86, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 87, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 88, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 89, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 90, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 91, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 92, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 93, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 94, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 95, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 96, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 97, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 98, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 99, , , , , , , ,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: move right to the table | STEP 2: pick up the knife from the table | STEP 3: head to the other side of the table | STEP 4: slice the potato on the table | STEP 5: turn around to the fridge | STEP 6: place the knife in the fridge | STEP 7: turn around to the table | STEP 8: pick up a potato slice from the table | STEP 9: turn right to the oven  | STEP 10: place the slice to cook in the oven and take it out | STEP 11: turn right to the fridge | STEP 12: place the potato slice in the fridge | END


Input: Throw the apple in the sink and microwave away in the bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 270, 0,  [SEP] 1, SprayBottle, -1.712, 0.909, 0.204, 0, 0, 0, 80 [SEP] 2, SprayBottle, 0.407, 0.116, -1.585, 0, 0, 0, 72 [SEP] 3, Pen, -1.712, 0.913, 0.032, 0, 0, 0, 80 [SEP] 4, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 77 [SEP] 5, Potato, 1.420, 0.256, 1.08, 0, 0, 0, 95 [SEP] 6, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 80 [SEP] 7, Kettle, 1.034, 0.118, 0.430, 0, 0, 0, 61 [SEP] 8, ButterKnife, 0.569, 0.911, -1.619, 0, 0, 0, 78 [SEP] 9, DishSponge, -0.685, 0.111, -1.681, 0, 0, 0, 65 [SEP] 10, DishSponge, 1.035, 0.774, 0.539, 0, 0, 0, 55 [SEP] 11, Glassbottle, -1.957, 0.911, 0.463, 0, 0, 0, 80 [SEP] 12, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 78 [SEP] 13, Fork, 0.852, 0.911, -1.534, 0, 0, 0, 78 [SEP] 14, Egg, 1.420, 1.749, 1.838, 0, 270, 0, 97 [SEP] 15, Egg, 1.369, 1.846, 2.369, 0, 270, 0, 97 [SEP] 16, Plate, 1.401, 1.656, -0.736, 0, 0, 0, 66 [SEP] 17, Knife, 0.903, 0.804, 0.377, 0, 90, 0, 55 [SEP] 18, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 57 [SEP] 19, Tomato, -1.835, 0.950, 0.549, 0, 0, 0, 80 [SEP] 20, Tomato, 0.149, 0.959, -1.758, 0, 270, 0, 57 [SEP] 21, Bowl, 0.970, 1.656, -1.839, 0, 0, 0, 67 [SEP] 22, PepperShaker, -2.445, 0.905, 0.377, 0, 0, 0, 80 [SEP] 23, Bread, -2.323, 0.988, 0.204, 0, 0, 0, 80 [SEP] 24, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 97 [SEP] 25, Lettuce, 1.325, 1.436, 2.476, 0, 270, 0, 97 [SEP] 26, Mug, -0.086, 0.777, -1.707, 0, 270, 0, 99 [SEP] 27, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 100 [SEP] 28, Apple, 0.285, 0.954, -1.758, 0, 270, 0, 57 [SEP] 29, Tomato, 1.275, 1.407, 1.976, 0, 270, 0, 97 [SEP] 30, Glassbottle, -1.835, 0.911, 0.377, 0, 0, 0, 80 [SEP] 31, Knife, -2.079, 0.940, 0.291, 0, 0, 0, 80 [SEP] 32, Plate, 1.260, 0.911, 0.372, 0, 0, 0, 78 [SEP] 33, Fork, 0.320, 0.920, -1.708, 0, 90, 0, 57 [SEP] 34, Ladle, -0.703, 0.955, -1.789, 0, 0, 0, 78 [SEP] 35, Potato, 1.275, 1.409, 1.726, 0, 270, 0, 97 [SEP] 36, Lettuce, -1.957, 0.979, 0.204, 0, 0, 0, 80 [SEP] 37, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 74 [SEP] 38, Pen, -1.709, 0.775, -1.565, 0, 270, 0, 83 [SEP] 39, SaltShaker, 1.494, 1.157, -1.345, 0, 0, 0, 84 [SEP] 40, Cup, 0.649, 0.117, -1.489, 0, 90, 0, 72 [SEP] 41, Egg, 0.217, 0.948, -1.859, 0, 270, 0, 57 [SEP] 42, Spatula, -1.809, 0.925, -1.448, 0, 0, 0, 76 [SEP] 43, Bowl, 1.031, 0.115, -0.699, 0, 0, 0, 62 [SEP] 44, SprayBottle, -2.074, 0.111, -1.584, 0, 0, 0, 81 [SEP] 45, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 79 [SEP] 46, SoapBottle, 0.217, 0.919, -1.607, 0, 0, 0, 57 [SEP] 47, Pot, 1.342, 1.658, -1.264, 0, 0, 0, 70 [SEP] 48, ButterKnife, -2.201, 0.910, 0.118, 0, 0, 0, 80 [SEP] 49, PepperShaker, 0.649, 0.112, -1.728, 0, 90, 0, 72 [SEP] 50, DishSponge, 1.343, 0.910, 0.031, 0, 0, 0, 78 [SEP] 51, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 84 [SEP] 52, Apple, 1.420, 1.754, 1.713, 0, 270, 0, 97 [SEP] 53, Spoon, 0.758, 0.912, -1.789, 0, 0, 0, 82 [SEP] 54, Mug, 1.414, 1.157, -1.002, 0, 0, 0, 84 [SEP] 55, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 56, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 57, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 58, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 59, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 60, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 61, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 62, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 63, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 64, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 65, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 66, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 67, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 68, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 69, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 70, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 71, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 72, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 73, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 74, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 75, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 76, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 77, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 78, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 79, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 80, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 81, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 82, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 83, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 84, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 85, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 86, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 87, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 88, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 89, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 90, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 91, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 92, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 93, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 94, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 95, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 96, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 97, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 98, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 99, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 100, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 101, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 102, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 103, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Move to the sink to the left of you. | STEP 2: Pick up an apple from the sink. | STEP 3: Move to the bin behind you before the fridge on the right. | STEP 4: Place the apple inside of the bin. | STEP 5: Move to the microwave in front of you to the right slightly. | STEP 6: Retrieve the apple from the microwave and close the door. | STEP 7: Move to the bin to the left of you. | STEP 8: Place the apple inside of the bin. | END


Input: Getting rid of green apples in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 270, 0,  [SEP] 1, SprayBottle, -1.712, 0.909, 0.204, 0, 0, 0, 80 [SEP] 2, SprayBottle, 0.407, 0.116, -1.585, 0, 0, 0, 72 [SEP] 3, Pen, -1.712, 0.913, 0.032, 0, 0, 0, 80 [SEP] 4, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 77 [SEP] 5, Potato, 1.420, 0.256, 1.08, 0, 0, 0, 95 [SEP] 6, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 80 [SEP] 7, Kettle, 1.034, 0.118, 0.430, 0, 0, 0, 61 [SEP] 8, ButterKnife, 0.569, 0.911, -1.619, 0, 0, 0, 78 [SEP] 9, DishSponge, -0.685, 0.111, -1.681, 0, 0, 0, 65 [SEP] 10, DishSponge, 1.035, 0.774, 0.539, 0, 0, 0, 55 [SEP] 11, Glassbottle, -1.957, 0.911, 0.463, 0, 0, 0, 80 [SEP] 12, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 78 [SEP] 13, Fork, 0.852, 0.911, -1.534, 0, 0, 0, 78 [SEP] 14, Egg, 1.420, 1.749, 1.838, 0, 270, 0, 97 [SEP] 15, Egg, 1.369, 1.846, 2.369, 0, 270, 0, 97 [SEP] 16, Plate, 1.401, 1.656, -0.736, 0, 0, 0, 66 [SEP] 17, Knife, 0.903, 0.804, 0.377, 0, 90, 0, 55 [SEP] 18, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 57 [SEP] 19, Tomato, -1.835, 0.950, 0.549, 0, 0, 0, 80 [SEP] 20, Tomato, 0.149, 0.959, -1.758, 0, 270, 0, 57 [SEP] 21, Bowl, 0.970, 1.656, -1.839, 0, 0, 0, 67 [SEP] 22, PepperShaker, -2.445, 0.905, 0.377, 0, 0, 0, 80 [SEP] 23, Bread, -2.323, 0.988, 0.204, 0, 0, 0, 80 [SEP] 24, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 97 [SEP] 25, Lettuce, 1.325, 1.436, 2.476, 0, 270, 0, 97 [SEP] 26, Mug, -0.086, 0.777, -1.707, 0, 270, 0, 99 [SEP] 27, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 100 [SEP] 28, Apple, 0.285, 0.954, -1.758, 0, 270, 0, 57 [SEP] 29, Tomato, 1.275, 1.407, 1.976, 0, 270, 0, 97 [SEP] 30, Glassbottle, -1.835, 0.911, 0.377, 0, 0, 0, 80 [SEP] 31, Knife, -2.079, 0.940, 0.291, 0, 0, 0, 80 [SEP] 32, Plate, 1.260, 0.911, 0.372, 0, 0, 0, 78 [SEP] 33, Fork, 0.320, 0.920, -1.708, 0, 90, 0, 57 [SEP] 34, Ladle, -0.703, 0.955, -1.789, 0, 0, 0, 78 [SEP] 35, Potato, 1.275, 1.409, 1.726, 0, 270, 0, 97 [SEP] 36, Lettuce, -1.957, 0.979, 0.204, 0, 0, 0, 80 [SEP] 37, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 74 [SEP] 38, Pen, -1.709, 0.775, -1.565, 0, 270, 0, 83 [SEP] 39, SaltShaker, 1.494, 1.157, -1.345, 0, 0, 0, 84 [SEP] 40, Cup, 0.649, 0.117, -1.489, 0, 90, 0, 72 [SEP] 41, Egg, 0.217, 0.948, -1.859, 0, 270, 0, 57 [SEP] 42, Spatula, -1.809, 0.925, -1.448, 0, 0, 0, 76 [SEP] 43, Bowl, 1.031, 0.115, -0.699, 0, 0, 0, 62 [SEP] 44, SprayBottle, -2.074, 0.111, -1.584, 0, 0, 0, 81 [SEP] 45, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 79 [SEP] 46, SoapBottle, 0.217, 0.919, -1.607, 0, 0, 0, 57 [SEP] 47, Pot, 1.342, 1.658, -1.264, 0, 0, 0, 70 [SEP] 48, ButterKnife, -2.201, 0.910, 0.118, 0, 0, 0, 80 [SEP] 49, PepperShaker, 0.649, 0.112, -1.728, 0, 90, 0, 72 [SEP] 50, DishSponge, 1.343, 0.910, 0.031, 0, 0, 0, 78 [SEP] 51, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 84 [SEP] 52, Apple, 1.420, 1.754, 1.713, 0, 270, 0, 97 [SEP] 53, Spoon, 0.758, 0.912, -1.789, 0, 0, 0, 82 [SEP] 54, Mug, 1.414, 1.157, -1.002, 0, 0, 0, 84 [SEP] 55, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 56, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 57, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 58, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 59, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 60, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 61, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 62, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 63, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 64, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 65, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 66, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 67, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 68, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 69, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 70, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 71, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 72, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 73, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 74, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 75, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 76, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 77, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 78, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 79, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 80, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 81, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 82, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 83, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 84, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 85, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 86, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 87, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 88, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 89, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 90, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 91, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 92, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 93, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 94, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 95, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 96, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 97, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 98, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 99, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 100, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 101, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 102, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 103, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and walk towards the sink and face it | STEP 2: Pick up the green apple from the sink | STEP 3: Turn around and walk to the trash bin next to the refrigerator and face it on the right | STEP 4: Place the apple inside the trash bin | STEP 5: Turn to the right and face the microwave | STEP 6: Open up the microwave and take out the apple, then close the door back | STEP 7: Turn to the left and face the trash bin next to the refrigerator | STEP 8: Place the apple inside the trash bin | END


Input: Throw out the apple on the counter and the apple 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, 0.25, 0.900, 1.75, 0, 270, 0,  [SEP] 1, SprayBottle, -1.712, 0.909, 0.204, 0, 0, 0, 80 [SEP] 2, SprayBottle, 0.407, 0.116, -1.585, 0, 0, 0, 72 [SEP] 3, Pen, -1.712, 0.913, 0.032, 0, 0, 0, 80 [SEP] 4, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 77 [SEP] 5, Potato, 1.420, 0.256, 1.08, 0, 0, 0, 95 [SEP] 6, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 80 [SEP] 7, Kettle, 1.034, 0.118, 0.430, 0, 0, 0, 61 [SEP] 8, ButterKnife, 0.569, 0.911, -1.619, 0, 0, 0, 78 [SEP] 9, DishSponge, -0.685, 0.111, -1.681, 0, 0, 0, 65 [SEP] 10, DishSponge, 1.035, 0.774, 0.539, 0, 0, 0, 55 [SEP] 11, Glassbottle, -1.957, 0.911, 0.463, 0, 0, 0, 80 [SEP] 12, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 78 [SEP] 13, Fork, 0.852, 0.911, -1.534, 0, 0, 0, 78 [SEP] 14, Egg, 1.420, 1.749, 1.838, 0, 270, 0, 97 [SEP] 15, Egg, 1.369, 1.846, 2.369, 0, 270, 0, 97 [SEP] 16, Plate, 1.401, 1.656, -0.736, 0, 0, 0, 66 [SEP] 17, Knife, 0.903, 0.804, 0.377, 0, 90, 0, 55 [SEP] 18, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 57 [SEP] 19, Tomato, -1.835, 0.950, 0.549, 0, 0, 0, 80 [SEP] 20, Tomato, 0.149, 0.959, -1.758, 0, 270, 0, 57 [SEP] 21, Bowl, 0.970, 1.656, -1.839, 0, 0, 0, 67 [SEP] 22, PepperShaker, -2.445, 0.905, 0.377, 0, 0, 0, 80 [SEP] 23, Bread, -2.323, 0.988, 0.204, 0, 0, 0, 80 [SEP] 24, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 97 [SEP] 25, Lettuce, 1.325, 1.436, 2.476, 0, 270, 0, 97 [SEP] 26, Mug, -0.086, 0.777, -1.707, 0, 270, 0, 99 [SEP] 27, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 100 [SEP] 28, Apple, 0.285, 0.954, -1.758, 0, 270, 0, 57 [SEP] 29, Tomato, 1.275, 1.407, 1.976, 0, 270, 0, 97 [SEP] 30, Glassbottle, -1.835, 0.911, 0.377, 0, 0, 0, 80 [SEP] 31, Knife, -2.079, 0.940, 0.291, 0, 0, 0, 80 [SEP] 32, Plate, 1.260, 0.911, 0.372, 0, 0, 0, 78 [SEP] 33, Fork, 0.320, 0.920, -1.708, 0, 90, 0, 57 [SEP] 34, Ladle, -0.703, 0.955, -1.789, 0, 0, 0, 78 [SEP] 35, Potato, 1.275, 1.409, 1.726, 0, 270, 0, 97 [SEP] 36, Lettuce, -1.957, 0.979, 0.204, 0, 0, 0, 80 [SEP] 37, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 74 [SEP] 38, Pen, -1.709, 0.775, -1.565, 0, 270, 0, 83 [SEP] 39, SaltShaker, 1.494, 1.157, -1.345, 0, 0, 0, 84 [SEP] 40, Cup, 0.649, 0.117, -1.489, 0, 90, 0, 72 [SEP] 41, Egg, 0.217, 0.948, -1.859, 0, 270, 0, 57 [SEP] 42, Spatula, -1.809, 0.925, -1.448, 0, 0, 0, 76 [SEP] 43, Bowl, 1.031, 0.115, -0.699, 0, 0, 0, 62 [SEP] 44, SprayBottle, -2.074, 0.111, -1.584, 0, 0, 0, 81 [SEP] 45, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 79 [SEP] 46, SoapBottle, 0.217, 0.919, -1.607, 0, 0, 0, 57 [SEP] 47, Pot, 1.342, 1.658, -1.264, 0, 0, 0, 70 [SEP] 48, ButterKnife, -2.201, 0.910, 0.118, 0, 0, 0, 80 [SEP] 49, PepperShaker, 0.649, 0.112, -1.728, 0, 90, 0, 72 [SEP] 50, DishSponge, 1.343, 0.910, 0.031, 0, 0, 0, 78 [SEP] 51, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 84 [SEP] 52, Apple, 1.420, 1.754, 1.713, 0, 270, 0, 97 [SEP] 53, Spoon, 0.758, 0.912, -1.789, 0, 0, 0, 82 [SEP] 54, Mug, 1.414, 1.157, -1.002, 0, 0, 0, 84 [SEP] 55, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 56, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 57, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 58, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 59, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 60, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 61, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 62, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 63, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 64, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 65, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 66, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 67, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 68, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 69, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 70, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 71, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 72, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 73, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 74, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 75, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 76, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 77, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 78, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 79, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 80, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 81, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 82, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 83, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 84, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 85, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 86, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 87, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 88, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 89, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 90, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 91, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 92, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 93, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 94, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 95, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 96, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 97, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 98, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 99, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 100, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 101, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 102, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 103, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the counter to the left of the sink.  | STEP 2: Take the green apple behind the metal grater.  | STEP 3: Turn around and take the apple to the trash can between the refrigerator and the counter. | STEP 4: Put the apple in the trash can.  | STEP 5: Go right to the microwave above the middle of the counter.  | STEP 6: Take the apple out of the microwave. | STEP 7: Take the apple to the trash can between the refrigerator and the counter. | STEP 8: Put the apple into the trash can.  | END


Input: place both CD's into the bottom drawer of the black cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.75, 0, 270, 0,  [SEP] 1, CD, -0.774, 0.900, -1.588, 0, 0, 0, 21 [SEP] 2, CD, 2.591, 0.524, 1.312, 0, 180, 0, 33 [SEP] 3, CellPhone, 0.784, 0.943, -1.937, 0, 0, 0, 27 [SEP] 4, Pen, 2.282, 0.528, 1.272, 0, 180, 0, 33 [SEP] 5, Pencil, 2.359, 0.528, 1.110, 0, 180, 0, 33 [SEP] 6, CreditCard, 0.961, 0.941, -1.993, 0, 0, 0, 27 [SEP] 7, KeyChain, 2.606, 0.290, 1.173, 0, 0, 0, 35 [SEP] 8, KeyChain, 2.436, 0.525, 1.110, 0, 180, 0, 33 [SEP] 9, Laptop, 2.329, 0.774, -0.757, 0, 180, 0, 31 [SEP] 10, Book, -0.426, 0.901, -1.495, 0, 0, 0, 21 [SEP] 11, Pen, -0.948, 0.901, -1.310, 0, 0, 0, 21 [SEP] 12, AlarmClock, -1.122, 0.902, -1.773, 0, 0, 0, 21 [SEP] 13, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 38 [SEP] 14, CellPhone, -0.600, 0.897, -1.403, 0, 0, 0, 21 [SEP] 15, Pencil, 2.436, 0.528, 1.231, 0, 180, 0, 33 [SEP] 16, Pillow, 3.173, 0.804, -0.932, 0, 0, 0, 38 [SEP] 17, Laptop, 2.054, 0.774, -1.205, 0, 180, 0, 31 [SEP] 18, KeyChain, 1.138, 0.941, -1.937, 0, 0, 0, 27 [SEP] 19, CreditCard, 1.138, 0.941, -1.826, 0, 0, 0, 27 [SEP] 20, CD, 0.607, 0.941, -1.937, 0, 0, 0, 27 [SEP] 21, Desk, -0.503, 0.006, -1.465, 0, 0, 0,  [SEP] 22, Drawer, -0.945, 0.493, -1.176, 0, 0, 0,  [SEP] 23, Drawer, -0.946, 0.212, -1.176, 0, 0, 0,  [SEP] 24, Drawer, -0.944, 0.739, -1.176, 0, 0, 0,  [SEP] 25, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0,  [SEP] 26, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0,  [SEP] 27, Shelf, 0.759, 0.934, -1.909, 0, 0, 0,  [SEP] 28, Mirror, 2.407, 1.294, 1.401, 0, 0, 0,  [SEP] 29, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0,  [SEP] 30, Window, 0.717, 1.603, -2.108, 90, 0, 0,  [SEP] 31, Bed, 2.301, 0.005, -1.056, 0, 270, 0,  [SEP] 32, Blinds, 0.749, 2.523, -2.022, 0, 0, 0,  [SEP] 33, SideTable, 2.436, 0.002, 1.143, 0, 180, 0,  [SEP] 34, Drawer, 2.437, 0.122, 1.154, 0, 180, 0,  [SEP] 35, Drawer, 2.437, 0.350, 1.153, 0, 180, 0,  [SEP] 36, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305,  [SEP] 37, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0,  [SEP] 38, , , , , , , ,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: turn left and walk to the desk at the end of the room | STEP 2: pick up the CD off of the desk | STEP 3: turn around and move towards black cabinet at the opposite corner of the room | STEP 4: open the bottom drawer of the cabinet and place the CD inside | STEP 5: move left a bit to align yourself with the cabinet, and move forwards towards it | STEP 6: grab the CD off of the cabinet | STEP 7: back up a bit from the cabinet | STEP 8: place the CD in the drawer the other CD went into | END


Input: Put the bowl with turner from the stove to the 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, 0.900, -0.5, 0, 270, 0,  [SEP] 1, Potato, -1.959, 1.081, -1.849, 0, 0, 0, 81 [SEP] 2, Potato, -2.31, 1.081, -1.763, 0, 0, 0, 81 [SEP] 3, DishSponge, -0.682, 0.110, -1.508, 0, 0, 0, 65 [SEP] 4, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 56 [SEP] 5, Fork, 0.025, 0.773, 0.306, 0, 0, 0, 57 [SEP] 6, Fork, 1.663, 0.912, 0.375, 0, 90, 0, 66 [SEP] 7, Spoon, 0.167, 0.913, 0.458, 0, 0, 0, 50 [SEP] 8, Spoon, -0.971, 0.774, -1.505, 0, 0, 0, 64 [SEP] 9, Spatula, 1.601, 0.927, 0.209, 0, 90, 0, 66 [SEP] 10, Spatula, 0.300, 0.927, 0.209, 0, 180, 0, 50 [SEP] 11, Egg, -0.427, 0.105, 0.439, 0, 90, 0, 80 [SEP] 12, Egg, 1.601, 0.947, 0.706, 0, 0, 0, 66 [SEP] 13, Cup, 1.867, 0.106, 0.274, 0, 0, 0, 59 [SEP] 14, Cup, 0.167, 0.910, 0.209, 0, 0, 0, 50 [SEP] 15, Plate, 0.271, 0.109, -1.509, 0, 180, 0, 48 [SEP] 16, SoapBottle, 1.289, 0.910, -1.406, 0, 0, 0, 51 [SEP] 17, Bowl, -0.175, 0.911, -1.820, 0, 0, 0, 51 [SEP] 18, Bowl, -0.451, 0.911, -1.820, 0, 0, 0, 51 [SEP] 19, Mug, -0.198, 0.105, -1.471, 0, 0, 0, 60 [SEP] 20, Apple, -0.296, 0.137, 0.612, 0, 90, 0, 80 [SEP] 21, Apple, -1.027, 1.082, -1.770, 0, 0, 0, 73 [SEP] 22, Bread, 1.846, 0.995, 0.540, 0, 0, 0, 66 [SEP] 23, Knife, 0.035, 0.937, 0.540, 0, 0, 0, 50 [SEP] 24, Fork, -0.104, 0.774, -1.505, 0, 0, 0, 54 [SEP] 25, Bowl, -0.096, 0.911, 0.292, 0, 0, 0, 50 [SEP] 26, Kettle, 1.535, 0.913, -1.737, 0, 0, 0, 51 [SEP] 27, Cup, 1.785, 0.910, 0.292, 0, 0, 0, 66 [SEP] 28, Tomato, 0.908, 0.968, -1.848, 0, 270, 0, 49 [SEP] 29, SoapBottle, 0.649, 0.918, -1.582, 0, 270, 0, 49 [SEP] 30, Plate, 1.658, 0.913, -1.489, 0, 0, 0, 51 [SEP] 31, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 53 [SEP] 32, Spatula, -0.082, 0.927, -1.654, 0, 90, 0, 51 [SEP] 33, PaperTowelRoll, -0.451, 1.016, -1.406, 0, 0, 0, 51 [SEP] 34, Egg, -0.394, 0.105, 0.612, 0, 90, 0, 80 [SEP] 35, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 49 [SEP] 36, SaltShaker, -0.343, 1.325, -1.919, 0, 180, 0, 45 [SEP] 37, PepperShaker, 0.387, 0.106, 0.270, 0, 0, 0, 62 [SEP] 38, Apple, 0.804, 0.986, -1.715, 0, 270, 0, 49 [SEP] 39, ButterKnife, -0.544, 0.912, -1.820, 0, 90, 0, 51 [SEP] 40, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 73 [SEP] 41, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 63 [SEP] 42, DishSponge, -0.329, 0.069, 0.482, 0, 90, 0, 80 [SEP] 43, Spoon, 0.377, 0.777, -1.552, 0, 270, 0, 74 [SEP] 44, Mug, -2.135, 0.775, -1.849, 0, 0, 0, 81 [SEP] 45, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 46, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 47, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 48, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 49, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 50, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 51, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 52, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 53, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 54, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 55, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 56, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 57, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 58, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 59, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 60, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 61, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 62, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 63, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 64, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 65, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 66, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 67, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 68, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 69, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 70, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 71, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 72, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 73, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 74, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 75, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 76, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 77, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 78, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 79, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 80, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 81, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 82, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 83, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 84, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 85, NorthWall, , , , , , ,  [SEP] 86, EastWall, , , , , , ,  [SEP] 87, SouthWall, , , , , , ,  [SEP] 88, WestWall, , , , , , ,

Output: STEP 1: Turn to your right and face the counter top on the left side of the stove | STEP 2: Pick the turner on the edge of the counter top | STEP 3: Turn to your right then face the stove | STEP 4: Put the turner in the bowl on the stove | STEP 5: Pick up the bowl with turner on the stove | STEP 6: Turn to your left and head to the table beside the door | STEP 7: Put the bowl with turner on the right side of the table | END


Input: Move the mug to the table, place a fork in mug. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 3.0, 0, 270, 0,  [SEP] 1, Potato, 0.064, 1.132, 0.278, 0, 0, 0, 74 [SEP] 2, Potato, 2.009, 1.550, 5.251, 0, 270, 0, 80 [SEP] 3, DishSponge, 0.123, 0.759, 6.107, 0, 135, 0, 94 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 54 [SEP] 5, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 6, Spoon, 1.225, 0.993, 0.440, 0, 0, 0, 58 [SEP] 7, Spatula, -0.011, 0.786, 0.618, 0, 270, 0, 55 [SEP] 8, Fork, 0.305, 0.760, 6.416, 0, 270, 0, 94 [SEP] 9, Fork, 1.404, 0.772, 3.223, 0, 0, 0, 51 [SEP] 10, Fork, -0.034, 0.760, 6.478, 0, 0, 0, 94 [SEP] 11, Egg, 1.966, 1.565, 5.501, 0, 270, 0, 80 [SEP] 12, Cup, 0.301, 0.756, 6.674, 0, 225, 0, 94 [SEP] 13, Cup, -0.003, 0.756, 6.291, 0, 270, 0, 94 [SEP] 14, Knife, -0.481, 0.802, 0.451, 0, 90, 0, 54 [SEP] 15, Knife, -0.312, 0.789, 6.541, 0, 0, 0, 94 [SEP] 16, Tomato, 0.212, 0.809, 6.196, 0, 135, 0, 94 [SEP] 17, Tomato, -0.221, 0.809, 6.787, 0, 0, 0, 94 [SEP] 18, SoapBottle, 0.885, 0.143, 0.497, 0, 0, 0, 64 [SEP] 19, SoapBottle, 1.540, 2.207, 4.175, 0, 0, 0, 46 [SEP] 20, PepperShaker, 1.135, 0.987, 4.670, 0, 0, 0, 59 [SEP] 21, PepperShaker, -0.413, 0.139, 0.277, 0, 0, 0, 66 [SEP] 22, Mug, 0.273, 1.092, 0.278, 0, 0, 0, 74 [SEP] 23, Bowl, 1.406, 0.139, 3.217, 0, 0, 0, 69 [SEP] 24, Bread, 1.493, 1.062, 0.440, 0, 0, 0, 58 [SEP] 25, Egg, 2.009, 1.565, 6.001, 0, 270, 0, 80 [SEP] 26, Knife, 0.668, 0.802, 0.451, 0, 90, 0, 50 [SEP] 27, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 94 [SEP] 28, Apple, 1.442, 0.965, 2.576, 0, 90, 0, 81 [SEP] 29, Kettle, 1.573, 0.141, 1.938, 0, 0, 0, 47 [SEP] 30, Plate, 1.322, 0.141, 1.938, 0, 0, 0, 47 [SEP] 31, SaltShaker, 0.028, 0.755, 6.787, 0, 0, 0, 94 [SEP] 32, Lettuce, 0.696, 1.081, 0.578, 0, 0, 0, 58 [SEP] 33, SoapBottle, 1.455, 1.576, 4.754, 0, 0, 0, 62 [SEP] 34, Spatula, 0.544, 1.007, 0.212, 0, 90, 0, 58 [SEP] 35, PaperTowelRoll, 1.956, 0.185, 6.498, 0, 0, 0, 82 [SEP] 36, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 37, Potato, 2.051, 1.550, 5.376, 0, 270, 0, 80 [SEP] 38, ButterKnife, -0.079, 0.771, 0.507, 0, 90, 0, 55 [SEP] 39, PepperShaker, -0.399, 0.755, 6.895, 0, 135, 0, 94 [SEP] 40, Pan, 0.885, 0.141, 0.260, 0, 90, 0, 64 [SEP] 41, Tomato, -0.158, 0.809, 6.291, 0, 270, 0, 94 [SEP] 42, DishSponge, 0.169, 0.759, 6.807, 0, 225, 0, 94 [SEP] 43, Cup, -0.312, 0.756, 6.666, 0, 270, 0, 94 [SEP] 44, Spoon, 0.056, 0.773, 0.618, 0, 0, 0, 55 [SEP] 45, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk to counter, right to the coffee maker | STEP 2: Pick up the mug from the coffee maker. | STEP 3: Walk left to the right side of the table. | STEP 4: Place mug on table between the forks. | STEP 5: Pick up fork closest to the plant. | STEP 6: Place the fork in the mug. | END


Input: To put the pen on the bedside table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.25, 0, 90, 0,  [SEP] 1, Mug, 0.996, 0.677, -2.598, 0, 90, 0, 34 [SEP] 2, CD, 0.033, 0.618, 0.910, 0, 180, 0, 32 [SEP] 3, CellPhone, -1.381, 0.680, -2.419, 0, 0, 0, 33 [SEP] 4, Pencil, -0.431, 0.623, 0.910, 0, 180, 0, 32 [SEP] 5, KeyChain, -1.117, 0.084, -2.375, 0, 0, 0, 36 [SEP] 6, Pillow, 0.247, 0.653, -1.211, 0, 0, 0, 20 [SEP] 7, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 8, Book, -1.085, 0.678, -2.508, 0, 0, 0, 33 [SEP] 9, KeyChain, -1.290, 0.084, -2.423, 0, 90, 0, 36 [SEP] 10, Pillow, -0.300, 0.653, -1.211, 0, 0, 0, 20 [SEP] 11, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 12, Pencil, 0.188, 0.625, 0.910, 0, 180, 0, 32 [SEP] 13, CellPhone, -0.276, 0.620, 0.833, 0, 180, 0, 32 [SEP] 14, CreditCard, -1.322, 0.679, -2.598, 0, 0, 0, 33 [SEP] 15, Pen, -0.121, 0.624, 0.677, 0, 180, 0, 32 [SEP] 16, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 20 [SEP] 17, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 32 [SEP] 18, CD, 0.995, 0.374, -2.399, 0, 0, 0, 37 [SEP] 19, Mug, -1.144, 0.677, -2.374, 0, 0, 0, 33 [SEP] 20, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 21, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 22, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 23, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 24, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 25, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 26, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 27, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 28, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 29, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 30, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 31, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 32, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 33, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 34, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 35, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 36, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 37, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 38, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 39, , , , , , , ,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and walk to the table.  | STEP 2: Take the pen on the lower edge of the table.  | STEP 3: Turn to the left and walk across the room, then turn to the right and walk across the room to the table.  | STEP 4: Place the pen on the lower edge of the table below the cell phone. | END


Input: Move a pen from a regular table to an end table by a bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.25, 0, 90, 0,  [SEP] 1, Mug, 0.996, 0.677, -2.598, 0, 90, 0, 34 [SEP] 2, CD, 0.033, 0.618, 0.910, 0, 180, 0, 32 [SEP] 3, CellPhone, -1.381, 0.680, -2.419, 0, 0, 0, 33 [SEP] 4, Pencil, -0.431, 0.623, 0.910, 0, 180, 0, 32 [SEP] 5, KeyChain, -1.117, 0.084, -2.375, 0, 0, 0, 36 [SEP] 6, Pillow, 0.247, 0.653, -1.211, 0, 0, 0, 20 [SEP] 7, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 8, Book, -1.085, 0.678, -2.508, 0, 0, 0, 33 [SEP] 9, KeyChain, -1.290, 0.084, -2.423, 0, 90, 0, 36 [SEP] 10, Pillow, -0.300, 0.653, -1.211, 0, 0, 0, 20 [SEP] 11, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 12, Pencil, 0.188, 0.625, 0.910, 0, 180, 0, 32 [SEP] 13, CellPhone, -0.276, 0.620, 0.833, 0, 180, 0, 32 [SEP] 14, CreditCard, -1.322, 0.679, -2.598, 0, 0, 0, 33 [SEP] 15, Pen, -0.121, 0.624, 0.677, 0, 180, 0, 32 [SEP] 16, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 20 [SEP] 17, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 32 [SEP] 18, CD, 0.995, 0.374, -2.399, 0, 0, 0, 37 [SEP] 19, Mug, -1.144, 0.677, -2.374, 0, 0, 0, 33 [SEP] 20, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 21, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 22, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 23, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 24, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 25, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 26, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 27, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 28, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 29, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 30, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 31, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 32, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 33, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 34, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 35, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 36, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 37, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 38, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 39, , , , , , , ,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk slightly forward to the table. | STEP 2: Pick up the pen from the table. | STEP 3: Turn around and go to the end table to the right of the bed. | STEP 4: Put the pen on the end table, on top of the objects at the front of it. | END


Input: Grab the box on the sofa, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.5, 0, 0, 0,  [SEP] 1, Plate, 1.662, 0.789, -0.045, 0, 0, 0, 36 [SEP] 2, KeyChain, 2.327, 0.784, -0.538, 0, 0, 0, 36 [SEP] 3, CreditCard, -2.242, 0.711, 2.919, 0, 0, 0, 33 [SEP] 4, CreditCard, 2.105, 0.784, -0.168, 0, 0, 0, 36 [SEP] 5, Box, -3.341, 0.736, 0.468, 0, 0, 0, 31 [SEP] 6, Candle, 1.884, 0.784, -0.292, 0, 0, 0, 36 [SEP] 7, Vase, -1.774, 0.447, 0.145, 0, 0, 0, 37 [SEP] 8, CreditCard, -1.516, 0.232, 2.825, 0, 0, 0, 32 [SEP] 9, Vase, 2.548, 0.793, -0.661, 0, 0, 0, 36 [SEP] 10, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0,  [SEP] 11, Laptop, -2.102, 0.445, 0.273, 0, 0, 0, 37 [SEP] 12, RemoteControl, -0.559, 0.192, 1.923, 0, 270, 0, 28 [SEP] 13, Statue, -3.592, 0.705, 1.431, 0, 90, 0, 34 [SEP] 14, KeyChain, -2.102, 0.447, -0.364, 0, 0, 0, 37 [SEP] 15, Pillow, -3.428, 0.645, -0.807, 0, 0, 0, 31 [SEP] 16, Plate, 2.105, 0.789, -0.415, 0, 0, 0, 36 [SEP] 17, Statue, -1.747, 0.242, 2.750, 0, 0, 0, 32 [SEP] 18, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0,  [SEP] 19, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0,  [SEP] 20, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0,  [SEP] 21, Painting, -0.056, 1.601, 1.733, 90, 270, 0,  [SEP] 22, Painting, 4.136, 1.590, -0.296, 90, 270, 0,  [SEP] 23, Television, -1.859, 1.200, 2.702, 358.970, 180, 0,  [SEP] 24, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0,  [SEP] 25, Window, 1.478, 1.506, -1.927, 90, 0, 0,  [SEP] 26, Window, -2.003, 1.506, -1.927, 90, 0, 0,  [SEP] 27, Window, 3.480, 1.506, -1.927, 90, 0, 0,  [SEP] 28, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0,  [SEP] 29, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0,  [SEP] 30, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0,  [SEP] 31, Sofa, -3.419, 0.009, -0.042, 0, 90, 0,  [SEP] 32, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0,  [SEP] 33, TVStand, -1.857, 0.000, 2.788, 0, 0, 0,  [SEP] 34, SideTable, -3.597, 0.004, 1.437, 0, 0, 0,  [SEP] 35, SideTable, -3.597, 0.004, -1.607, 0, 0, 0,  [SEP] 36, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0,  [SEP] 37, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0,  [SEP] 38, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0,  [SEP] 39, Chair, 2.288, -0.001, -0.780, 0, 0, 0,  [SEP] 40, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0,  [SEP] 41, Chair, 1.638, -0.001, -0.847, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Walk straight to the box | STEP 2: Grab the box on the sofa | STEP 3: Turn right and turn right, walk to the corner with a floor lamp | STEP 4: Turn on the floor lamp | END


Input: To move two soap bars to the front of the floor of the tub. 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, Cloth, -0.599, 0.926, -1.534, 347.851, 0, 0, 34 [SEP] 2, Cloth, 1.000, 0.171, -0.962, 0, 270, 0, 35 [SEP] 3, SoapBar, -1.411, 0.017, -1.536, 0, 0, 0, 17 [SEP] 4, SprayBottle, 0.099, 0.153, -1.598, 0, 90, 0, 38 [SEP] 5, SoapBottle, -1.932, 1.046, 0.337, 0, 90, 0, 39 [SEP] 6, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 31 [SEP] 7, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 37 [SEP] 8, SoapBar, 0.466, 0.591, -1.641, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 32 [SEP] 10, ToiletPaper, -1.960, 0.013, -1.588, 0, 0, 0, 27 [SEP] 11, Cloth, -0.196, 0.018, -1.486, 0, 0, 0, 24 [SEP] 12, SprayBottle, -0.121, 0.910, -1.349, 0, 0, 0, 21 [SEP] 13, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 14, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 15, Candle, -1.550, 0.907, -1.314, 0, 0, 0, 36 [SEP] 16, SoapBottle, -0.949, 0.911, -1.554, 0, 0, 0, 21 [SEP] 17, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0,  [SEP] 18, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0,  [SEP] 19, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0,  [SEP] 20, Sink, -1.560, 0.811, -1.598, 0, 0, 0,  [SEP] 21, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0,  [SEP] 22, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0,  [SEP] 23, Faucet, -0.505, 0.898, -1.779, 0, 0, 0,  [SEP] 24, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0,  [SEP] 25, Mirror, -1.014, 1.501, -1.840, 0, 0, 0,  [SEP] 26, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0,  [SEP] 27, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0,  [SEP] 28, Sink, -0.526, 0.811, -1.598, 0, 0, 0,  [SEP] 29, Window, 1.532, 1.672, -1.037, 0, 0, 0,  [SEP] 30, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0,  [SEP] 31, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0,  [SEP] 33, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0,  [SEP] 34, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0,  [SEP] 35, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0,  [SEP] 36, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0,  [SEP] 37, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0,  [SEP] 38, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0,  [SEP] 39, Toilet, -1.610, -0.000, 0.209, 0, 180, 0,  [SEP] 40, Faucet, -1.537, 0.898, -1.779, 0, 0, 0,  [SEP] 41, Faucet, 0.929, 0.509, -1.978, 0, 0, 0,  [SEP] 42, Faucet, 0.890, 1.689, 0.724, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk forward to face the back of the bath tub. | STEP 2: Pick up the bar of soap on the bath tub. | STEP 3: Take a step to the left to face the front of the bath tub. | STEP 4: Place the soap in the front of the bath tub. | STEP 5: Turn around and walk forward and turn left to face the cabinet below the left side of the sink. | STEP 6: Pick up the bar of soap in the cabinet under the right side of the sink. | STEP 7: Turn left and walk forward to face the front of the bath tub. | STEP 8: Place the bar of soap next to the first bar of soap. | END


Input: Place two pink sponges in bathtub with black rag 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, Cloth, -0.599, 0.926, -1.534, 347.851, 0, 0, 34 [SEP] 2, Cloth, 1.000, 0.171, -0.962, 0, 270, 0, 35 [SEP] 3, SoapBar, -1.411, 0.017, -1.536, 0, 0, 0, 17 [SEP] 4, SprayBottle, 0.099, 0.153, -1.598, 0, 90, 0, 38 [SEP] 5, SoapBottle, -1.932, 1.046, 0.337, 0, 90, 0, 39 [SEP] 6, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 31 [SEP] 7, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 37 [SEP] 8, SoapBar, 0.466, 0.591, -1.641, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 32 [SEP] 10, ToiletPaper, -1.960, 0.013, -1.588, 0, 0, 0, 27 [SEP] 11, Cloth, -0.196, 0.018, -1.486, 0, 0, 0, 24 [SEP] 12, SprayBottle, -0.121, 0.910, -1.349, 0, 0, 0, 21 [SEP] 13, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 14, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 15, Candle, -1.550, 0.907, -1.314, 0, 0, 0, 36 [SEP] 16, SoapBottle, -0.949, 0.911, -1.554, 0, 0, 0, 21 [SEP] 17, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0,  [SEP] 18, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0,  [SEP] 19, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0,  [SEP] 20, Sink, -1.560, 0.811, -1.598, 0, 0, 0,  [SEP] 21, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0,  [SEP] 22, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0,  [SEP] 23, Faucet, -0.505, 0.898, -1.779, 0, 0, 0,  [SEP] 24, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0,  [SEP] 25, Mirror, -1.014, 1.501, -1.840, 0, 0, 0,  [SEP] 26, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0,  [SEP] 27, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0,  [SEP] 28, Sink, -0.526, 0.811, -1.598, 0, 0, 0,  [SEP] 29, Window, 1.532, 1.672, -1.037, 0, 0, 0,  [SEP] 30, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0,  [SEP] 31, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0,  [SEP] 33, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0,  [SEP] 34, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0,  [SEP] 35, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0,  [SEP] 36, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0,  [SEP] 37, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0,  [SEP] 38, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0,  [SEP] 39, Toilet, -1.610, -0.000, 0.209, 0, 180, 0,  [SEP] 40, Faucet, -1.537, 0.898, -1.779, 0, 0, 0,  [SEP] 41, Faucet, 0.929, 0.509, -1.978, 0, 0, 0,  [SEP] 42, Faucet, 0.890, 1.689, 0.724, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: turn right, go to green bin to the left of counter with sink | STEP 2: pick up pink sponge from behind curtain on bathtub | STEP 3: turn left, face bathtub with black cloth | STEP 4: place pink sponge in bathtub in front of black cloth | STEP 5: turn around, go to second cabinet from the wall on the left | STEP 6: open cabinet, pick up pink sponge from cabinet, close cabinet | STEP 7: turn left, go to bathtub | STEP 8: place pink sponge in bathtub to the left of pink sponge | END


Input: Move two bars of soap into a bathtub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 180, 0,  [SEP] 1, SoapBar, -1.839, 0.770, 3.098, 0, 0, 0, 19 [SEP] 2, SoapBar, -1.952, 1.044, 1.878, 0, 90, 0, 37 [SEP] 3, Candle, -1.839, 0.772, 2.491, 0, 0, 0, 19 [SEP] 4, SoapBottle, -1.700, 0.069, 2.962, 0, 0, 0, 27 [SEP] 5, SoapBottle, -1.856, 0.018, 2.246, 0, 90, 0, 21 [SEP] 6, ToiletPaper, -1.782, 0.064, 3.575, 0, 0, 0, 24 [SEP] 7, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -0.414, 0.446, 0.200, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 34 [SEP] 11, ToiletPaper, -0.414, 0.443, 0.090, 0, 0, 0, 18 [SEP] 12, Cloth, -1.592, 0.074, 0.213, 0, 0, 0, 20 [SEP] 13, SprayBottle, -1.864, 0.069, 3.540, 0, 0, 0, 24 [SEP] 14, Candle, 0.499, 1.160, 3.765, 0, 0, 0, 48 [SEP] 15, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 16, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 17, SoapBottle, -1.867, 0.069, 3.212, 0, 0, 0, 28 [SEP] 18, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0,  [SEP] 19, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0,  [SEP] 20, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0,  [SEP] 21, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0,  [SEP] 22, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0,  [SEP] 23, Mirror, -1.993, 1.424, 3.107, 0, 0, 0,  [SEP] 24, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0,  [SEP] 25, Faucet, -1.873, 0.461, 0.641, 0, 0, 0,  [SEP] 26, Sink, -1.834, 0.685, 2.777, 0, 90, 0,  [SEP] 27, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0,  [SEP] 28, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0,  [SEP] 29, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0,  [SEP] 30, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0,  [SEP] 31, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0,  [SEP] 32, Window, -1.039, 1.393, 0.018, 90, 0, 0,  [SEP] 33, Window, -1.986, 1.392, 0.706, 90, 90, 0,  [SEP] 34, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0,  [SEP] 35, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0,  [SEP] 36, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0,  [SEP] 37, Toilet, -1.567, -0.000, 1.815, 0, 180, 0,  [SEP] 38, Drawer, 0.204, 0.940, 3.807, 0, 180, 0,  [SEP] 39, Dresser, 0.204, 0.000, 3.832, 0, 180, 0,  [SEP] 40, Drawer, 0.204, 0.160, 3.807, 0, 180, 0,  [SEP] 41, Drawer, 0.204, 0.420, 3.807, 0, 180, 0,  [SEP] 42, Drawer, 0.204, 0.680, 3.807, 0, 180, 0,  [SEP] 43, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0,  [SEP] 44, Sink, -1.833, 0.685, 3.472, 0, 90, 0,  [SEP] 45, Faucet, -1.988, 0.947, 3.472, 0, 180, 0,  [SEP] 46, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0,  [SEP] 47, Faucet, -1.988, 0.947, 2.776, 0, 180, 0,  [SEP] 48, , , , , , , ,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Go forward to the left edge of the bathtub. | STEP 2: Pick up the bar of soap from the ledge at the left of the tub. | STEP 3: Turn to face the tub. | STEP 4: Put the bar of soap in the tub. | STEP 5: Go forward and turn left to face the toilet. | STEP 6: Pick up the bar of soap from the back of the toilet. | STEP 7: Take the bar of soap to the tub.  | STEP 8: Put the bar of soap in the tub.  | END


Input: Put a heated mug on the coffee machine.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Potato, 0.294, 0.956, 0.534, 0, 0, 0, 74 [SEP] 2, Ladle, -1.316, 1.704, -1.729, 0, 90, 0, 40 [SEP] 3, Ladle, 1.218, 0.163, -1.914, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.772, 0.913, -2.167, 0, 0, 0, 57 [SEP] 5, Spatula, 0.066, 0.945, 0.762, 0, 0, 0, 74 [SEP] 6, Spoon, 0.294, 0.928, 1.448, 0, 0, 0, 74 [SEP] 7, Fork, -0.064, 0.765, -2.026, 0, 90, 0, 69 [SEP] 8, Fork, 0.408, 0.927, 1.220, 0, 0, 0, 74 [SEP] 9, Egg, -0.616, 0.967, -2.167, 0, 0, 0, 57 [SEP] 10, Egg, 0.066, 0.980, 0.076, 0, 0, 0, 74 [SEP] 11, Plate, -1.495, 1.187, -0.910, 0, 90, 0, 65 [SEP] 12, Plate, 1.850, 0.916, -2.002, 0, 0, 0, 57 [SEP] 13, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 74 [SEP] 14, Tomato, -0.160, 0.978, 0.991, 0, 0, 0, 74 [SEP] 15, Apple, 0.008, 0.835, -2.116, 0, 0, 0, 69 [SEP] 16, Potato, 0.522, 0.959, 1.448, 0, 0, 0, 74 [SEP] 17, Bowl, -0.047, 0.923, 1.448, 0, 0, 0, 74 [SEP] 18, SoapBottle, 2.009, 0.912, -1.212, 0, 0, 0, 57 [SEP] 19, Fork, -0.210, 0.765, -2.071, 0, 0, 0, 69 [SEP] 20, Ladle, -0.047, 0.971, 0.534, 0, 0, 0, 74 [SEP] 21, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 74 [SEP] 22, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 65 [SEP] 23, WineBottle, 1.669, 0.881, 2.483, 0, 0, 0, 78 [SEP] 24, Spatula, 0.180, 0.941, 0.991, 0, 0, 0, 74 [SEP] 25, Plate, 0.294, 0.930, 0.762, 0, 0, 0, 74 [SEP] 26, SaltShaker, 1.359, 0.549, 2.534, 0, 0, 0, 77 [SEP] 27, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 39 [SEP] 28, Cup, 1.362, 0.881, 2.429, 0, 0, 0, 78 [SEP] 29, PepperShaker, 1.795, 1.653, -1.673, 0, 270, 0, 47 [SEP] 30, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 38 [SEP] 31, ButterKnife, 0.180, 0.926, 0.305, 0, 0, 0, 74 [SEP] 32, Tomato, -1.438, 1.235, -0.392, 0, 90, 0, 65 [SEP] 33, DishSponge, -0.173, 2.151, -2.120, 0, 0, 0, 42 [SEP] 34, Egg, -1.648, 1.558, -1.013, 0, 90, 0, 65 [SEP] 35, Spoon, -1.000, 0.914, -2.079, 0, 0, 0, 57 [SEP] 36, Knife, 0.408, 0.953, 0.534, 0, 180, 0, 74 [SEP] 37, Mug, 1.255, 0.548, 2.534, 0, 0, 0, 83 [SEP] 38, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 39, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 40, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 41, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 42, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 43, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 44, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 45, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 46, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 48, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 49, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 50, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 51, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 52, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 53, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 54, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 55, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 56, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 57, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 58, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 59, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 60, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 61, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 62, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 63, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 64, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 65, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 66, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 67, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 68, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 69, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 70, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 71, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 72, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 73, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 74, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 75, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 76, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 77, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 78, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 79, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 80, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 81, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 82, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 83, , , , , , , ,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Move forward to the wooden rack. | STEP 2: Pick up the mug on the rack.  | STEP 3: Turn around, bring the mug to the sink, turn right, bring the mug to the microwave on the counter, left of the fridge.  | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the coffee machine on the counter behind you, next to the toaster.  | STEP 6: Put the heated mug on the coffee machine.  | END


Input: Place a heat mug in a coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Potato, 0.294, 0.956, 0.534, 0, 0, 0, 74 [SEP] 2, Ladle, -1.316, 1.704, -1.729, 0, 90, 0, 40 [SEP] 3, Ladle, 1.218, 0.163, -1.914, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.772, 0.913, -2.167, 0, 0, 0, 57 [SEP] 5, Spatula, 0.066, 0.945, 0.762, 0, 0, 0, 74 [SEP] 6, Spoon, 0.294, 0.928, 1.448, 0, 0, 0, 74 [SEP] 7, Fork, -0.064, 0.765, -2.026, 0, 90, 0, 69 [SEP] 8, Fork, 0.408, 0.927, 1.220, 0, 0, 0, 74 [SEP] 9, Egg, -0.616, 0.967, -2.167, 0, 0, 0, 57 [SEP] 10, Egg, 0.066, 0.980, 0.076, 0, 0, 0, 74 [SEP] 11, Plate, -1.495, 1.187, -0.910, 0, 90, 0, 65 [SEP] 12, Plate, 1.850, 0.916, -2.002, 0, 0, 0, 57 [SEP] 13, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 74 [SEP] 14, Tomato, -0.160, 0.978, 0.991, 0, 0, 0, 74 [SEP] 15, Apple, 0.008, 0.835, -2.116, 0, 0, 0, 69 [SEP] 16, Potato, 0.522, 0.959, 1.448, 0, 0, 0, 74 [SEP] 17, Bowl, -0.047, 0.923, 1.448, 0, 0, 0, 74 [SEP] 18, SoapBottle, 2.009, 0.912, -1.212, 0, 0, 0, 57 [SEP] 19, Fork, -0.210, 0.765, -2.071, 0, 0, 0, 69 [SEP] 20, Ladle, -0.047, 0.971, 0.534, 0, 0, 0, 74 [SEP] 21, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 74 [SEP] 22, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 65 [SEP] 23, WineBottle, 1.669, 0.881, 2.483, 0, 0, 0, 78 [SEP] 24, Spatula, 0.180, 0.941, 0.991, 0, 0, 0, 74 [SEP] 25, Plate, 0.294, 0.930, 0.762, 0, 0, 0, 74 [SEP] 26, SaltShaker, 1.359, 0.549, 2.534, 0, 0, 0, 77 [SEP] 27, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 39 [SEP] 28, Cup, 1.362, 0.881, 2.429, 0, 0, 0, 78 [SEP] 29, PepperShaker, 1.795, 1.653, -1.673, 0, 270, 0, 47 [SEP] 30, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 38 [SEP] 31, ButterKnife, 0.180, 0.926, 0.305, 0, 0, 0, 74 [SEP] 32, Tomato, -1.438, 1.235, -0.392, 0, 90, 0, 65 [SEP] 33, DishSponge, -0.173, 2.151, -2.120, 0, 0, 0, 42 [SEP] 34, Egg, -1.648, 1.558, -1.013, 0, 90, 0, 65 [SEP] 35, Spoon, -1.000, 0.914, -2.079, 0, 0, 0, 57 [SEP] 36, Knife, 0.408, 0.953, 0.534, 0, 180, 0, 74 [SEP] 37, Mug, 1.255, 0.548, 2.534, 0, 0, 0, 83 [SEP] 38, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 39, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 40, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 41, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 42, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 43, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 44, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 45, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 46, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 48, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 49, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 50, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 51, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 52, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 53, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 54, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 55, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 56, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 57, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 58, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 59, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 60, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 61, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 62, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 63, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 64, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 65, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 66, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 67, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 68, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 69, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 70, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 71, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 72, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 73, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 74, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 75, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 76, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 77, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 78, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 79, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 80, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 81, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 82, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 83, , , , , , , ,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the shelving unit. | STEP 2: Pick up the white mug on one of the shelves. | STEP 3: Turn around and walk to the counter, then turn right and walk to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Turn around and walk to the coffee maker on the counter. | STEP 6: Place the mug in the coffee maker. | END


Input: Place two bottle of wine in the second cabinet to the right of the red garbage pale. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.25, 0, 90, 0,  [SEP] 1, Pan, -1.320, 1.287, 0.778, 0, 180, 0, 96 [SEP] 2, SprayBottle, -0.919, 0.749, 2.459, 0, 0, 0, 57 [SEP] 3, SprayBottle, -1.475, 0.749, 2.644, 0, 0, 0, 57 [SEP] 4, Potato, -0.144, 0.803, -0.691, 0, 0, 0, 103 [SEP] 5, Potato, -1.206, 1.333, 1.092, 0, 90, 0, 96 [SEP] 6, DishSponge, -0.020, 0.758, -0.533, 0, 0, 0, 103 [SEP] 7, ButterKnife, -0.968, 0.912, -0.669, 0, 0, 0, 82 [SEP] 8, ButterKnife, 1.207, 0.911, -0.144, 0, 0, 0, 76 [SEP] 9, WineBottle, -1.194, 0.342, 0.988, 0, 90, 0, 96 [SEP] 10, WineBottle, -1.225, 0.342, 1.092, 0, 90, 0, 96 [SEP] 11, Kettle, 0.168, 0.117, -0.490, 0, 0, 0, 71 [SEP] 12, Spoon, -0.919, 0.750, 2.830, 0, 0, 0, 57 [SEP] 13, Spoon, 1.128, 0.912, 0.422, 0, 0, 0, 76 [SEP] 14, Fork, 1.444, 0.912, 0.706, 0, 0, 0, 76 [SEP] 15, Spatula, 1.284, 0.901, 2.692, 0, 0, 0, 108 [SEP] 16, Spatula, -0.144, 0.773, -0.612, 0, 180, 0, 103 [SEP] 17, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 89 [SEP] 18, Egg, -1.427, 1.049, -0.005, 0, 90, 0, 102 [SEP] 19, Egg, -1.092, 1.671, 0.781, 0, 90, 0, 96 [SEP] 20, Plate, -1.176, 0.117, 0.248, 0, 180, 0, 79 [SEP] 21, Tomato, 1.034, 0.936, 2.153, 0, 0, 0, 108 [SEP] 22, Bowl, -1.012, 0.747, 1.902, 0, 0, 0, 57 [SEP] 23, Bread, -1.263, 1.484, 0.778, 0, 90, 0, 96 [SEP] 24, Bread, -1.263, 0.814, 1.092, 0, 90, 0, 96 [SEP] 25, Lettuce, 1.365, 0.982, 0.139, 0, 0, 0, 76 [SEP] 26, Lettuce, 1.450, 0.957, 2.261, 0, 0, 0, 108 [SEP] 27, SaltShaker, 1.034, 0.882, 2.477, 0, 0, 0, 108 [SEP] 28, SaltShaker, -0.919, 0.745, 2.644, 0, 0, 0, 57 [SEP] 29, Mug, -1.329, 1.010, 0.098, 0, 90, 0, 102 [SEP] 30, Mug, -1.394, 1.010, -0.109, 0, 90, 0, 102 [SEP] 31, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 57 [SEP] 32, Glassbottle, -0.634, 1.656, -0.724, 0, 0, 0, 61 [SEP] 33, Fork, -1.290, 0.750, 2.459, 0, 0, 0, 57 [SEP] 34, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 57 [SEP] 35, Tomato, 1.034, 0.936, 2.800, 0, 0, 0, 108 [SEP] 36, Plate, 1.325, 1.656, -0.513, 0, 0, 0, 58 [SEP] 37, CellPhone, -1.123, 0.909, -0.509, 0, 0, 0, 82 [SEP] 38, Lettuce, -1.320, 1.707, 0.984, 0, 90, 0, 96 [SEP] 39, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 85 [SEP] 40, SoapBottle, 1.284, 0.887, 2.477, 0, 0, 0, 108 [SEP] 41, WineBottle, -1.012, 0.750, 2.273, 0, 0, 0, 57 [SEP] 42, Spatula, -1.105, 0.764, 2.087, 0, 90, 0, 57 [SEP] 43, Bowl, 0.726, 2.153, -0.787, 0, 0, 0, 60 [SEP] 44, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 96 [SEP] 45, Cup, -1.012, 0.748, 2.087, 0, 0, 0, 57 [SEP] 46, Knife, -1.012, 0.771, 2.644, 0, 270, 0, 57 [SEP] 47, Egg, -1.211, 0.946, -0.902, 0, 0, 0, 82 [SEP] 48, SaltShaker, 1.117, 0.882, 2.261, 0, 0, 0, 108 [SEP] 49, PepperShaker, 1.523, 0.907, -0.428, 0, 0, 0, 76 [SEP] 50, Potato, -1.206, 1.466, 0.988, 0, 90, 0, 96 [SEP] 51, ButterKnife, 1.284, 0.886, 2.261, 0, 0, 0, 108 [SEP] 52, DishSponge, -1.475, 0.748, 1.902, 0, 0, 0, 57 [SEP] 53, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 83 [SEP] 54, Spoon, -1.105, 0.750, 2.830, 0, 0, 0, 57 [SEP] 55, SprayBottle, -1.060, 0.911, -0.817, 0, 0, 0, 82 [SEP] 56, Mug, -1.197, 0.744, 2.273, 0, 0, 0, 57 [SEP] 57, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 58, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 59, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 60, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 61, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 62, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 66, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 68, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 71, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 72, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 74, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 76, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 77, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 78, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 79, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 80, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 81, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 82, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 83, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 84, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 86, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 87, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 88, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 89, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 90, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 91, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 92, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 96, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 97, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 98, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 99, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 100, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 101, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 102, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 103, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 104, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 105, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 106, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 107, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 108, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Go to the refrigerator to your right. | STEP 2: Take out bottle of wine from the middle shelf in the refrigerator. | STEP 3: go to the red garbage pale that is behind you | STEP 4: Place the bottle of wine in the second cabinet from the left | STEP 5: Go to the refrigerator that is behind you. | STEP 6: Take a bottle of wine from the middle shelf of the refrigerator. | STEP 7: go to the red garbage pale that is behind you | STEP 8: Place the bottle of wine in the second cabinet from the left next to the other bottle of wine | END


Input: Putting a cold apple slice in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, 0.75, 0, 270, 0,  [SEP] 1, Potato, 0.033, 0.831, 0.881, 0, 0, 0, 76 [SEP] 2, Spatula, 1.941, 0.761, 0.446, 0, 90, 0, 58 [SEP] 3, Spoon, -0.042, 0.792, 1.049, 0, 0, 0, 76 [SEP] 4, Spoon, 1.276, 0.796, 2.584, 0, 0, 0, 73 [SEP] 5, Fork, -0.349, 0.782, 0.713, 0, 0, 0, 76 [SEP] 6, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 45 [SEP] 7, Knife, -0.042, 0.816, 0.545, 0, 90, 0, 76 [SEP] 8, SoapBottle, 1.840, 0.939, 0.806, 0, 270, 0, 60 [SEP] 9, Tomato, 0.033, 0.837, 0.713, 0, 0, 0, 76 [SEP] 10, Tomato, 1.840, 0.984, 0.435, 0, 0, 0, 60 [SEP] 11, Bowl, -0.396, 0.934, 2.757, 0, 0, 0, 49 [SEP] 12, Bowl, 2.023, 0.335, -0.097, 0, 270, 0, 70 [SEP] 13, SaltShaker, 1.997, 0.932, 1.866, 0, 90, 0, 49 [SEP] 14, SaltShaker, 2.301, 0.933, 0.361, 0, 0, 0, 60 [SEP] 15, PepperShaker, 2.127, 1.498, 0.478, 0, 0, 0, 47 [SEP] 16, Mug, 2.137, 0.855, -0.188, 0, 270, 0, 70 [SEP] 17, Apple, -0.328, 1.085, 1.907, 0, 90, 0, 74 [SEP] 18, Egg, -0.327, 0.079, -0.737, 0, 90, 0, 71 [SEP] 19, Lettuce, 2.122, 0.664, -0.460, 0, 270, 0, 70 [SEP] 20, Fork, -0.119, 0.791, 0.545, 0, 180, 0, 76 [SEP] 21, SoapBottle, 1.369, 0.082, 2.445, 0, 0, 0, 55 [SEP] 22, Ladle, 1.919, 0.790, 2.197, 0, 270, 0, 64 [SEP] 23, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 49 [SEP] 24, Bread, -0.184, 0.825, 0.820, 0, 354.524, 0, 76 [SEP] 25, SaltShaker, -0.119, 0.785, 1.049, 0, 0, 0, 76 [SEP] 26, Potato, -0.196, 0.831, 1.217, 0, 0, 0, 76 [SEP] 27, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 44 [SEP] 28, WineBottle, 1.556, 0.938, 2.666, 0, 0, 0, 49 [SEP] 29, Spatula, -0.425, 0.805, 0.377, 0, 90, 0, 76 [SEP] 30, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 76 [SEP] 31, Tomato, -0.282, 0.983, 2.618, 0, 0, 0, 49 [SEP] 32, Apple, 0.033, 0.840, 1.217, 0, 0, 0, 76 [SEP] 33, ButterKnife, 0.060, 0.937, 2.757, 0, 0, 0, 49 [SEP] 34, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 51 [SEP] 35, PepperShaker, 2.304, 0.932, 2.162, 0, 0, 0, 49 [SEP] 36, Cup, 2.203, 1.501, 0.785, 0, 0, 0, 57 [SEP] 37, DishSponge, 0.629, 0.794, 2.584, 0, 0, 0, 73 [SEP] 38, Plate, 2.206, 1.505, 2.010, 0, 0, 0, 52 [SEP] 39, Spoon, -0.272, 0.792, 0.545, 0, 0, 0, 76 [SEP] 40, Mug, 2.243, 1.943, 1.193, 0, 0, 0, 59 [SEP] 41, Bowl, 2.112, 1.320, -0.279, 0, 270, 0, 70 [SEP] 42, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 43, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 44, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 45, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 46, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 47, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 48, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 49, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 50, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 51, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 52, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 53, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 54, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 55, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 56, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 57, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 58, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 59, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 60, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 61, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 62, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 63, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 64, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 65, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 66, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 67, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 68, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 69, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 70, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 71, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 72, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 73, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 74, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 75, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 76, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 77, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 78, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 79, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Go to the right of the table | STEP 2: Grab the knife off of the table | STEP 3: Turn right and go to the microwave | STEP 4: Slice the apple in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of the apple | STEP 7: Turn around and go to the fridge | STEP 8: Cool the apple in the fridge and then take it out | STEP 9: Turn left and go to the sink | STEP 10: Put the apple in the sink | END