Input: To put a watch in a box and move it to the coffee table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.908, 2.75, 0, 90, 0,  [SEP] 1, TissueBox, -3.155, 0.783, 1.751, 0, 0, 0, 54 [SEP] 2, TissueBox, -3.155, 0.783, 2.061, 0, 0, 0, 54 [SEP] 3, Newspaper, -2.324, 0.781, 2.681, 0, 0, 0, 54 [SEP] 4, KeyChain, -3.538, 0.328, 4.582, 0, 0, 0, 52 [SEP] 5, KeyChain, -0.464, 0.677, 0.534, 0, 329.437, 0, 49 [SEP] 6, CreditCard, -1.623, 0.454, 7.334, 0, 0, 0, 47 [SEP] 7, RemoteControl, -2.970, 0.534, 8.596, 0, 180, 0, 60 [SEP] 8, Box, -1.623, 0.583, 6.144, 0, 90, 0, 47 [SEP] 9, Box, -2.601, 0.910, 2.526, 0, 180, 0, 54 [SEP] 10, Box, -1.852, 0.583, 7.036, 0, 0, 0, 47 [SEP] 11, KeyChain, -1.699, 0.456, 6.739, 0, 0, 0, 47 [SEP] 12, Plate, -2.324, 0.798, 2.216, 0, 0, 0, 54 [SEP] 13, Candle, -3.432, 0.782, 2.526, 0, 0, 0, 54 [SEP] 14, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 47 [SEP] 15, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 50 [SEP] 16, TissueBox, -3.432, 0.783, 2.371, 0, 0, 0, 54 [SEP] 17, Laptop, -3.432, 0.780, 1.906, 0, 0, 0, 54 [SEP] 18, Newspaper, -2.878, 0.781, 2.371, 0, 0, 0, 54 [SEP] 19, CreditCard, -2.004, 0.454, 6.441, 0, 0, 0, 47 [SEP] 20, RemoteControl, -2.004, 0.456, 5.549, 0, 0, 0, 47 [SEP] 21, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 22, Candle, -2.651, 0.536, 8.534, 0, 180, 0, 60 [SEP] 23, Statue, -2.878, 0.883, 1.906, 0, 0, 0, 54 [SEP] 24, Watch, -3.255, 0.533, 8.214, 0, 90, 0, 60 [SEP] 25, Statue, -3.327, 0.467, 6.347, 0, 0, 0, 51 [SEP] 26, Mirror, -5.489, 1.825, 6.505, 0, 0, 0,  [SEP] 27, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0,  [SEP] 28, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0,  [SEP] 29, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0,  [SEP] 30, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0,  [SEP] 31, Television, -3.114, 0.996, 8.693, 1.686, 180, 0,  [SEP] 32, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0,  [SEP] 33, Painting, -5.954, 1.526, 1.153, 90, 270, 0,  [SEP] 34, Window, 0.157, 1.203, 6.895, 90, 90, 0,  [SEP] 35, Window, -4.855, 1.203, -0.158, 90, 180, 0,  [SEP] 36, Window, 0.157, 1.203, 4.923, 90, 90, 0,  [SEP] 37, Window, 0.157, 1.203, 2.986, 90, 90, 0,  [SEP] 38, Window, 0.157, 1.203, 1.088, 90, 90, 0,  [SEP] 39, Window, -2.942, 1.203, -0.158, 90, 180, 0,  [SEP] 40, Window, -1.057, 1.203, -0.158, 90, 180, 0,  [SEP] 41, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0,  [SEP] 42, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0,  [SEP] 43, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738,  [SEP] 44, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735,  [SEP] 45, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736,  [SEP] 46, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738,  [SEP] 47, Sofa, -1.706, 0.002, 6.448, 0, 270, 0,  [SEP] 48, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0,  [SEP] 49, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0,  [SEP] 50, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0,  [SEP] 51, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0,  [SEP] 52, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0,  [SEP] 53, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0,  [SEP] 54, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0,  [SEP] 55, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0,  [SEP] 56, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0,  [SEP] 57, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0,  [SEP] 58, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0,  [SEP] 59, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0,  [SEP] 60, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, EastWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the television.  | STEP 2: Pick up the watch that's in front of the television.  | STEP 3: Turn right and walk to the open box on the left side of the couch.  | STEP 4: Put the watch inside of the box on the couch.  | STEP 5: Pick up the box from the couch.  | STEP 6: Turn and walk around the coffee table, face the coffee table.  | STEP 7: Put the box down on the coffee table to the right of the sculpture.  | END


Input: Slice, heat and place a piece of bread on a kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -1.5, 0, 180, 0,  [SEP] 1, Pan, -0.447, 0.912, -3.952, 0, 90, 0, 34 [SEP] 2, ButterKnife, -0.257, 0.916, -0.472, 0, 180, 0, 61 [SEP] 3, Fork, -2.803, 0.717, -0.780, 0, 0, 0, 78 [SEP] 4, Egg, -0.314, 0.115, 0.097, 0, 270, 0, 73 [SEP] 5, Cup, -0.373, 0.081, -3.081, 0, 0, 0, 45 [SEP] 6, Plate, -3.182, 1.397, -2.125, 0, 90, 0, 75 [SEP] 7, Plate, -1.058, 0.911, -3.655, 0, 0, 0, 34 [SEP] 8, Knife, -2.865, 0.746, -0.638, 0, 180, 0, 78 [SEP] 9, SoapBottle, -0.413, 0.080, -1.337, 0, 0, 0, 39 [SEP] 10, PepperShaker, -1.436, 0.910, -4.008, 0, 0, 0, 34 [SEP] 11, Bread, -3.309, 0.954, -2.926, 0, 0, 0, 34 [SEP] 12, Bread, -2.928, 0.754, -0.780, 0, 0, 0, 78 [SEP] 13, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 34 [SEP] 14, Egg, -3.130, 0.677, -1.879, 0, 90, 0, 75 [SEP] 15, Cup, -3.079, 1.013, -2.187, 0, 90, 0, 75 [SEP] 16, Bread, -0.244, 0.954, -2.911, 0, 0, 0, 34 [SEP] 17, Fork, -0.338, 0.916, -1.432, 0, 0, 0, 61 [SEP] 18, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 65 [SEP] 19, Potato, -0.076, 0.957, -2.911, 0, 0, 0, 34 [SEP] 20, Lettuce, -3.182, 1.101, -1.941, 0, 90, 0, 75 [SEP] 21, Tomato, -3.079, 0.690, -2.002, 0, 90, 0, 75 [SEP] 22, Apple, -2.564, 0.756, -0.797, 0, 135, 0, 78 [SEP] 23, SoapBottle, -0.118, 1.294, -1.201, 0, 0, 0, 40 [SEP] 24, Spatula, -1.845, 0.805, -3.747, 0, 180, 0, 76 [SEP] 25, SaltShaker, -3.150, 0.710, -0.620, 0, 270, 0, 78 [SEP] 26, Knife, -3.167, 0.749, -0.797, 0, 225, 0, 78 [SEP] 27, PepperShaker, -3.255, 0.713, -0.709, 0, 225, 0, 78 [SEP] 28, ButterKnife, -2.581, 0.713, -0.496, 0, 270, 0, 78 [SEP] 29, Plate, -0.191, 1.295, -3.625, 0, 45, 0, 54 [SEP] 30, DishSponge, -3.338, 1.291, -2.881, 0, 0, 0, 46 [SEP] 31, Spoon, -1.914, 0.791, -3.790, 0, 0, 0, 76 [SEP] 32, Mug, -0.500, 0.911, -1.677, 0, 0, 0, 61 [SEP] 33, Bowl, -2.439, 0.711, -0.433, 0, 270, 0, 78 [SEP] 34, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 35, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 36, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 37, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 38, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 39, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 40, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 41, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 42, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 43, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 44, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 45, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 46, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 47, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 48, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 49, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 50, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 51, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 52, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 53, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 54, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 55, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 56, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 57, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 58, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 59, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 60, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 61, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 62, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 63, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 64, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 65, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 66, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 67, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 68, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 69, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 70, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 71, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 72, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 73, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 74, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 75, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 76, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 77, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 78, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 79, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 80, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the wooden table | STEP 2: Pick up the knife off of the table | STEP 3: Move slightly to your left and face the table again | STEP 4: Slice the loaf of bread | STEP 5: Move slightly to your right and face the table again | STEP 6: Put the knife down on the table | STEP 7: Move slightly to your left and face the table again | STEP 8: Pick up a slice of bread | STEP 9: Turn all the way to the right and face the microwave | STEP 10: Put the bread in the microwave and cook it for a few seconds | STEP 11: Turn all the way around and face back the to the table | STEP 12: Put down the bread on to the table | END


Input: Place the two spray bottles into the cabinet beneath the right sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.0, 0, 0, 0,  [SEP] 1, Cloth, -1.704, 0.059, 3.223, 0, 0, 0, 27 [SEP] 2, Cloth, -2.942, 0.111, 0.634, 0, 0, 0, 38 [SEP] 3, SoapBar, -3.120, 0.598, 1.384, 0, 0, 0, 39 [SEP] 4, SoapBar, -1.187, 0.599, 0.347, 0, 0, 0, 28 [SEP] 5, SprayBottle, -2.340, 1.105, 3.292, 0, 90, 0, 25 [SEP] 6, SprayBottle, -2.389, 1.105, 3.369, 0, 0, 0, 25 [SEP] 7, SprayBottle, -0.822, 1.072, 0.363, 0, 0, 0, 44 [SEP] 8, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 42 [SEP] 9, Plunger, -0.219, 0.026, 0.490, 0, 0, 0,  [SEP] 10, SoapBar, -2.073, 0.106, 0.364, 0, 0, 0, 38 [SEP] 11, ToiletPaper, -2.607, 0.595, 1.342, 0, 0, 0, 39 [SEP] 12, SoapBottle, -1.631, 0.601, 1.128, 0, 0, 0, 28 [SEP] 13, ToiletPaper, -0.070, 0.871, 0.377, 0, 0, 90, 43 [SEP] 14, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 36 [SEP] 15, PaperTowelRoll, -1.797, 0.705, 1.184, 0, 0, 0, 28 [SEP] 16, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0,  [SEP] 17, Cloth, -2.812, 0.603, 1.467, 0, 0, 0, 39 [SEP] 18, Candle, -3.222, 0.597, 1.342, 0, 0, 0, 39 [SEP] 19, DishSponge, -1.797, 0.600, 1.100, 0, 0, 0, 28 [SEP] 20, SprayBottle, -0.127, 0.073, 3.185, 0, 270, 0, 40 [SEP] 21, Window, -3.447, 1.593, 0.648, 0, 0, 0,  [SEP] 22, Mirror, -1.386, 1.595, 3.464, 0, 0, 0,  [SEP] 23, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0,  [SEP] 24, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0,  [SEP] 25, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0,  [SEP] 26, Sink, -0.846, 0.952, 3.144, 0, 180, 0,  [SEP] 27, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0,  [SEP] 28, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0,  [SEP] 29, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0,  [SEP] 30, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0,  [SEP] 31, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0,  [SEP] 32, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0,  [SEP] 33, Faucet, -0.853, 1.094, 3.367, 0, 180, 0,  [SEP] 34, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0,  [SEP] 35, Window, -2.190, 1.550, 0.086, 0, 0, 0,  [SEP] 36, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0,  [SEP] 37, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0,  [SEP] 38, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0,  [SEP] 39, Shelf, -2.930, 0.589, 1.425, 0, 0, 0,  [SEP] 40, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0,  [SEP] 41, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0,  [SEP] 42, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0,  [SEP] 43, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0,  [SEP] 44, Toilet, -0.694, 0.026, 0.656, 0, 90, 0,  [SEP] 45, Faucet, -1.944, 1.094, 3.367, 0, 180, 0,  [SEP] 46, Sink, -1.934, 0.952, 3.144, 0, 180, 0,  [SEP] 47, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0,  [SEP] 48, Faucet, -1.342, 0.638, 0.629, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn left towards the shower stall and then turn right to face the sink. | STEP 2: Pick up the left spray bottle on the sink counter. | STEP 3: Take several steps to the right towards the other sink. | STEP 4: Open the right cabinet door below the sink and place the bottle in it. | STEP 5: Take a step to the right to find a green bin on the floor. | STEP 6: Pick up the spray bottle inside the bin. | STEP 7: Take a step to the left towards the sink. | STEP 8: Open the right cabinet door below the sink and place the bottle in it. | END


Input: Put away two spray bottles into a bathroom cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.0, 0, 0, 0,  [SEP] 1, Cloth, -1.704, 0.059, 3.223, 0, 0, 0, 27 [SEP] 2, Cloth, -2.942, 0.111, 0.634, 0, 0, 0, 38 [SEP] 3, SoapBar, -3.120, 0.598, 1.384, 0, 0, 0, 39 [SEP] 4, SoapBar, -1.187, 0.599, 0.347, 0, 0, 0, 28 [SEP] 5, SprayBottle, -2.340, 1.105, 3.292, 0, 90, 0, 25 [SEP] 6, SprayBottle, -2.389, 1.105, 3.369, 0, 0, 0, 25 [SEP] 7, SprayBottle, -0.822, 1.072, 0.363, 0, 0, 0, 44 [SEP] 8, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 42 [SEP] 9, Plunger, -0.219, 0.026, 0.490, 0, 0, 0,  [SEP] 10, SoapBar, -2.073, 0.106, 0.364, 0, 0, 0, 38 [SEP] 11, ToiletPaper, -2.607, 0.595, 1.342, 0, 0, 0, 39 [SEP] 12, SoapBottle, -1.631, 0.601, 1.128, 0, 0, 0, 28 [SEP] 13, ToiletPaper, -0.070, 0.871, 0.377, 0, 0, 90, 43 [SEP] 14, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 36 [SEP] 15, PaperTowelRoll, -1.797, 0.705, 1.184, 0, 0, 0, 28 [SEP] 16, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0,  [SEP] 17, Cloth, -2.812, 0.603, 1.467, 0, 0, 0, 39 [SEP] 18, Candle, -3.222, 0.597, 1.342, 0, 0, 0, 39 [SEP] 19, DishSponge, -1.797, 0.600, 1.100, 0, 0, 0, 28 [SEP] 20, SprayBottle, -0.127, 0.073, 3.185, 0, 270, 0, 40 [SEP] 21, Window, -3.447, 1.593, 0.648, 0, 0, 0,  [SEP] 22, Mirror, -1.386, 1.595, 3.464, 0, 0, 0,  [SEP] 23, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0,  [SEP] 24, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0,  [SEP] 25, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0,  [SEP] 26, Sink, -0.846, 0.952, 3.144, 0, 180, 0,  [SEP] 27, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0,  [SEP] 28, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0,  [SEP] 29, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0,  [SEP] 30, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0,  [SEP] 31, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0,  [SEP] 32, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0,  [SEP] 33, Faucet, -0.853, 1.094, 3.367, 0, 180, 0,  [SEP] 34, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0,  [SEP] 35, Window, -2.190, 1.550, 0.086, 0, 0, 0,  [SEP] 36, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0,  [SEP] 37, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0,  [SEP] 38, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0,  [SEP] 39, Shelf, -2.930, 0.589, 1.425, 0, 0, 0,  [SEP] 40, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0,  [SEP] 41, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0,  [SEP] 42, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0,  [SEP] 43, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0,  [SEP] 44, Toilet, -0.694, 0.026, 0.656, 0, 90, 0,  [SEP] 45, Faucet, -1.944, 1.094, 3.367, 0, 180, 0,  [SEP] 46, Sink, -1.934, 0.952, 3.144, 0, 180, 0,  [SEP] 47, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0,  [SEP] 48, Faucet, -1.342, 0.638, 0.629, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Go to the left sink. | STEP 2: Pick up the spray bottle nearest the wall on the left. | STEP 3: Go to the cabinet under the right sink. | STEP 4: Put the spray bottle in the right side of the cabinet. | STEP 5: Move to your right to face the green wastebasket to the right of the sink. | STEP 6: Remove the spray bottle from the wastebasket. | STEP 7: Move to face the cabinet on your left again.  | STEP 8: Place the spray bottle in the lower right cabinet, to the right of the other spray bottle. | END


Input: Grab the disc from the cabinet, turn on the lamp on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, CD, 2.285, 0.842, -0.221, 0, 0, 0, 30 [SEP] 2, Pen, -0.603, 0.930, -0.391, 0, 0, 0, 37 [SEP] 3, Pencil, 2.225, 0.053, 2.579, 0, 0, 0, 28 [SEP] 4, Pencil, -0.603, 0.928, -0.604, 0, 0, 0, 37 [SEP] 5, CreditCard, -0.603, 0.924, -0.818, 0, 0, 0, 37 [SEP] 6, Book, -0.225, 0.926, -1.032, 0, 0, 0, 37 [SEP] 7, Book, 2.143, 0.844, -0.090, 0, 0, 0, 30 [SEP] 8, AlarmClock, 2.190, 0.843, -0.615, 0, 0, 0, 32 [SEP] 9, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 37 [SEP] 10, Box, 2.15, 0.14, 0.494, 0, 12.243, 0,  [SEP] 11, Book, -0.148, 0.551, 1.263, 0, 0, 0, 22 [SEP] 12, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0,  [SEP] 13, Pen, -0.509, 0.930, -0.604, 0, 90, 0, 37 [SEP] 14, Pillow, 0.172, 0.617, 0.678, 0, 0, 0, 22 [SEP] 15, Pencil, 2.282, 0.053, 2.606, 0, 0, 0, 28 [SEP] 16, CellPhone, -0.470, 0.552, 1.263, 0, 0, 0, 22 [SEP] 17, KeyChain, -0.509, 0.925, -0.177, 0, 0, 0, 37 [SEP] 18, CreditCard, 2.380, 0.842, -0.484, 0, 0, 0, 32 [SEP] 19, AlarmClock, -0.414, 0.925, -0.604, 0, 0, 0, 37 [SEP] 20, CD, 2.195, 0.096, -0.777, 0, 0, 0, 31 [SEP] 21, Laptop, -0.309, 0.548, 1.848, 0, 0, 0, 22 [SEP] 22, Bed, 0.009, -0.004, 1.577, 0, 0, 0,  [SEP] 23, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0,  [SEP] 24, Painting, -0.787, 1.809, -0.215, 90, 270, 0,  [SEP] 25, Painting, -0.787, 1.809, 1.023, 90, 270, 0,  [SEP] 26, Mirror, 2.118, 1.277, 2.749, 0, 0, 0,  [SEP] 27, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0,  [SEP] 28, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0,  [SEP] 29, Window, 0.665, 1.356, -1.911, 90, 0, 0,  [SEP] 30, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0,  [SEP] 31, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0,  [SEP] 32, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0,  [SEP] 33, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0,  [SEP] 34, Blinds, 0.695, 1.983, -1.867, 0, 0, 0,  [SEP] 35, Drawer, -0.079, 0.513, -0.394, 0, 90, 0,  [SEP] 36, Drawer, -0.079, 0.226, -0.394, 0, 90, 0,  [SEP] 37, Desk, -0.391, 0.001, -0.811, 0, 90, 0,  [SEP] 38, Drawer, -0.079, 0.762, -0.394, 0, 90, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Walk to the right a little | STEP 2: Grab the disc from the cabinet | STEP 3: Turn around, walk to the dresser | STEP 4: Turn on the lamp on the dresser | END


Input: Examine the CD next to the light of a lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, CD, 2.285, 0.842, -0.221, 0, 0, 0, 30 [SEP] 2, Pen, -0.603, 0.930, -0.391, 0, 0, 0, 37 [SEP] 3, Pencil, 2.225, 0.053, 2.579, 0, 0, 0, 28 [SEP] 4, Pencil, -0.603, 0.928, -0.604, 0, 0, 0, 37 [SEP] 5, CreditCard, -0.603, 0.924, -0.818, 0, 0, 0, 37 [SEP] 6, Book, -0.225, 0.926, -1.032, 0, 0, 0, 37 [SEP] 7, Book, 2.143, 0.844, -0.090, 0, 0, 0, 30 [SEP] 8, AlarmClock, 2.190, 0.843, -0.615, 0, 0, 0, 32 [SEP] 9, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 37 [SEP] 10, Box, 2.15, 0.14, 0.494, 0, 12.243, 0,  [SEP] 11, Book, -0.148, 0.551, 1.263, 0, 0, 0, 22 [SEP] 12, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0,  [SEP] 13, Pen, -0.509, 0.930, -0.604, 0, 90, 0, 37 [SEP] 14, Pillow, 0.172, 0.617, 0.678, 0, 0, 0, 22 [SEP] 15, Pencil, 2.282, 0.053, 2.606, 0, 0, 0, 28 [SEP] 16, CellPhone, -0.470, 0.552, 1.263, 0, 0, 0, 22 [SEP] 17, KeyChain, -0.509, 0.925, -0.177, 0, 0, 0, 37 [SEP] 18, CreditCard, 2.380, 0.842, -0.484, 0, 0, 0, 32 [SEP] 19, AlarmClock, -0.414, 0.925, -0.604, 0, 0, 0, 37 [SEP] 20, CD, 2.195, 0.096, -0.777, 0, 0, 0, 31 [SEP] 21, Laptop, -0.309, 0.548, 1.848, 0, 0, 0, 22 [SEP] 22, Bed, 0.009, -0.004, 1.577, 0, 0, 0,  [SEP] 23, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0,  [SEP] 24, Painting, -0.787, 1.809, -0.215, 90, 270, 0,  [SEP] 25, Painting, -0.787, 1.809, 1.023, 90, 270, 0,  [SEP] 26, Mirror, 2.118, 1.277, 2.749, 0, 0, 0,  [SEP] 27, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0,  [SEP] 28, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0,  [SEP] 29, Window, 0.665, 1.356, -1.911, 90, 0, 0,  [SEP] 30, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0,  [SEP] 31, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0,  [SEP] 32, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0,  [SEP] 33, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0,  [SEP] 34, Blinds, 0.695, 1.983, -1.867, 0, 0, 0,  [SEP] 35, Drawer, -0.079, 0.513, -0.394, 0, 90, 0,  [SEP] 36, Drawer, -0.079, 0.226, -0.394, 0, 90, 0,  [SEP] 37, Desk, -0.391, 0.001, -0.811, 0, 90, 0,  [SEP] 38, Drawer, -0.079, 0.762, -0.394, 0, 90, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Take a step to the right and walk towards the dresser. | STEP 2: Pick up the CD on the dresser. | STEP 3: Turn around and walk towards the lamp on the table. | STEP 4: Turn on the lamp. | END


Input: Putting a sliced tomato in the trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0,  [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 95, NorthWall, , , , , , ,  [SEP] 96, EastWall, , , , , , ,  [SEP] 97, SouthWall, , , , , , ,  [SEP] 98, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the counter with the toaster | STEP 2: Grab the knife off of the counter | STEP 3: Cut the tomato on the counter into slices | STEP 4: Turn right and stop at the microwave | STEP 5: Put the knife in the microwave | STEP 6: Turn left and stop at the counter | STEP 7: Grab a slice of tomato | STEP 8: Turn right and stop at the microwave | STEP 9: Heat the tomato in the microwave and then take it out | STEP 10: Turn around and go to the trash can | STEP 11: Put the tomato in the trash can | END


Input: Heat a tomato slice as well as place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0,  [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 95, NorthWall, , , , , , ,  [SEP] 96, EastWall, , , , , , ,  [SEP] 97, SouthWall, , , , , , ,  [SEP] 98, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk around to face the counter on the right. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the tomato on the counter into slices. | STEP 4: Step to the right to face the microwave. | STEP 5: Place the knife in the microwave. | STEP 6: Step to the left to face the tomato on the counter. | STEP 7: Pick up a slice of tomato on the counter. | STEP 8: Step to the right to face the microwave. | STEP 9: Heat the tomato slice and remove it from the microwave. | STEP 10: Turn around and cross the room, the turn right and walk forward to face the trash can. | STEP 11: Place the tomato slice into the trash can. | END


Input: Put a slice of tomato, microwaved with a knife, into the trash. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0,  [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 95, NorthWall, , , , , , ,  [SEP] 96, EastWall, , , , , , ,  [SEP] 97, SouthWall, , , , , , ,  [SEP] 98, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk over to the kitchen counter in front of the toaster. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around while carrying the knife. | STEP 4: Walk over to the microwave. | STEP 5: Place the knife inside the microwave. | STEP 6: Close the microwave door then turn around and walk back over to the counter. | STEP 7: Pick up one slice of tomato from the counter. | STEP 8: Take the slice of tomato back to the microwave oven and open the microwave door. | STEP 9: Put the tomato slice inside the microwave, close the door, and turn the microwave on. In two seconds, turn the microwave off and open the door. Take the tomato out of the microwave. | STEP 10: Take the slice of tomato over to the trash can. | STEP 11: Put the slice of tomato in the trashcan. | END


Input: Slice the tomato, heat the tomato using microwave, throw away the tomato in the trash SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0,  [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 95, NorthWall, , , , , , ,  [SEP] 96, EastWall, , , , , , ,  [SEP] 97, SouthWall, , , , , , ,  [SEP] 98, WestWall, , , , , , ,

Output: STEP 1: Turn around and turn left and walk to the table at the end of the room | STEP 2: Grab the knife by the salt | STEP 3: Slice the tomato on the table | STEP 4: Turn right and walk to the microwave | STEP 5: Open microwave and put the knife in the microwave, close the microwave | STEP 6: Turn left and walk back to the middle of the table | STEP 7: Grab a slice of tomato | STEP 8: Turn right and walk to the microwave | STEP 9: Open the microwave, put the slice of tomato in the microwave, close the microwave and turn it on, open the microwave when it's done, take the slice of tomato out, close the microwave | STEP 10: Turn around and walk to the window by the door | STEP 11: Throw the slice of tomato in the trash can under the window | END


Input: Put a heated plate on a table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -3.0, 0, 180, 0,  [SEP] 1, Fork, -3.882, 0.691, -0.248, 0, 90, 0, 76 [SEP] 2, Fork, -1.471, 0.942, -3.439, 0, 0, 0, 41 [SEP] 3, Spoon, -2.962, 0.895, -0.462, 0, 270, 0, 78 [SEP] 4, Spatula, -0.701, 0.828, -3.627, 0, 45, 0, 70 [SEP] 5, Spatula, -2.359, 0.909, -0.290, 0, 270, 0, 78 [SEP] 6, Egg, -3.942, 0.732, -0.248, 0, 0, 0, 76 [SEP] 7, Cup, -3.163, 0.895, -0.204, 0, 270, 0, 78 [SEP] 8, Cup, -0.376, 1.287, -0.645, 0, 270, 0, 71 [SEP] 9, Plate, -3.350, 0.774, -2.922, 0, 199.125, 0, 77 [SEP] 10, Knife, -0.168, 0.967, -2.670, 0, 0, 0, 41 [SEP] 11, Knife, -2.761, 0.920, -0.290, 0, 0, 0, 78 [SEP] 12, SoapBottle, -0.078, 0.939, -1.319, 0, 270, 0, 59 [SEP] 13, Bowl, -2.962, 0.892, -0.376, 0, 270, 0, 78 [SEP] 14, Bread, -2.761, 0.976, -0.204, 0, 270, 0, 78 [SEP] 15, SaltShaker, -3.364, 0.890, -0.548, 0, 270, 0, 78 [SEP] 16, PepperShaker, -1.471, 0.938, -3.751, 0, 0, 0, 41 [SEP] 17, PepperShaker, -0.097, 1.938, -0.713, 0, 0, 0, 48 [SEP] 18, Mug, -0.376, 1.281, -0.297, 0, 270, 0, 71 [SEP] 19, Apple, -4.062, 0.751, -0.248, 0, 0, 0, 76 [SEP] 20, SoapBottle, -0.473, 0.939, -1.362, 0, 180, 0, 59 [SEP] 21, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 43 [SEP] 22, Fork, -3.361, 0.760, -3.711, 0, 64.125, 0, 77 [SEP] 23, Cup, -0.245, 1.489, -0.762, 0, 270, 0, 71 [SEP] 24, Tomato, -0.473, 0.992, -1.538, 0, 0, 0, 59 [SEP] 25, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 60 [SEP] 26, Plate, -3.565, 0.908, -0.376, 0, 270, 0, 78 [SEP] 27, Bread, -3.612, 0.841, -3.486, 0, 199.125, 0, 77 [SEP] 28, Spatula, -3.485, 0.775, -3.599, 0, 244.125, 0, 77 [SEP] 29, Knife, -2.560, 0.920, -0.290, 0, 270, 0, 78 [SEP] 30, SaltShaker, -2.560, 0.890, -0.548, 0, 270, 0, 78 [SEP] 31, PepperShaker, -1.216, 0.750, -3.447, 0, 0, 0, 47 [SEP] 32, ButterKnife, -4.122, 0.691, -0.248, 0, 0, 0, 76 [SEP] 33, Apple, -3.586, 0.821, -3.820, 0, 334.125, 0, 77 [SEP] 34, DishSponge, -0.475, 0.751, -2.632, 0, 0, 0, 46 [SEP] 35, Potato, -0.293, 1.318, -0.762, 0, 270, 0, 71 [SEP] 36, Egg, -3.370, 0.801, -3.539, 0, 109.125, 0, 77 [SEP] 37, Spoon, -0.157, 0.942, -1.450, 0, 0, 0, 59 [SEP] 38, Lettuce, -3.364, 0.985, -0.290, 0, 270, 0, 78 [SEP] 39, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 67 [SEP] 40, Bowl, -0.135, 1.500, -1.449, 0, 0, 0, 52 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,

Output: STEP 1: Go to the white table behind you. | STEP 2: Pick up the plate that is to the left of the cabbage.  | STEP 3: Take the plate to the microwave.  | STEP 4: Heat the plate in the microwave. | STEP 5: Go to the black table that is behind you and the the left of the white table.  | STEP 6: Place the plate on the black table, next to the knife.  | END


Input: Heat up a slice of apple and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pan, 1.501, 0.910, 1.180, 0, 270, 0, 42 [SEP] 2, Potato, 1.239, 0.800, -1.544, 0, 0, 0, 61 [SEP] 3, Ladle, 1.806, 1.699, -0.050, 0, 0, 0, 52 [SEP] 4, DishSponge, 0.840, 0.910, -1.247, 0, 90, 0, 46 [SEP] 5, DishSponge, 1.762, 0.910, 0.622, 0, 90, 0, 42 [SEP] 6, Fork, 1.839, 0.911, 0.518, 0, 90, 0, 42 [SEP] 7, Fork, 1.865, 0.911, -1.631, 0, 270, 0, 46 [SEP] 8, Spatula, 0.476, 0.925, 0.827, 0, 180, 0, 42 [SEP] 9, Egg, -0.887, 1.126, -1.559, 0, 0, 0, 69 [SEP] 10, Egg, 0.894, 0.795, -1.654, 0, 0, 0, 61 [SEP] 11, Plate, 0.476, 0.912, 1.180, 0, 90, 0, 42 [SEP] 12, Knife, 1.656, 0.943, -1.717, 0, 90, 0, 46 [SEP] 13, Knife, 1.607, 0.943, 0.467, 0, 180, 0, 42 [SEP] 14, SoapBottle, 1.878, 2.135, 0.805, 0, 0, 0, 50 [SEP] 15, SoapBottle, 1.77, 0.068, 1.684, 0, 270, 0, 60 [SEP] 16, Tomato, 0.159, 0.975, -1.263, 0, 90, 0, 46 [SEP] 17, Tomato, 1.796, 0.975, -1.545, 0, 90, 0, 46 [SEP] 18, PepperShaker, 1.876, 1.628, -1.119, 0, 0, 0, 54 [SEP] 19, Mug, -0.374, 1.054, -1.357, 0, 0, 0, 69 [SEP] 20, Plate, 1.805, 1.634, -0.901, 0, 0, 0, 54 [SEP] 21, SoapBottle, 1.875, 1.643, -1.643, 0, 0, 0, 56 [SEP] 22, Cup, 1.516, 0.909, -1.374, 0, 90, 0, 46 [SEP] 23, Egg, 1.706, 1.050, -0.729, 0, 270, 0, 66 [SEP] 24, Fork, 0.553, 0.911, -1.793, 0, 180, 0, 46 [SEP] 25, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 346.986, 42 [SEP] 26, Apple, 0.963, 0.817, -1.488, 0, 0, 0, 61 [SEP] 27, SaltShaker, 1.607, 0.905, 0.363, 0, 90, 0, 42 [SEP] 28, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 44 [SEP] 29, Tomato, 1.796, 0.975, -1.288, 0, 90, 0, 46 [SEP] 30, Spatula, 0.220, 0.925, 0.827, 0, 90, 0, 42 [SEP] 31, Potato, 0.579, 0.9, 0.938, 0, 315, 0, 42 [SEP] 32, Knife, 1.451, 0.943, 0.415, 0, 90, 0, 42 [SEP] 33, ButterKnife, 0.220, 0.910, 0.827, 0, 180, 0, 42 [SEP] 34, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 42 [SEP] 35, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.472, 42 [SEP] 36, PepperShaker, 1.769, 1.640, -1.683, 0, 0, 0, 56 [SEP] 37, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 43 [SEP] 38, DishSponge, 1.032, 0.760, -1.710, 0, 0, 0, 61 [SEP] 39, Spoon, 1.757, 0.911, 1.004, 0, 90, 0, 42 [SEP] 40, Bowl, 1.805, 1.652, -0.353, 0, 0, 0, 53 [SEP] 41, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 68 [SEP] 42, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 43, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 44, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 45, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 46, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 47, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 48, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 49, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 50, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 51, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 52, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 53, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 54, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 55, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 56, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 57, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 58, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 59, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 60, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 61, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 62, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 63, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 64, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 65, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 66, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 67, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 68, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 69, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 70, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 71, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 72, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the stove, then turn right and go to the sink. | STEP 2: Pick up the knife on the counter to the top left of the sink. | STEP 3: Take a step back to be centered with the sink. | STEP 4: Slice the apple in the sink. | STEP 5: Stand the knife upright in the sink to the right of the drain. | STEP 6: Pick up the top left slice of apple. | STEP 7: Turn left to face the microwave. | STEP 8: Place the apple in the microwave to the right of the egg and turn on for a few seconds.  Remove the apple when the microwave is off. | STEP 9: Return to the kitchen sink. | STEP 10: Place the apple in the sink behind the potato. | END


Input: Put two watches on a cabinet top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Watch, -1.350, 0.676, -0.847, 0, 0, 0, 46 [SEP] 2, Watch, 2.215, 0.795, -1.121, 0, 0, 0, 54 [SEP] 3, Watch, 2.027, 0.795, -1.185, 0, 0, 0, 54 [SEP] 4, CD, 2.764, 0.569, -1.246, 0, 0, 0, 59 [SEP] 5, CD, 1.559, 0.126, -1.218, 0, 0, 0, 61 [SEP] 6, CellPhone, -0.806, 0.566, 0.358, 0, 0, 0, 30 [SEP] 7, CellPhone, -1.318, 1.236, -0.649, 0, 0, 0, 49 [SEP] 8, Pen, -1.422, 1.240, -0.745, 0, 90, 0, 49 [SEP] 9, CreditCard, 2.591, 0.794, -1.153, 0, 0, 0, 54 [SEP] 10, AlarmClock, 2.591, 0.795, -1.249, 0, 0, 0, 54 [SEP] 11, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 30 [SEP] 12, Box, 2.734, 0.195, 0.89, 0, 0, 0,  [SEP] 13, Laptop, -0.462, 0.561, 0.846, 0, 0, 0, 30 [SEP] 14, CellPhone, 2.215, 0.798, -1.249, 0, 0, 0, 54 [SEP] 15, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111,  [SEP] 16, BasketBall, 1.019, 0.330, -0.976, 346.948, 295.819, 0,  [SEP] 17, TissueBox, -1.294, 0.677, -0.614, 0, 0, 0, 48 [SEP] 18, CreditCard, -1.294, 0.968, -0.919, 0, 0, 0, 53 [SEP] 19, AlarmClock, 1.839, 0.796, -1.282, 0, 0, 0, 54 [SEP] 20, Pencil, 1.708, 1.050, -1.373, 0, 0, 0, 42 [SEP] 21, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0,  [SEP] 22, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 30 [SEP] 23, KeyChain, -1.283, 1.235, -0.553, 0, 180, 0, 49 [SEP] 24, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 54 [SEP] 25, Watch, 2.853, 0.348, -1.246, 0, 0, 0, 60 [SEP] 26, CD, 2.839, 0.039, 0.147, 0, 270, 0, 32 [SEP] 27, Pen, -1.318, 1.239, -0.745, 0, 0, 0, 49 [SEP] 28, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 54 [SEP] 29, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 54 [SEP] 30, Bed, -0.640, 0.008, 0.871, 0, 0, 0,  [SEP] 31, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0,  [SEP] 32, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0,  [SEP] 33, Blinds, 0.111, 2.337, -1.436, 0, 0, 0,  [SEP] 34, Mirror, 1.985, 1.381, 1.875, 0, 0, 0,  [SEP] 35, Window, 0.118, 1.496, -1.588, 90, 180, 0,  [SEP] 36, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0,  [SEP] 37, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0,  [SEP] 38, Shelf, 2.476, 0.919, -1.384, 0, 0, 0,  [SEP] 39, Shelf, 2.251, 1.503, -1.383, 0, 0, 0,  [SEP] 40, Shelf, 2.700, 1.510, -1.380, 0, 0, 0,  [SEP] 41, Shelf, 2.476, 1.153, -1.384, 0, 0, 0,  [SEP] 42, Shelf, 1.803, 1.386, -1.384, 0, 0, 0,  [SEP] 43, Shelf, 1.803, 0.919, -1.381, 0, 0, 0,  [SEP] 44, DogBed, 0.920, 0.013, -1.044, 0, 0, 0,  [SEP] 45, Drawer, -1.305, 0.454, -0.918, 0, 90, 0,  [SEP] 46, Drawer, -1.305, 0.752, -0.919, 0, 90, 0,  [SEP] 47, Drawer, -1.305, 0.178, -0.918, 0, 90, 0,  [SEP] 48, Drawer, -1.305, 0.752, -0.579, 0, 90, 0,  [SEP] 49, Dresser, -1.328, 0.011, -0.744, 0, 90, 0,  [SEP] 50, Drawer, -1.306, 1.031, -0.579, 0, 90, 0,  [SEP] 51, Drawer, -1.305, 0.454, -0.578, 0, 90, 0,  [SEP] 52, Drawer, -1.305, 0.178, -0.578, 0, 90, 0,  [SEP] 53, Drawer, -1.305, 1.031, -0.919, 0, 90, 0,  [SEP] 54, Desk, 2.211, 0.009, -1.259, 0, 0, 0,  [SEP] 55, Drawer, 2.817, 0.189, -1.176, 0, 0, 0,  [SEP] 56, Drawer, 1.940, 0.632, -1.176, 0, 0, 0,  [SEP] 57, Drawer, 1.940, 0.189, -1.176, 0, 0, 0,  [SEP] 58, Drawer, 1.623, 0.632, -1.176, 0, 0, 0,  [SEP] 59, Drawer, 2.817, 0.632, -1.176, 0, 0, 0,  [SEP] 60, Drawer, 2.817, 0.411, -1.176, 0, 0, 0,  [SEP] 61, Drawer, 1.623, 0.189, -1.176, 0, 0, 0,  [SEP] 62, Drawer, 1.623, 0.410, -1.176, 0, 0, 0,  [SEP] 63, Drawer, 1.940, 0.410, -1.176, 0, 0, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the desk. | STEP 2: Pick up the watch to the left of the other watch. | STEP 3: Turn to the right and walk to the cabinet. | STEP 4: Place the watch to the left of the pencil on the cabinet. | STEP 5: Open the second drawer from the top on the left side of the cabinet and take out the watch. | STEP 6: Put the watch on the right side of the pencil on the cabinet. | END


Input: to move a watch from the desk to the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Watch, -1.350, 0.676, -0.847, 0, 0, 0, 46 [SEP] 2, Watch, 2.215, 0.795, -1.121, 0, 0, 0, 54 [SEP] 3, Watch, 2.027, 0.795, -1.185, 0, 0, 0, 54 [SEP] 4, CD, 2.764, 0.569, -1.246, 0, 0, 0, 59 [SEP] 5, CD, 1.559, 0.126, -1.218, 0, 0, 0, 61 [SEP] 6, CellPhone, -0.806, 0.566, 0.358, 0, 0, 0, 30 [SEP] 7, CellPhone, -1.318, 1.236, -0.649, 0, 0, 0, 49 [SEP] 8, Pen, -1.422, 1.240, -0.745, 0, 90, 0, 49 [SEP] 9, CreditCard, 2.591, 0.794, -1.153, 0, 0, 0, 54 [SEP] 10, AlarmClock, 2.591, 0.795, -1.249, 0, 0, 0, 54 [SEP] 11, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 30 [SEP] 12, Box, 2.734, 0.195, 0.89, 0, 0, 0,  [SEP] 13, Laptop, -0.462, 0.561, 0.846, 0, 0, 0, 30 [SEP] 14, CellPhone, 2.215, 0.798, -1.249, 0, 0, 0, 54 [SEP] 15, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111,  [SEP] 16, BasketBall, 1.019, 0.330, -0.976, 346.948, 295.819, 0,  [SEP] 17, TissueBox, -1.294, 0.677, -0.614, 0, 0, 0, 48 [SEP] 18, CreditCard, -1.294, 0.968, -0.919, 0, 0, 0, 53 [SEP] 19, AlarmClock, 1.839, 0.796, -1.282, 0, 0, 0, 54 [SEP] 20, Pencil, 1.708, 1.050, -1.373, 0, 0, 0, 42 [SEP] 21, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0,  [SEP] 22, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 30 [SEP] 23, KeyChain, -1.283, 1.235, -0.553, 0, 180, 0, 49 [SEP] 24, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 54 [SEP] 25, Watch, 2.853, 0.348, -1.246, 0, 0, 0, 60 [SEP] 26, CD, 2.839, 0.039, 0.147, 0, 270, 0, 32 [SEP] 27, Pen, -1.318, 1.239, -0.745, 0, 0, 0, 49 [SEP] 28, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 54 [SEP] 29, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 54 [SEP] 30, Bed, -0.640, 0.008, 0.871, 0, 0, 0,  [SEP] 31, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0,  [SEP] 32, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0,  [SEP] 33, Blinds, 0.111, 2.337, -1.436, 0, 0, 0,  [SEP] 34, Mirror, 1.985, 1.381, 1.875, 0, 0, 0,  [SEP] 35, Window, 0.118, 1.496, -1.588, 90, 180, 0,  [SEP] 36, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0,  [SEP] 37, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0,  [SEP] 38, Shelf, 2.476, 0.919, -1.384, 0, 0, 0,  [SEP] 39, Shelf, 2.251, 1.503, -1.383, 0, 0, 0,  [SEP] 40, Shelf, 2.700, 1.510, -1.380, 0, 0, 0,  [SEP] 41, Shelf, 2.476, 1.153, -1.384, 0, 0, 0,  [SEP] 42, Shelf, 1.803, 1.386, -1.384, 0, 0, 0,  [SEP] 43, Shelf, 1.803, 0.919, -1.381, 0, 0, 0,  [SEP] 44, DogBed, 0.920, 0.013, -1.044, 0, 0, 0,  [SEP] 45, Drawer, -1.305, 0.454, -0.918, 0, 90, 0,  [SEP] 46, Drawer, -1.305, 0.752, -0.919, 0, 90, 0,  [SEP] 47, Drawer, -1.305, 0.178, -0.918, 0, 90, 0,  [SEP] 48, Drawer, -1.305, 0.752, -0.579, 0, 90, 0,  [SEP] 49, Dresser, -1.328, 0.011, -0.744, 0, 90, 0,  [SEP] 50, Drawer, -1.306, 1.031, -0.579, 0, 90, 0,  [SEP] 51, Drawer, -1.305, 0.454, -0.578, 0, 90, 0,  [SEP] 52, Drawer, -1.305, 0.178, -0.578, 0, 90, 0,  [SEP] 53, Drawer, -1.305, 1.031, -0.919, 0, 90, 0,  [SEP] 54, Desk, 2.211, 0.009, -1.259, 0, 0, 0,  [SEP] 55, Drawer, 2.817, 0.189, -1.176, 0, 0, 0,  [SEP] 56, Drawer, 1.940, 0.632, -1.176, 0, 0, 0,  [SEP] 57, Drawer, 1.940, 0.189, -1.176, 0, 0, 0,  [SEP] 58, Drawer, 1.623, 0.632, -1.176, 0, 0, 0,  [SEP] 59, Drawer, 2.817, 0.632, -1.176, 0, 0, 0,  [SEP] 60, Drawer, 2.817, 0.411, -1.176, 0, 0, 0,  [SEP] 61, Drawer, 1.623, 0.189, -1.176, 0, 0, 0,  [SEP] 62, Drawer, 1.623, 0.410, -1.176, 0, 0, 0,  [SEP] 63, Drawer, 1.940, 0.410, -1.176, 0, 0, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: turn around make a left to face white dresser | STEP 2: pick up watch closest to you below the phone  | STEP 3: turn around then turn left move forward toward dresser  | STEP 4: place watch on top of dresser directly next to the left of the pen | STEP 5: open second drawer from the top on the left side of the dresser and pick up the watch in it | STEP 6: place the watch on top of the dresser to the right of the pen so the watch is standing upright  | END


Input: Place two watches on top of the dresser next to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Watch, -1.350, 0.676, -0.847, 0, 0, 0, 46 [SEP] 2, Watch, 2.215, 0.795, -1.121, 0, 0, 0, 54 [SEP] 3, Watch, 2.027, 0.795, -1.185, 0, 0, 0, 54 [SEP] 4, CD, 2.764, 0.569, -1.246, 0, 0, 0, 59 [SEP] 5, CD, 1.559, 0.126, -1.218, 0, 0, 0, 61 [SEP] 6, CellPhone, -0.806, 0.566, 0.358, 0, 0, 0, 30 [SEP] 7, CellPhone, -1.318, 1.236, -0.649, 0, 0, 0, 49 [SEP] 8, Pen, -1.422, 1.240, -0.745, 0, 90, 0, 49 [SEP] 9, CreditCard, 2.591, 0.794, -1.153, 0, 0, 0, 54 [SEP] 10, AlarmClock, 2.591, 0.795, -1.249, 0, 0, 0, 54 [SEP] 11, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 30 [SEP] 12, Box, 2.734, 0.195, 0.89, 0, 0, 0,  [SEP] 13, Laptop, -0.462, 0.561, 0.846, 0, 0, 0, 30 [SEP] 14, CellPhone, 2.215, 0.798, -1.249, 0, 0, 0, 54 [SEP] 15, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111,  [SEP] 16, BasketBall, 1.019, 0.330, -0.976, 346.948, 295.819, 0,  [SEP] 17, TissueBox, -1.294, 0.677, -0.614, 0, 0, 0, 48 [SEP] 18, CreditCard, -1.294, 0.968, -0.919, 0, 0, 0, 53 [SEP] 19, AlarmClock, 1.839, 0.796, -1.282, 0, 0, 0, 54 [SEP] 20, Pencil, 1.708, 1.050, -1.373, 0, 0, 0, 42 [SEP] 21, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0,  [SEP] 22, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 30 [SEP] 23, KeyChain, -1.283, 1.235, -0.553, 0, 180, 0, 49 [SEP] 24, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 54 [SEP] 25, Watch, 2.853, 0.348, -1.246, 0, 0, 0, 60 [SEP] 26, CD, 2.839, 0.039, 0.147, 0, 270, 0, 32 [SEP] 27, Pen, -1.318, 1.239, -0.745, 0, 0, 0, 49 [SEP] 28, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 54 [SEP] 29, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 54 [SEP] 30, Bed, -0.640, 0.008, 0.871, 0, 0, 0,  [SEP] 31, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0,  [SEP] 32, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0,  [SEP] 33, Blinds, 0.111, 2.337, -1.436, 0, 0, 0,  [SEP] 34, Mirror, 1.985, 1.381, 1.875, 0, 0, 0,  [SEP] 35, Window, 0.118, 1.496, -1.588, 90, 180, 0,  [SEP] 36, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0,  [SEP] 37, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0,  [SEP] 38, Shelf, 2.476, 0.919, -1.384, 0, 0, 0,  [SEP] 39, Shelf, 2.251, 1.503, -1.383, 0, 0, 0,  [SEP] 40, Shelf, 2.700, 1.510, -1.380, 0, 0, 0,  [SEP] 41, Shelf, 2.476, 1.153, -1.384, 0, 0, 0,  [SEP] 42, Shelf, 1.803, 1.386, -1.384, 0, 0, 0,  [SEP] 43, Shelf, 1.803, 0.919, -1.381, 0, 0, 0,  [SEP] 44, DogBed, 0.920, 0.013, -1.044, 0, 0, 0,  [SEP] 45, Drawer, -1.305, 0.454, -0.918, 0, 90, 0,  [SEP] 46, Drawer, -1.305, 0.752, -0.919, 0, 90, 0,  [SEP] 47, Drawer, -1.305, 0.178, -0.918, 0, 90, 0,  [SEP] 48, Drawer, -1.305, 0.752, -0.579, 0, 90, 0,  [SEP] 49, Dresser, -1.328, 0.011, -0.744, 0, 90, 0,  [SEP] 50, Drawer, -1.306, 1.031, -0.579, 0, 90, 0,  [SEP] 51, Drawer, -1.305, 0.454, -0.578, 0, 90, 0,  [SEP] 52, Drawer, -1.305, 0.178, -0.578, 0, 90, 0,  [SEP] 53, Drawer, -1.305, 1.031, -0.919, 0, 90, 0,  [SEP] 54, Desk, 2.211, 0.009, -1.259, 0, 0, 0,  [SEP] 55, Drawer, 2.817, 0.189, -1.176, 0, 0, 0,  [SEP] 56, Drawer, 1.940, 0.632, -1.176, 0, 0, 0,  [SEP] 57, Drawer, 1.940, 0.189, -1.176, 0, 0, 0,  [SEP] 58, Drawer, 1.623, 0.632, -1.176, 0, 0, 0,  [SEP] 59, Drawer, 2.817, 0.632, -1.176, 0, 0, 0,  [SEP] 60, Drawer, 2.817, 0.411, -1.176, 0, 0, 0,  [SEP] 61, Drawer, 1.623, 0.189, -1.176, 0, 0, 0,  [SEP] 62, Drawer, 1.623, 0.410, -1.176, 0, 0, 0,  [SEP] 63, Drawer, 1.940, 0.410, -1.176, 0, 0, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Walk to the desk on your right. | STEP 2: Pick up the watch laying on the desk. | STEP 3: Walk to the dresser next to the bed.  | STEP 4: Place the watch on the dresser | STEP 5: Open the second to bottom drawer on the left side of the dresser and pick up the watch inside. | STEP 6: Place this watch on the dresser next to the first watch. | END


Input: Put a chilled bottle from the counter 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, 0.5, 0.908, 3.0, 0, 270, 0,  [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Move to the middle of the counter to the left of the stove. | STEP 2: Pick up a wine bottle from the counter. | STEP 3: Move to the fridge behind you. | STEP 4: Place and chill the bottle in the fridge before retrieving and closing the door. | STEP 5: Move to the bin behind you on the left side of the counter. | STEP 6: Place the bottle in the bin. | END


Input: Put a chilled bottle in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 3.0, 0, 270, 0,  [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and turn again to face the counter with the bottle on it. | STEP 2: Pick the bottle up from the counter. | STEP 3: Turn around and face the fridge. | STEP 4: Put the bottle in the fridge, shut the door and then open the door and pick up the bottle. | STEP 5: Turn around and walk to face the red trash bin. | STEP 6: Put the bottle in the trash bin. | END


Input: pick up wine bottle, chill it, then put it in garbage can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 3.0, 0, 270, 0,  [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: turn left, walk into kitchen, turn left until facing counter with wine bottle and two plates | STEP 2: pick up wine bottle | STEP 3: turn right until facing fridge, walk over to fridge | STEP 4: open door, put bottle on top shelf, close door, wait, open door, pick up wine bottle again | STEP 5: turn right and face red garbage can, walk over to garbage can | STEP 6: put wine bottle in garbage can  | END


Input: Move a wine bottle from the counter top to the brown receptacle via the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 3.0, 0, 270, 0,  [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk in the direction of the oven. | STEP 2: Stop and turn left at the wine bottle. | STEP 3: Pick up the wine bottle, turn around and carry it to the refrigerator. | STEP 4: Open the refrigerator door, place the bottle on the right side of the top shelf near the front edge of the shelf, close the refrigerator door; open the refrigerator door and pick up the wine bottle, close the door. | STEP 5: Turn around and carry the wine bottle to the brown receptacle on the floor directly to the left of the counter with the toaster. | STEP 6: Place the wine bottle towards the inside of the receptacle nearest the wall with the window. | END


Input: To place two pens on the night stand on the left side 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: Turn right and walk forward to face the shelves. | STEP 2: Pick up the pen on the shelf. | STEP 3: Turn right and follow the room around to the night stand on the left side of the bed. | STEP 4: Place the pen on the edge of the desk. | STEP 5: Turn around and follow the walk way around the bed the face the pen on the left end of the dresser. | STEP 6: Pick up the pen on the end of the desk. | STEP 7: Turn right and follow the room around to the night stand on the left side of the bed. | STEP 8: Place the pen on the edge of the desk perpendicular with the first pen. | END