Input: pick up knife to cut tomato, cook tomato, put into fridge  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 5.25, 0, 180, 0,  [SEP] 1, Potato, -0.312, 0.794, 6.479, 0, 270, 0, 91 [SEP] 2, ButterKnife, 0.847, 0.992, 0.395, 0, 0, 0, 55 [SEP] 3, Kettle, -0.621, 0.761, 6.541, 0, 270, 0, 91 [SEP] 4, Spoon, -0.611, 0.993, 0.120, 0, 0, 0, 55 [SEP] 5, Spoon, -0.034, 0.761, 6.478, 0, 0, 0, 91 [SEP] 6, Spatula, 1.276, 0.906, 2.474, 0, 180, 0, 78 [SEP] 7, Fork, 1.236, 0.772, 3.429, 0, 0, 0, 48 [SEP] 8, Fork, -0.158, 0.760, 6.604, 0, 270, 0, 91 [SEP] 9, Cup, 1.079, 1.575, 0.163, 0, 0, 0, 62 [SEP] 10, Cup, 1.238, 0.136, 1.790, 0, 0, 0, 44 [SEP] 11, Plate, 0.124, 0.144, 0.429, 0, 0, 0, 64 [SEP] 12, Plate, -0.552, 0.144, 0.429, 0, 0, 0, 63 [SEP] 13, SoapBottle, 1.582, 0.992, 0.213, 0, 0, 0, 55 [SEP] 14, PepperShaker, 1.582, 0.987, 3.511, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.406, 0.135, 2.572, 0, 0, 0, 67 [SEP] 16, SaltShaker, 0.332, 0.139, 0.582, 0, 0, 0, 64 [SEP] 17, SaltShaker, -0.312, 0.755, 6.666, 0, 270, 0, 91 [SEP] 18, Mug, 0.221, 1.092, 0.310, 0, 270, 0, 71 [SEP] 19, Apple, 1.135, 1.067, 4.808, 0, 0, 0, 56 [SEP] 20, Bowl, 1.493, 0.991, 3.231, 0, 0, 0, 55 [SEP] 21, Bread, 0.015, 0.829, 6.742, 0, 225, 0, 91 [SEP] 22, Egg, 1.387, 0.941, 2.627, 0, 90, 0, 78 [SEP] 23, Knife, 1.493, 1.022, 3.511, 0, 0, 0, 55 [SEP] 24, Fork, -0.459, 0.993, 0.303, 0, 0, 0, 55 [SEP] 25, Apple, -0.289, 0.834, 6.786, 0, 135, 0, 91 [SEP] 26, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 27, Plate, 0.305, 0.760, 6.416, 0, 270, 0, 91 [SEP] 28, SaltShaker, -0.575, 0.755, 6.719, 0, 135, 0, 91 [SEP] 29, Lettuce, 1.314, 1.081, 0.213, 0, 0, 0, 55 [SEP] 30, SoapBottle, -0.074, 1.579, 0.163, 0, 0, 0, 68 [SEP] 31, Spatula, 0.803, 0.787, 0.507, 0, 0, 0, 47 [SEP] 32, PaperTowelRoll, 0.771, 1.096, 0.486, 0, 0, 0, 55 [SEP] 33, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 34, Potato, 1.907, 0.115, 6.439, 0, 0, 0, 79 [SEP] 35, ButterKnife, -0.486, 0.760, 6.151, 0, 225, 0, 91 [SEP] 36, PepperShaker, 0.167, 0.755, 6.151, 0, 135, 0, 91 [SEP] 37, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 38, Tomato, 0.102, 0.809, 6.305, 0, 135, 0, 91 [SEP] 39, DishSponge, 0.260, 0.771, 0.396, 0, 0, 0, 52 [SEP] 40, Cup, 2.137, 1.511, 5.751, 0, 270, 0, 77 [SEP] 41, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 91 [SEP] 42, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 55 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 94, NorthWall, , , , , , ,  [SEP] 95, EastWall, , , , , , ,  [SEP] 96, SouthWall, , , , , , ,  [SEP] 97, WestWall, , , , , , ,

Output: STEP 1: turn left, turn right to the counter | STEP 2: pick up knife from counter | STEP 3: turn around, walk to the table | STEP 4: slice into tomato on table | STEP 5: place knife down on table  | STEP 6: pick up tomato slice from table  | STEP 7: turn around and walk to the microwave | STEP 8: open microwave, put slice into microwave, cook, open door and remove tomato  | STEP 9: turn around and walk to the fridge  | STEP 10: open fridge door and put tomato slice into fridge  | END


Input: Put a heated slice of tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 5.25, 0, 180, 0,  [SEP] 1, Potato, -0.312, 0.794, 6.479, 0, 270, 0, 91 [SEP] 2, ButterKnife, 0.847, 0.992, 0.395, 0, 0, 0, 55 [SEP] 3, Kettle, -0.621, 0.761, 6.541, 0, 270, 0, 91 [SEP] 4, Spoon, -0.611, 0.993, 0.120, 0, 0, 0, 55 [SEP] 5, Spoon, -0.034, 0.761, 6.478, 0, 0, 0, 91 [SEP] 6, Spatula, 1.276, 0.906, 2.474, 0, 180, 0, 78 [SEP] 7, Fork, 1.236, 0.772, 3.429, 0, 0, 0, 48 [SEP] 8, Fork, -0.158, 0.760, 6.604, 0, 270, 0, 91 [SEP] 9, Cup, 1.079, 1.575, 0.163, 0, 0, 0, 62 [SEP] 10, Cup, 1.238, 0.136, 1.790, 0, 0, 0, 44 [SEP] 11, Plate, 0.124, 0.144, 0.429, 0, 0, 0, 64 [SEP] 12, Plate, -0.552, 0.144, 0.429, 0, 0, 0, 63 [SEP] 13, SoapBottle, 1.582, 0.992, 0.213, 0, 0, 0, 55 [SEP] 14, PepperShaker, 1.582, 0.987, 3.511, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.406, 0.135, 2.572, 0, 0, 0, 67 [SEP] 16, SaltShaker, 0.332, 0.139, 0.582, 0, 0, 0, 64 [SEP] 17, SaltShaker, -0.312, 0.755, 6.666, 0, 270, 0, 91 [SEP] 18, Mug, 0.221, 1.092, 0.310, 0, 270, 0, 71 [SEP] 19, Apple, 1.135, 1.067, 4.808, 0, 0, 0, 56 [SEP] 20, Bowl, 1.493, 0.991, 3.231, 0, 0, 0, 55 [SEP] 21, Bread, 0.015, 0.829, 6.742, 0, 225, 0, 91 [SEP] 22, Egg, 1.387, 0.941, 2.627, 0, 90, 0, 78 [SEP] 23, Knife, 1.493, 1.022, 3.511, 0, 0, 0, 55 [SEP] 24, Fork, -0.459, 0.993, 0.303, 0, 0, 0, 55 [SEP] 25, Apple, -0.289, 0.834, 6.786, 0, 135, 0, 91 [SEP] 26, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 27, Plate, 0.305, 0.760, 6.416, 0, 270, 0, 91 [SEP] 28, SaltShaker, -0.575, 0.755, 6.719, 0, 135, 0, 91 [SEP] 29, Lettuce, 1.314, 1.081, 0.213, 0, 0, 0, 55 [SEP] 30, SoapBottle, -0.074, 1.579, 0.163, 0, 0, 0, 68 [SEP] 31, Spatula, 0.803, 0.787, 0.507, 0, 0, 0, 47 [SEP] 32, PaperTowelRoll, 0.771, 1.096, 0.486, 0, 0, 0, 55 [SEP] 33, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 34, Potato, 1.907, 0.115, 6.439, 0, 0, 0, 79 [SEP] 35, ButterKnife, -0.486, 0.760, 6.151, 0, 225, 0, 91 [SEP] 36, PepperShaker, 0.167, 0.755, 6.151, 0, 135, 0, 91 [SEP] 37, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 38, Tomato, 0.102, 0.809, 6.305, 0, 135, 0, 91 [SEP] 39, DishSponge, 0.260, 0.771, 0.396, 0, 0, 0, 52 [SEP] 40, Cup, 2.137, 1.511, 5.751, 0, 270, 0, 77 [SEP] 41, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 91 [SEP] 42, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 55 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 94, NorthWall, , , , , , ,  [SEP] 95, EastWall, , , , , , ,  [SEP] 96, SouthWall, , , , , , ,  [SEP] 97, WestWall, , , , , , ,

Output: STEP 1: Go forward to the counter on the right of the microwave across the kitchen. | STEP 2: Pick up the knife behind the paper towel from the counter.  | STEP 3: Turn around and go to the right side of the black round table across the kitchen.  | STEP 4: Slice the tomato behind the white plate on the table. | STEP 5: Place the knife on the table on the right of the gray plate.  | STEP 6: Pick up one slice of tomato from the table.  | STEP 7: Turn left and go back to the counter with a microwave on top.  | STEP 8: Remove the tomato after heating in the microwave.  | STEP 9: Turn around and go to the front of the refrigerator. | STEP 10: Place the slice of tomato in the refrigerator.  | END


Input: Wash the kettle from the stove, put it back on the stove SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 270, 0,  [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 0.064, 1.132, 0.245, 0, 0, 0, 76 [SEP] 3, DishSponge, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 4, ButterKnife, 1.314, 0.992, 1.577, 0, 0, 0, 60 [SEP] 5, Kettle, -0.621, 0.145, 0.582, 0, 0, 0, 68 [SEP] 6, Kettle, -0.687, 0.993, 0.212, 0, 0, 0, 60 [SEP] 7, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 55 [SEP] 8, Spoon, 0.124, 0.772, 0.563, 0, 0, 0, 57 [SEP] 9, Spoon, 1.405, 0.772, 4.680, 0, 0, 0, 50 [SEP] 10, Fork, -0.034, 0.760, 6.169, 0, 0, 0, 96 [SEP] 11, Fork, 1.225, 0.993, 0.213, 0, 0, 0, 60 [SEP] 12, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 61 [SEP] 13, Plate, 0.212, 0.760, 6.196, 0, 135, 0, 96 [SEP] 14, Knife, -0.159, 0.789, 6.941, 0, 0, 0, 96 [SEP] 15, Knife, 0.803, 0.802, 0.563, 0, 270, 0, 52 [SEP] 16, Tomato, -0.313, 0.809, 6.544, 0, 135, 0, 96 [SEP] 17, SoapBottle, 2.006, 0.080, 6.469, 0, 0, 0, 84 [SEP] 18, Bowl, 1.490, 0.139, 2.498, 0, 0, 0, 72 [SEP] 19, Bowl, 1.456, 1.576, 1.288, 0, 0, 0, 70 [SEP] 20, PepperShaker, 0.544, 0.987, 0.120, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.284, 0.755, 6.787, 0, 0, 0, 96 [SEP] 22, SaltShaker, 0.305, 0.755, 6.416, 0, 270, 0, 96 [SEP] 23, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 60 [SEP] 24, Apple, 0.273, 1.171, 0.213, 0, 0, 0, 76 [SEP] 25, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 69 [SEP] 26, Bread, -0.459, 1.062, 0.578, 0, 0, 0, 60 [SEP] 27, Egg, 2.094, 1.565, 6.001, 0, 270, 0, 82 [SEP] 28, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 57 [SEP] 29, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 96 [SEP] 30, Apple, -0.378, 0.834, 6.698, 0, 135, 0, 96 [SEP] 31, Kettle, 0.815, 0.144, 0.418, 0, 0, 0, 66 [SEP] 32, Plate, 1.490, 0.141, 3.291, 0, 0, 0, 71 [SEP] 33, SaltShaker, 1.657, 0.135, 2.424, 0, 0, 0, 72 [SEP] 34, Lettuce, -0.442, 0.848, 6.107, 0, 225, 0, 96 [SEP] 35, SoapBottle, 0.150, 0.760, 6.604, 0, 270, 0, 96 [SEP] 36, Spatula, 1.582, 1.007, 0.440, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.618, 0.864, 6.284, 0, 225, 0, 96 [SEP] 38, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 60 [SEP] 39, Potato, -0.224, 0.794, 6.633, 0, 45, 0, 96 [SEP] 40, ButterKnife, -0.481, 0.771, 0.507, 0, 0, 0, 56 [SEP] 41, PepperShaker, 0.771, 0.987, 0.120, 0, 0, 0, 60 [SEP] 42, Pan, 2.051, 1.513, 5.626, 0, 0, 0, 82 [SEP] 43, Tomato, 0.080, 0.809, 6.895, 0, 225, 0, 96 [SEP] 44, DishSponge, 0.674, 0.143, 0.181, 0, 0, 0, 66 [SEP] 45, Cup, 1.486, 0.137, 4.647, 0, 0, 0, 62 [SEP] 46, Spoon, 1.404, 0.772, 3.360, 0, 0, 0, 53 [SEP] 47, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 60 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to the stove | STEP 2: Grab the kettle on the stove | STEP 3: Turn right, walk to the sink  | STEP 4: Put the kettle in the sink,open the faucet, wash the kettle in the sink, close the faucet, take the kettle | STEP 5: turn left, walk back to the stove | STEP 6: Put the kettle on the right bottom stove | END


Input: Fill and replace the tea kettle on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 270, 0,  [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 0.064, 1.132, 0.245, 0, 0, 0, 76 [SEP] 3, DishSponge, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 4, ButterKnife, 1.314, 0.992, 1.577, 0, 0, 0, 60 [SEP] 5, Kettle, -0.621, 0.145, 0.582, 0, 0, 0, 68 [SEP] 6, Kettle, -0.687, 0.993, 0.212, 0, 0, 0, 60 [SEP] 7, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 55 [SEP] 8, Spoon, 0.124, 0.772, 0.563, 0, 0, 0, 57 [SEP] 9, Spoon, 1.405, 0.772, 4.680, 0, 0, 0, 50 [SEP] 10, Fork, -0.034, 0.760, 6.169, 0, 0, 0, 96 [SEP] 11, Fork, 1.225, 0.993, 0.213, 0, 0, 0, 60 [SEP] 12, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 61 [SEP] 13, Plate, 0.212, 0.760, 6.196, 0, 135, 0, 96 [SEP] 14, Knife, -0.159, 0.789, 6.941, 0, 0, 0, 96 [SEP] 15, Knife, 0.803, 0.802, 0.563, 0, 270, 0, 52 [SEP] 16, Tomato, -0.313, 0.809, 6.544, 0, 135, 0, 96 [SEP] 17, SoapBottle, 2.006, 0.080, 6.469, 0, 0, 0, 84 [SEP] 18, Bowl, 1.490, 0.139, 2.498, 0, 0, 0, 72 [SEP] 19, Bowl, 1.456, 1.576, 1.288, 0, 0, 0, 70 [SEP] 20, PepperShaker, 0.544, 0.987, 0.120, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.284, 0.755, 6.787, 0, 0, 0, 96 [SEP] 22, SaltShaker, 0.305, 0.755, 6.416, 0, 270, 0, 96 [SEP] 23, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 60 [SEP] 24, Apple, 0.273, 1.171, 0.213, 0, 0, 0, 76 [SEP] 25, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 69 [SEP] 26, Bread, -0.459, 1.062, 0.578, 0, 0, 0, 60 [SEP] 27, Egg, 2.094, 1.565, 6.001, 0, 270, 0, 82 [SEP] 28, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 57 [SEP] 29, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 96 [SEP] 30, Apple, -0.378, 0.834, 6.698, 0, 135, 0, 96 [SEP] 31, Kettle, 0.815, 0.144, 0.418, 0, 0, 0, 66 [SEP] 32, Plate, 1.490, 0.141, 3.291, 0, 0, 0, 71 [SEP] 33, SaltShaker, 1.657, 0.135, 2.424, 0, 0, 0, 72 [SEP] 34, Lettuce, -0.442, 0.848, 6.107, 0, 225, 0, 96 [SEP] 35, SoapBottle, 0.150, 0.760, 6.604, 0, 270, 0, 96 [SEP] 36, Spatula, 1.582, 1.007, 0.440, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.618, 0.864, 6.284, 0, 225, 0, 96 [SEP] 38, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 60 [SEP] 39, Potato, -0.224, 0.794, 6.633, 0, 45, 0, 96 [SEP] 40, ButterKnife, -0.481, 0.771, 0.507, 0, 0, 0, 56 [SEP] 41, PepperShaker, 0.771, 0.987, 0.120, 0, 0, 0, 60 [SEP] 42, Pan, 2.051, 1.513, 5.626, 0, 0, 0, 82 [SEP] 43, Tomato, 0.080, 0.809, 6.895, 0, 225, 0, 96 [SEP] 44, DishSponge, 0.674, 0.143, 0.181, 0, 0, 0, 66 [SEP] 45, Cup, 1.486, 0.137, 4.647, 0, 0, 0, 62 [SEP] 46, Spoon, 1.404, 0.772, 3.360, 0, 0, 0, 53 [SEP] 47, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 60 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: Move to the stove to the left of the sink. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Move to the sink to the right of you. | STEP 4: Place the kettle in the water and fill with water before picking up and shutting off the water. | STEP 5: Move to the stove to the left of you. | STEP 6: Place the kettle on the stove. | END


Input: Place a tea pot full of water onto the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 270, 0,  [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 0.064, 1.132, 0.245, 0, 0, 0, 76 [SEP] 3, DishSponge, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 4, ButterKnife, 1.314, 0.992, 1.577, 0, 0, 0, 60 [SEP] 5, Kettle, -0.621, 0.145, 0.582, 0, 0, 0, 68 [SEP] 6, Kettle, -0.687, 0.993, 0.212, 0, 0, 0, 60 [SEP] 7, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 55 [SEP] 8, Spoon, 0.124, 0.772, 0.563, 0, 0, 0, 57 [SEP] 9, Spoon, 1.405, 0.772, 4.680, 0, 0, 0, 50 [SEP] 10, Fork, -0.034, 0.760, 6.169, 0, 0, 0, 96 [SEP] 11, Fork, 1.225, 0.993, 0.213, 0, 0, 0, 60 [SEP] 12, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 61 [SEP] 13, Plate, 0.212, 0.760, 6.196, 0, 135, 0, 96 [SEP] 14, Knife, -0.159, 0.789, 6.941, 0, 0, 0, 96 [SEP] 15, Knife, 0.803, 0.802, 0.563, 0, 270, 0, 52 [SEP] 16, Tomato, -0.313, 0.809, 6.544, 0, 135, 0, 96 [SEP] 17, SoapBottle, 2.006, 0.080, 6.469, 0, 0, 0, 84 [SEP] 18, Bowl, 1.490, 0.139, 2.498, 0, 0, 0, 72 [SEP] 19, Bowl, 1.456, 1.576, 1.288, 0, 0, 0, 70 [SEP] 20, PepperShaker, 0.544, 0.987, 0.120, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.284, 0.755, 6.787, 0, 0, 0, 96 [SEP] 22, SaltShaker, 0.305, 0.755, 6.416, 0, 270, 0, 96 [SEP] 23, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 60 [SEP] 24, Apple, 0.273, 1.171, 0.213, 0, 0, 0, 76 [SEP] 25, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 69 [SEP] 26, Bread, -0.459, 1.062, 0.578, 0, 0, 0, 60 [SEP] 27, Egg, 2.094, 1.565, 6.001, 0, 270, 0, 82 [SEP] 28, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 57 [SEP] 29, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 96 [SEP] 30, Apple, -0.378, 0.834, 6.698, 0, 135, 0, 96 [SEP] 31, Kettle, 0.815, 0.144, 0.418, 0, 0, 0, 66 [SEP] 32, Plate, 1.490, 0.141, 3.291, 0, 0, 0, 71 [SEP] 33, SaltShaker, 1.657, 0.135, 2.424, 0, 0, 0, 72 [SEP] 34, Lettuce, -0.442, 0.848, 6.107, 0, 225, 0, 96 [SEP] 35, SoapBottle, 0.150, 0.760, 6.604, 0, 270, 0, 96 [SEP] 36, Spatula, 1.582, 1.007, 0.440, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.618, 0.864, 6.284, 0, 225, 0, 96 [SEP] 38, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 60 [SEP] 39, Potato, -0.224, 0.794, 6.633, 0, 45, 0, 96 [SEP] 40, ButterKnife, -0.481, 0.771, 0.507, 0, 0, 0, 56 [SEP] 41, PepperShaker, 0.771, 0.987, 0.120, 0, 0, 0, 60 [SEP] 42, Pan, 2.051, 1.513, 5.626, 0, 0, 0, 82 [SEP] 43, Tomato, 0.080, 0.809, 6.895, 0, 225, 0, 96 [SEP] 44, DishSponge, 0.674, 0.143, 0.181, 0, 0, 0, 66 [SEP] 45, Cup, 1.486, 0.137, 4.647, 0, 0, 0, 62 [SEP] 46, Spoon, 1.404, 0.772, 3.360, 0, 0, 0, 53 [SEP] 47, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 60 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: Turn right move to in front of the stove. | STEP 2: Pick up the tea pot from the stove. | STEP 3: Turn right move to in front of the sink. | STEP 4: Put the tea pot in to the sink, fill it with water, pick it back up. | STEP 5: Turn left move to in front of the stove. | STEP 6: Put the tea pot on the right forward burner of the stove. | END


Input: Put sponge and pot from stove on to the kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Pencil, -1.912, 0.027, -3.763, 0, 0, 0, 65 [SEP] 2, Pen, -0.222, 0.918, -3.771, 0, 0, 0, 49 [SEP] 3, ButterKnife, -0.365, 0.915, -2.764, 0, 90, 0, 49 [SEP] 4, WineBottle, -0.815, 0.916, -3.697, 0, 0, 0, 49 [SEP] 5, Knife, -0.222, 0.911, -3.537, 88.258, 111.313, 112.468, 49 [SEP] 6, Knife, -0.746, 0.927, -3.768, 0, 180, 354.476, 49 [SEP] 7, Cup, -0.230, 1.969, -2.306, 0, 0, 0, 56 [SEP] 8, Egg, -0.254, 0.830, -2.082, 0, 270, 0, 67 [SEP] 9, Tomato, -0.246, 1.454, -0.979, 0, 270, 0, 66 [SEP] 10, Tomato, -0.600, 0.979, -3.909, 0, 0, 0, 49 [SEP] 11, Bowl, -0.343, 1.097, -0.560, 0, 270, 0, 66 [SEP] 12, Bowl, -1.048, 1.968, -3.851, 0, 0, 0, 50 [SEP] 13, Lettuce, -0.392, 1.191, -0.874, 0, 270, 0, 66 [SEP] 14, SaltShaker, -0.538, 0.077, -3.299, 0, 0, 0, 55 [SEP] 15, SaltShaker, -0.420, 0.743, -3.238, 0, 0, 0, 60 [SEP] 16, PepperShaker, -1.443, 1.965, -3.890, 0, 0, 0, 58 [SEP] 17, Mug, -0.441, 1.385, -0.560, 0, 270, 0, 66 [SEP] 18, Mug, -0.308, 1.685, -0.665, 0, 270, 0, 66 [SEP] 19, Apple, -2.694, 0.987, -1.453, 0, 0, 0, 74 [SEP] 20, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 74 [SEP] 21, Glassbottle, -0.302, 0.797, -1.934, 0, 270, 0, 67 [SEP] 22, Egg, -1.943, 0.059, -3.654, 0, 0, 0, 65 [SEP] 23, Pen, -2.160, 0.919, -0.829, 0, 0, 0, 74 [SEP] 24, Fork, -0.295, 0.788, -1.858, 0, 0, 0, 67 [SEP] 25, SoapBottle, -0.460, 0.079, -1.849, 0, 0, 0, 54 [SEP] 26, Pencil, -0.537, 0.747, -3.297, 0, 270, 0, 60 [SEP] 27, WineBottle, -0.211, 1.528, -2.809, 0, 0, 0, 61 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.440, 0.953, -3.660, 0, 347.747, 0, 49 [SEP] 30, Tomato, -1.975, 0.090, -3.799, 0, 0, 0, 65 [SEP] 31, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 46 [SEP] 32, Cup, -1.309, 1.629, -3.870, 0, 0, 0, 62 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.749, 0.742, -3.586, 0, 0, 0, 48 [SEP] 35, Potato, -0.388, 1.722, -0.979, 0, 270, 0, 66 [SEP] 36, PepperShaker, -0.230, 1.966, -2.077, 0, 0, 0, 56 [SEP] 37, ButterKnife, -0.671, 0.905, -3.626, 0, 180, 0, 49 [SEP] 38, DishSponge, -0.743, 0.915, -3.555, 0, 0, 0, 49 [SEP] 39, Spoon, -0.328, 0.786, -2.125, 0, 33.895, 0, 67 [SEP] 40, Plate, -2.121, 0.913, -2.422, 0, 0, 0, 74 [SEP] 41, Knife, -2.269, 0.920, -2.143, 90, 315, 0, 74 [SEP] 42, Mug, -0.447, 0.792, -2.008, 0, 90, 0, 67 [SEP] 43, Bowl, -0.391, 1.529, -3.679, 0, 45, 0, 57 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Move to the counter top the left of the stove | STEP 2: Pick up sponge from the counter | STEP 3: Move to the stove to the right of current position | STEP 4: Place sponge inside pot on the stove | STEP 5: Pick up pot with the sponge inside of it | STEP 6: Move to the island counter across from the sink. | STEP 7: Place pan on top of island counter | END


Input: bring the knife and the baking sheet at the counter beside the apples. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.75, 0, 90, 0,  [SEP] 1, Pan, -1.080, 0.899, 0.176, 0, 270, 0, 69 [SEP] 2, Ladle, 3.029, 0.749, 0.829, 0, 270, 0, 91 [SEP] 3, Ladle, 3.277, 0.937, -0.599, 0, 0, 0, 68 [SEP] 4, DishSponge, 3.028, 0.176, 0.770, 0, 0, 0, 78 [SEP] 5, DishSponge, 0.836, 0.907, 0.747, 0, 0, 0, 100 [SEP] 6, ButterKnife, -0.702, 0.900, -0.726, 0, 45, 0, 69 [SEP] 7, ButterKnife, -1.080, 0.900, -0.047, 0, 0, 0, 69 [SEP] 8, ButterKnife, 2.966, 0.900, -0.798, 0, 0, 0, 68 [SEP] 9, Spatula, -0.827, 0.341, 0.401, 0, 90, 0, 70 [SEP] 10, Spoon, -0.827, 0.327, 1.518, 0, 0, 0, 104 [SEP] 11, Spoon, 0.376, 0.513, -1.515, 0, 90, 0, 55 [SEP] 12, CellPhone, 3.335, 0.898, -0.279, 0, 0, 0, 68 [SEP] 13, CellPhone, -0.706, 0.131, -0.682, 0, 45, 0, 95 [SEP] 14, Mug, 1.242, 0.708, -1.381, 0, 0, 0, 115 [SEP] 15, Mug, 0.773, 1.242, -1.448, 0, 0, 0, 115 [SEP] 16, Apple, -0.053, 0.974, -1.682, 0, 45, 0, 90 [SEP] 17, Apple, 1.086, 1.321, -1.503, 0, 0, 0, 115 [SEP] 18, SaltShaker, 0.468, 0.127, -1.515, 0, 0, 0, 59 [SEP] 19, SaltShaker, 3.279, 1.260, -0.854, 0, 0, 0, 82 [SEP] 20, PepperShaker, -0.857, 0.896, -0.671, 0, 45, 0, 69 [SEP] 21, PepperShaker, -0.717, 0.896, 0.176, 0, 0, 0, 69 [SEP] 22, Bowl, 3.084, 0.172, -0.744, 0, 0, 0, 81 [SEP] 23, SoapBottle, 0.254, 1.268, -1.741, 0, 0, 0, 85 [SEP] 24, SoapBottle, -0.904, 0.909, -0.928, 0, 45, 0, 69 [SEP] 25, Cup, -1.052, 0.995, 1.417, 0, 90, 0, 117 [SEP] 26, Cup, -0.228, 1.261, -1.506, 0, 45, 0, 86 [SEP] 27, Plate, 0.664, 0.923, 0.296, 0, 36.810, 0, 100 [SEP] 28, Knife, 2.966, 0.926, -0.300, 0, 180, 0, 68 [SEP] 29, Knife, 3.373, 0.926, -0.023, 0, 90, 0, 68 [SEP] 30, Plate, 3.044, 1.477, -1.648, 0, 0, 0, 67 [SEP] 31, Glassbottle, 3.031, 1.465, -1.186, 0, 0, 0, 83 [SEP] 32, SoapBottle, 2.914, 0.184, -0.453, 0, 0, 0, 80 [SEP] 33, Potato, 3.028, 0.785, -0.034, 0, 90, 0, 114 [SEP] 34, Fork, 0.445, 0.911, 0.627, 0, 0, 0, 100 [SEP] 35, Ladle, 0.445, 0.947, 0.827, 0, 0, 0, 100 [SEP] 36, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 64 [SEP] 37, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 98 [SEP] 38, Spatula, 1.360, 0.923, 0.605, 0, 0, 0, 100 [SEP] 39, Knife, 1.009, 0.933, 0.525, 0, 36.810, 0, 100 [SEP] 40, Lettuce, 0.950, 0.973, 0.447, 0, 36.810, 0, 100 [SEP] 41, Cup, 1.242, 1.071, -1.531, 0, 0, 0, 115 [SEP] 42, SaltShaker, 2.966, 0.897, 0.947, 0, 0, 0, 68 [SEP] 43, Egg, 3.111, 0.799, -0.100, 0, 90, 0, 114 [SEP] 44, PepperShaker, -0.239, 0.896, -1.496, 0, 45, 0, 90 [SEP] 45, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 100 [SEP] 46, Apple, 0.049, 0.974, -1.579, 0, 45, 0, 90 [SEP] 47, Pan, -0.862, 0.899, 0.623, 0, 0, 0, 69 [SEP] 48, Bread, 1.229, 0.986, 0.180, 0, 0, 0, 100 [SEP] 49, CellPhone, -0.786, 0.323, 0.926, 0, 0, 0, 70 [SEP] 50, DishSponge, 3.262, 0.100, 1.626, 0, 225, 0, 110 [SEP] 51, Tomato, 2.966, 0.937, -0.897, 0, 0, 0, 68 [SEP] 52, Spoon, 0.622, 0.912, 0.627, 0, 0, 0, 100 [SEP] 53, Bowl, 0.404, 1.256, -1.707, 0, 90, 0, 85 [SEP] 54, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 112 [SEP] 55, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 56, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 57, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 58, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 59, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 60, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 61, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 62, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 63, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 64, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 65, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 66, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 67, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 68, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 69, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 70, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 71, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 72, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 73, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 74, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 75, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 76, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 77, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 78, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 79, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 80, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 81, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 82, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 83, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 84, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 85, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 86, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 87, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 88, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 89, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 90, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 91, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 92, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 93, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 94, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 95, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 96, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 97, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 98, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 99, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 100, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 101, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 102, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 103, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 104, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 105, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 106, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 107, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 108, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 109, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 110, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 111, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 112, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 113, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 114, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 115, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 116, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 117, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 118, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 119, NorthWall, , , , , , ,  [SEP] 120, EastWall, , , , , , ,  [SEP] 121, SouthWall, , , , , , ,  [SEP] 122, WestWall, , , , , , ,

Output: STEP 1: Look around to find the knife. | STEP 2: On the counter pick up the knife beside the pan. | STEP 3: head towards the stove. | STEP 4: Put the knife at the baking sheet. | STEP 5: pick up the baking sheet on the counter.  | STEP 6: Look around and turn left facing the two apples. | STEP 7: Put the baking sheet to the counter beside the two apples.  | END


Input: Put pan with knife on the counter beside the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.75, 0, 90, 0,  [SEP] 1, Pan, -1.080, 0.899, 0.176, 0, 270, 0, 69 [SEP] 2, Ladle, 3.029, 0.749, 0.829, 0, 270, 0, 91 [SEP] 3, Ladle, 3.277, 0.937, -0.599, 0, 0, 0, 68 [SEP] 4, DishSponge, 3.028, 0.176, 0.770, 0, 0, 0, 78 [SEP] 5, DishSponge, 0.836, 0.907, 0.747, 0, 0, 0, 100 [SEP] 6, ButterKnife, -0.702, 0.900, -0.726, 0, 45, 0, 69 [SEP] 7, ButterKnife, -1.080, 0.900, -0.047, 0, 0, 0, 69 [SEP] 8, ButterKnife, 2.966, 0.900, -0.798, 0, 0, 0, 68 [SEP] 9, Spatula, -0.827, 0.341, 0.401, 0, 90, 0, 70 [SEP] 10, Spoon, -0.827, 0.327, 1.518, 0, 0, 0, 104 [SEP] 11, Spoon, 0.376, 0.513, -1.515, 0, 90, 0, 55 [SEP] 12, CellPhone, 3.335, 0.898, -0.279, 0, 0, 0, 68 [SEP] 13, CellPhone, -0.706, 0.131, -0.682, 0, 45, 0, 95 [SEP] 14, Mug, 1.242, 0.708, -1.381, 0, 0, 0, 115 [SEP] 15, Mug, 0.773, 1.242, -1.448, 0, 0, 0, 115 [SEP] 16, Apple, -0.053, 0.974, -1.682, 0, 45, 0, 90 [SEP] 17, Apple, 1.086, 1.321, -1.503, 0, 0, 0, 115 [SEP] 18, SaltShaker, 0.468, 0.127, -1.515, 0, 0, 0, 59 [SEP] 19, SaltShaker, 3.279, 1.260, -0.854, 0, 0, 0, 82 [SEP] 20, PepperShaker, -0.857, 0.896, -0.671, 0, 45, 0, 69 [SEP] 21, PepperShaker, -0.717, 0.896, 0.176, 0, 0, 0, 69 [SEP] 22, Bowl, 3.084, 0.172, -0.744, 0, 0, 0, 81 [SEP] 23, SoapBottle, 0.254, 1.268, -1.741, 0, 0, 0, 85 [SEP] 24, SoapBottle, -0.904, 0.909, -0.928, 0, 45, 0, 69 [SEP] 25, Cup, -1.052, 0.995, 1.417, 0, 90, 0, 117 [SEP] 26, Cup, -0.228, 1.261, -1.506, 0, 45, 0, 86 [SEP] 27, Plate, 0.664, 0.923, 0.296, 0, 36.810, 0, 100 [SEP] 28, Knife, 2.966, 0.926, -0.300, 0, 180, 0, 68 [SEP] 29, Knife, 3.373, 0.926, -0.023, 0, 90, 0, 68 [SEP] 30, Plate, 3.044, 1.477, -1.648, 0, 0, 0, 67 [SEP] 31, Glassbottle, 3.031, 1.465, -1.186, 0, 0, 0, 83 [SEP] 32, SoapBottle, 2.914, 0.184, -0.453, 0, 0, 0, 80 [SEP] 33, Potato, 3.028, 0.785, -0.034, 0, 90, 0, 114 [SEP] 34, Fork, 0.445, 0.911, 0.627, 0, 0, 0, 100 [SEP] 35, Ladle, 0.445, 0.947, 0.827, 0, 0, 0, 100 [SEP] 36, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 64 [SEP] 37, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 98 [SEP] 38, Spatula, 1.360, 0.923, 0.605, 0, 0, 0, 100 [SEP] 39, Knife, 1.009, 0.933, 0.525, 0, 36.810, 0, 100 [SEP] 40, Lettuce, 0.950, 0.973, 0.447, 0, 36.810, 0, 100 [SEP] 41, Cup, 1.242, 1.071, -1.531, 0, 0, 0, 115 [SEP] 42, SaltShaker, 2.966, 0.897, 0.947, 0, 0, 0, 68 [SEP] 43, Egg, 3.111, 0.799, -0.100, 0, 90, 0, 114 [SEP] 44, PepperShaker, -0.239, 0.896, -1.496, 0, 45, 0, 90 [SEP] 45, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 100 [SEP] 46, Apple, 0.049, 0.974, -1.579, 0, 45, 0, 90 [SEP] 47, Pan, -0.862, 0.899, 0.623, 0, 0, 0, 69 [SEP] 48, Bread, 1.229, 0.986, 0.180, 0, 0, 0, 100 [SEP] 49, CellPhone, -0.786, 0.323, 0.926, 0, 0, 0, 70 [SEP] 50, DishSponge, 3.262, 0.100, 1.626, 0, 225, 0, 110 [SEP] 51, Tomato, 2.966, 0.937, -0.897, 0, 0, 0, 68 [SEP] 52, Spoon, 0.622, 0.912, 0.627, 0, 0, 0, 100 [SEP] 53, Bowl, 0.404, 1.256, -1.707, 0, 90, 0, 85 [SEP] 54, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 112 [SEP] 55, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 56, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 57, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 58, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 59, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 60, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 61, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 62, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 63, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 64, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 65, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 66, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 67, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 68, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 69, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 70, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 71, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 72, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 73, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 74, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 75, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 76, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 77, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 78, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 79, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 80, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 81, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 82, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 83, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 84, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 85, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 86, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 87, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 88, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 89, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 90, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 91, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 92, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 93, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 94, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 95, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 96, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 97, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 98, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 99, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 100, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 101, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 102, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 103, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 104, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 105, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 106, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 107, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 108, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 109, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 110, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 111, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 112, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 113, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 114, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 115, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 116, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 117, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 118, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 119, NorthWall, , , , , , ,  [SEP] 120, EastWall, , , , , , ,  [SEP] 121, SouthWall, , , , , , ,  [SEP] 122, WestWall, , , , , , ,

Output: STEP 1: Turn to your left then cross the room head to the counter with toaster | STEP 2: Pick up the knife on the counter beside the toaster | STEP 3: Turn to your left then walk few step face the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife | STEP 6: Turn to your left then make few steps until the end of the counter beside the fridge | STEP 7: Put the pan with knife on the counter beside the fridge | END


Input: Put the wrist watch 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, 0.5, 0.899, -1.5, 0, 0, 0,  [SEP] 1, Mug, 0.859, 1.139, -2.787, 0, 270, 0, 45 [SEP] 2, Bowl, 3.024, 0.792, -1.121, 0, 0, 0, 63 [SEP] 3, Watch, -3.011, 1.413, -2.197, 0, 90, 0, 44 [SEP] 4, CD, -2.979, 1.413, -1.631, 0, 90, 0, 51 [SEP] 5, CD, 3.271, 0.791, -1.686, 0, 0, 0, 63 [SEP] 6, Pen, -1.523, 0.619, 0.300, 0, 180, 0, 67 [SEP] 7, Pencil, -2.916, 1.418, -2.744, 0, 90, 0, 47 [SEP] 8, CreditCard, -1.453, 0.613, 0.300, 0, 180, 0, 67 [SEP] 9, CreditCard, 2.962, 0.791, -1.686, 0, 0, 0, 63 [SEP] 10, KeyChain, 0.859, 1.414, -1.546, 0, 270, 0, 48 [SEP] 11, Book, -2.155, 0.599, -1.160, 0, 0, 0, 35 [SEP] 12, Book, -0.327, 0.614, -0.317, 0, 0, 0, 36 [SEP] 13, AlarmClock, -1.592, 0.615, 0.503, 0, 180, 0, 67 [SEP] 14, Book, -1.088, 0.614, -0.598, 0, 0, 0, 36 [SEP] 15, Laptop, -2.764, 0.598, -1.160, 0, 0, 0, 35 [SEP] 16, KeyChain, 0.954, 1.414, -2.154, 0, 0, 0, 42 [SEP] 17, Cloth, 0.970, -0.001, -2.404, 0, 0, 0,  [SEP] 18, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0,  [SEP] 19, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0,  [SEP] 20, Pillow, -2.465, 0.661, 0.110, 0, 0, 0, 35 [SEP] 21, Pillow, -0.327, 0.693, -1.442, 0, 0, 0, 36 [SEP] 22, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978,  [SEP] 23, Pencil, -2.885, 1.418, -2.197, 0, 90, 0, 43 [SEP] 24, CreditCard, 0.828, 1.413, -2.283, 0, 270, 0, 42 [SEP] 25, Cloth, 0.911, 0.025, -2.702, 0, 0, 0,  [SEP] 26, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 35 [SEP] 27, Pen, 3.017, 0.547, -2.142, 0, 270, 0, 62 [SEP] 28, Cloth, 0.705, -0.001, -2.75, 0, 270, 0,  [SEP] 29, AlarmClock, 3.209, 0.792, -1.121, 0, 0, 0, 63 [SEP] 30, Watch, 0.891, 1.413, -1.791, 0, 270, 0, 48 [SEP] 31, CellPhone, 3.209, 0.791, -1.403, 0, 0, 0, 63 [SEP] 32, CD, -1.625, 0.074, 0.371, 0, 0, 0, 66 [SEP] 33, Mug, -1.383, 0.611, 0.381, 0, 90, 0, 67 [SEP] 34, Bowl, 3.040, 0.540, -0.665, 0, 270, 0, 61 [SEP] 35, Bed, -2.455, -0.000, -0.572, 0, 0, 0,  [SEP] 36, Bed, -0.634, -0.000, -0.567, 0, 0, 0,  [SEP] 37, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0,  [SEP] 38, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0,  [SEP] 39, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0,  [SEP] 40, Shelf, 0.922, 1.133, -2.163, 0, 270, 0,  [SEP] 41, Shelf, -2.948, 1.405, -1.621, 0, 90, 0,  [SEP] 42, Shelf, 0.922, 1.405, -2.163, 0, 270, 0,  [SEP] 43, Shelf, -2.948, 1.133, -2.188, 0, 90, 0,  [SEP] 44, Shelf, -2.948, 1.405, -2.188, 0, 90, 0,  [SEP] 45, Shelf, 0.922, 1.133, -2.729, 0, 270, 0,  [SEP] 46, Shelf, 0.922, 1.133, -1.616, 0, 270, 0,  [SEP] 47, Shelf, -2.948, 1.405, -2.735, 0, 90, 0,  [SEP] 48, Shelf, 0.922, 1.405, -1.616, 0, 270, 0,  [SEP] 49, Shelf, -2.948, 1.133, -2.735, 0, 90, 0,  [SEP] 50, Shelf, 0.922, 1.405, -2.729, 0, 270, 0,  [SEP] 51, Shelf, -2.948, 1.133, -1.621, 0, 90, 0,  [SEP] 52, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0,  [SEP] 53, Poster, 3.400, 1.863, -1.976, 90, 90, 0,  [SEP] 54, Poster, 3.400, 1.702, -0.792, 90, 90, 0,  [SEP] 55, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0,  [SEP] 56, Mirror, 0.453, 1.491, 0.616, 0, 0, 0,  [SEP] 57, Window, 2.278, 0.925, -3.184, 90, 0, 0,  [SEP] 58, Window, -1.019, 0.925, -3.184, 90, 0, 0,  [SEP] 59, Blinds, -1.003, 2.072, -3.177, 0, 0, 0,  [SEP] 60, Blinds, 2.292, 2.072, -3.177, 0, 0, 0,  [SEP] 61, Shelf, 3.124, 0.633, -0.564, 0, 270, 0,  [SEP] 62, Shelf, 3.124, 0.633, -2.267, 0, 270, 0,  [SEP] 63, Desk, 3.141, -0.000, -1.414, 0, 270, 0,  [SEP] 64, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0,  [SEP] 65, Drawer, -1.523, 0.408, 0.346, 0, 180, 0,  [SEP] 66, Drawer, -1.523, 0.141, 0.346, 0, 180, 0,  [SEP] 67, SideTable, -1.522, -0.001, 0.411, 0, 180, 0,  [SEP] 68, NorthWall, , , , , , ,  [SEP] 69, EastWall, , , , , , ,  [SEP] 70, SouthWall, , , , , , ,  [SEP] 71, WestWall, , , , , , ,

Output: STEP 1: Turn around to your left then head to the shelf on your left | STEP 2: Pick up the wrist watch on the shelf | STEP 3: Turn left then walk forward turn right heading to the desk  | STEP 4: Put the wrist watch on the desk | END


Input: place a basketball 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, 2.5, 0.900, 0.75, 0, 90, 0,  [SEP] 1, CD, 2.329, 1.391, -1.624, 0, 0, 0, 36 [SEP] 2, Pencil, 0.153, 0.650, -1.585, 0, 0, 0, 27 [SEP] 3, CreditCard, 0.357, 0.647, -1.823, 0, 0, 0, 27 [SEP] 4, Pillow, -0.642, 0.588, -1.359, 0, 0, 0, 18 [SEP] 5, AlarmClock, 1.964, 0.778, -1.719, 0, 0, 0, 33 [SEP] 6, Book, -0.308, 0.507, -0.872, 0, 0, 0, 18 [SEP] 7, Pencil, 0.152, 0.650, -1.784, 0, 0, 0, 27 [SEP] 8, BasketBall, 1.144, 0.120, -1.656, 0, 23.931, 0, Floor|-00.24| [SEP] 9, Laptop, -0.794, 0.495, -0.303, 0, 61.899, 0, 18 [SEP] 10, Pen, 1.517, 0.313, -1.338, 0, 0, 0, 31 [SEP] 11, KeyChain, 0.289, 0.647, -1.784, 0, 90, 0, 27 [SEP] 12, CreditCard, 2.548, 0.778, -1.579, 0, 0, 0, 29 [SEP] 13, CellPhone, -1.309, 0.508, -0.143, 0, 0, 0, 18 [SEP] 14, CD, 0.253, 0.120, -1.676, 0, 180, 0, 26 [SEP] 15, AlarmClock, 2.450, 1.138, -1.614, 0, 0, 0, 36 [SEP] 16, Pillow, -0.975, 0.588, -0.872, 0, 0, 0, 18 [SEP] 17, Chair, 2.161, 0.008, -1.129, 0, 256.825, 0,  [SEP] 18, Bed, -0.809, 0.010, -0.891, 0, 180, 0,  [SEP] 19, DeskLamp, 0.047, 0.668, -1.761, 0, 0, 0,  [SEP] 20, GarbageCan, 2.657, -0.021, 1.275, 0, 0, 0,  [SEP] 21, Mirror, 2.821, 1.764, -0.068, 0, 90, 0,  [SEP] 22, Window, -1.677, 1.402, 0.365, 90, 270, 0,  [SEP] 23, LightSwitch, -0.606, 1.253, 1.435, 0, 180, 0,  [SEP] 24, Shelf, 2.025, 1.440, -1.730, 0, 0, 0,  [SEP] 25, Drawer, 0.187, 0.455, -1.577, 0, 0, 0,  [SEP] 26, Drawer, 0.187, 0.163, -1.577, 0, 0, 0,  [SEP] 27, SideTable, 0.186, -0.001, -1.643, 0, 0, 0,  [SEP] 28, Dumbbell, 1.576, 0.083, -1.563, 0, 0, 0,  [SEP] 29, Desk, 2.017, 0.000, -1.578, 0, 0, 0,  [SEP] 30, GarbageBag, 0.806, 0.318, 1.143, 270, 186.178, 83.264,  [SEP] 31, Shelf, 1.570, 0.415, -1.563, 0, 0, 0,  [SEP] 32, Shelf, 1.612, 0.945, -1.744, 0, 0, 0,  [SEP] 33, Shelf, 2.265, 0.941, -1.722, 0, 0, 0,  [SEP] 34, Shelf, 1.572, 0.630, -1.563, 0, 0, 0,  [SEP] 35, Shelf, 1.569, 0.172, -1.563, 0, 0, 0,  [SEP] 36, Shelf, 2.267, 1.248, -1.722, 0, 0, 0,  [SEP] 37, Shelf, 1.614, 1.252, -1.745, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: walk over to the corner of the room with the black chair and desk | STEP 2: pick up the basket ball to the right of the desk | STEP 3: look up at the desk | STEP 4: place the basketball on the desk | END


Input: To add the roll and the toilet paper onto the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 4.0, 0, 180, 0,  [SEP] 1, Candle, 0.699, 1.056, 4.342, 0, 270, 0, 31 [SEP] 2, Candle, -0.327, 0.713, 0.098, 0, 0, 0, 19 [SEP] 3, SprayBottle, 0.305, 0.098, 3.070, 0, 0, 0, 18 [SEP] 4, SprayBottle, -0.167, 0.153, 1.315, 0, 90, 0, 30 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.298, 1.063, 4.116, 0, 0, 0, 22 [SEP] 7, Cloth, -2.322, 0.704, 0.863, 0, 0, 0, 19 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0,  [SEP] 10, SoapBar, 0.081, 1.054, 3.629, 0, 0, 0, 22 [SEP] 11, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 26 [SEP] 12, ToiletPaper, 0.729, 1.044, 4.539, 0, 270, 0, 31 [SEP] 13, SoapBottle, 0.659, 1.081, 2.949, 0, 270, 0, 16 [SEP] 14, SprayBottle, 0.232, 0.098, 3.655, 0, 0, 0, 18 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0,  [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0,  [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0,  [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0,  [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0,  [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0,  [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0,  [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0,  [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0,  [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0,  [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0,  [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0,  [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0,  [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0,  [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0,  [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0,  [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0,  [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0,  [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0,  [SEP] 34, NorthWall, , , , , , ,  [SEP] 35, EastWall, , , , , , ,  [SEP] 36, SouthWall, , , , , , ,  [SEP] 37, WestWall, , , , , , ,

Output: STEP 1: Turn left, then turn right step up towards the door and then turn right and face the toilet. | STEP 2: Pick up the roll from the back of the toilet. | STEP 3: Turn right then turn left and face the counter | STEP 4: Place the roll onto the counter above the soap to the left. | STEP 5: Turn right, then turn left, then turn right again walk towards the walk turn right again and face the toilet. | STEP 6: Take the toilet paper off of the toilet paper holder. | STEP 7: Turn right then turn left walk toward the counter | STEP 8: Place the toilet paper next to the soap on the right. | END


Input: Place a washed apple in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Kettle, 1.412, 0.929, -0.335, 0, 0, 0, 43 [SEP] 2, Spoon, -2.538, 0.912, 0.931, 0, 90, 0, 70 [SEP] 3, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 71 [SEP] 4, Pot, -0.601, 0.914, 0.423, 0, 0, 0, 42 [SEP] 5, Cup, -2.241, 0.112, 0.489, 0, 0, 0, 67 [SEP] 6, Cup, 1.512, 0.908, 0.465, 0, 0, 0, 51 [SEP] 7, Plate, -0.081, 0.913, 1.540, 0, 0, 0, 42 [SEP] 8, Knife, -0.471, 0.936, 1.094, 0, 0, 0, 42 [SEP] 9, Tomato, -2.289, 0.953, 1.830, 0, 0, 0, 70 [SEP] 10, SoapBottle, -2.455, 0.912, 1.230, 0, 0, 0, 70 [SEP] 11, SoapBottle, -2.349, 0.116, 1.319, 0, 0, 0, 48 [SEP] 12, Bowl, -2.538, 0.908, 1.530, 0, 0, 0, 70 [SEP] 13, SaltShaker, -2.567, 1.933, -0.353, 0, 0, 0, 64 [SEP] 14, Lettuce, -2.621, 0.994, 0.931, 0, 0, 0, 70 [SEP] 15, Bread, -2.289, 0.996, 0.631, 0, 0, 0, 70 [SEP] 16, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 70 [SEP] 17, Apple, -2.532, 1.362, -0.507, 0, 90, 0, 74 [SEP] 18, Apple, 1.604, 0.246, 0.706, 0, 0, 0, 81 [SEP] 19, Pan, 0.0, 0.9, 0.948, 0, 29.999, 0, 42 [SEP] 20, Knife, -2.196, 0.799, 0.952, 0, 270, 0, 47 [SEP] 21, Apple, -2.439, 1.362, -0.790, 0, 90, 0, 74 [SEP] 22, Bowl, -0.211, 0.908, 0.423, 0, 0, 0, 42 [SEP] 23, Fork, -0.471, 0.911, 1.540, 0, 0, 0, 42 [SEP] 24, Bread, -2.372, 0.996, 0.931, 0, 0, 0, 70 [SEP] 25, Plate, 1.735, 1.666, -0.407, 0, 0, 0, 62 [SEP] 26, Egg, 1.729, 0.215, 0.623, 0, 0, 0, 81 [SEP] 27, Kettle, 0.854, 0.900, -1.790, 0, 0, 0, 52 [SEP] 28, Potato, -2.559, 0.631, -0.693, 0, 90, 0, 74 [SEP] 29, SaltShaker, -2.313, 0.109, 1.527, 0, 0, 0, 48 [SEP] 30, Lettuce, -0.341, 0.994, 1.317, 0, 0, 0, 42 [SEP] 31, Cup, -2.485, 1.087, -1.074, 0, 90, 0, 74 [SEP] 32, SoapBottle, -2.621, 0.912, 0.031, 0, 0, 0, 70 [SEP] 33, Spatula, -0.341, 0.925, 0.647, 0, 0, 0, 42 [SEP] 34, PaperTowelRoll, -0.471, 1.015, 1.317, 0, 0, 0, 42 [SEP] 35, ButterKnife, -0.601, 0.910, 0.870, 0, 0, 0, 42 [SEP] 36, PepperShaker, -2.241, 0.109, 1.423, 0, 0, 0, 48 [SEP] 37, DishSponge, -0.081, 0.910, 1.764, 0, 0, 0, 42 [SEP] 38, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 50 [SEP] 39, Spoon, -0.730, 0.912, 1.317, 0, 0, 0, 42 [SEP] 40, Tomato, -2.289, 0.953, 1.530, 0, 0, 0, 70 [SEP] 41, Mug, 0.943, 0.905, -1.609, 0, 45, 0, 52 [SEP] 42, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 43, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 44, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 45, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 46, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 47, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 48, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 49, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 50, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 51, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 52, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 53, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 54, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 55, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 56, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 57, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 58, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 59, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 60, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 61, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 62, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 63, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 64, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 65, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 66, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 67, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 68, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 69, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 70, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 71, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 72, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 73, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 74, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 75, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 76, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 77, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 78, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 79, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 80, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 81, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 82, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 83, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 84, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 85, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the end of the counter, then turn right and face the bin. | STEP 2: Pick up the apple in the bin. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the apple in the sink. | STEP 5: Turn left and walk to the wall, then turn left and walk to the microwave. | STEP 6: Place the apple in a microwave. | END


Input: To put the toilet paper on the toilet paper holder.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, 1.0, 0, 0, 0,  [SEP] 1, SoapBar, -2.487, 1.663, 3.072, 0, 0, 0, 30 [SEP] 2, SoapBar, -2.549, 0.092, 2.614, 0, 0, 0, 25 [SEP] 3, SprayBottle, -2.883, 1.206, 1.400, 0, 270, 0, 37 [SEP] 4, SprayBottle, -2.555, 0.094, 3.442, 0, 0, 0, 24 [SEP] 5, DishSponge, -2.732, 0.090, 2.180, 0, 0, 0, 25 [SEP] 6, DishSponge, -2.712, 0.746, 3.167, 0, 0, 0, 32 [SEP] 7, SoapBottle, -2.672, 0.093, 3.479, 0, 0, 0, 24 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.933, 1.086, 0.718, 0, 90, 0, 46 [SEP] 10, SoapBottle, -2.732, 0.088, 2.276, 0, 0, 0, 25 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.762, 0.937, 2.306, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.736, 0.938, 2.081, 0, 90, 0, 44 [SEP] 16, ToiletPaper, -2.763, 0.089, 3.001, 0, 0, 0, 35 [SEP] 17, SprayBottle, -2.610, 0.904, 3.439, 0, 0, 0, 28 [SEP] 18, PaperTowelRoll, -2.964, 1.183, 0.455, 0, 180, 0, 46 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.792, 1.207, 1.520, 0, 270, 0, 37 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0,  [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0,  [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0,  [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0,  [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0,  [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0,  [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0,  [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0,  [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0,  [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0,  [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0,  [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0,  [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0,  [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0,  [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0,  [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0,  [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0,  [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0,  [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0,  [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0,  [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0,  [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0,  [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0,  [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0,  [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0,  [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and walk to the toilet.  | STEP 2: Pick up the roll of toilet paper on the top right side of the toilet.  | STEP 3: Turn left and walk to the toilet paper holder on the wall. | STEP 4: Place the toilet paper on the holder on the wall.  | END


Input: Refill an empty toilet paper hanger with a full roll of toilet paper. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, 1.0, 0, 0, 0,  [SEP] 1, SoapBar, -2.487, 1.663, 3.072, 0, 0, 0, 30 [SEP] 2, SoapBar, -2.549, 0.092, 2.614, 0, 0, 0, 25 [SEP] 3, SprayBottle, -2.883, 1.206, 1.400, 0, 270, 0, 37 [SEP] 4, SprayBottle, -2.555, 0.094, 3.442, 0, 0, 0, 24 [SEP] 5, DishSponge, -2.732, 0.090, 2.180, 0, 0, 0, 25 [SEP] 6, DishSponge, -2.712, 0.746, 3.167, 0, 0, 0, 32 [SEP] 7, SoapBottle, -2.672, 0.093, 3.479, 0, 0, 0, 24 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.933, 1.086, 0.718, 0, 90, 0, 46 [SEP] 10, SoapBottle, -2.732, 0.088, 2.276, 0, 0, 0, 25 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.762, 0.937, 2.306, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.736, 0.938, 2.081, 0, 90, 0, 44 [SEP] 16, ToiletPaper, -2.763, 0.089, 3.001, 0, 0, 0, 35 [SEP] 17, SprayBottle, -2.610, 0.904, 3.439, 0, 0, 0, 28 [SEP] 18, PaperTowelRoll, -2.964, 1.183, 0.455, 0, 180, 0, 46 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.792, 1.207, 1.520, 0, 270, 0, 37 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0,  [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0,  [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0,  [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0,  [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0,  [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0,  [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0,  [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0,  [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0,  [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0,  [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0,  [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0,  [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0,  [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0,  [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0,  [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0,  [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0,  [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0,  [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0,  [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0,  [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0,  [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0,  [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0,  [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0,  [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0,  [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk a little bit towards the toilet. | STEP 2: Pick up the roll of toilet paper from the top of the toilet. | STEP 3: Move slightly to the left towards the empty toilet paper hanger. | STEP 4: Place the roll of the toilet paper on the toilet paper hanger. | END


Input: Move two green spray bottles into a small silver bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.902, -0.5, 0, 0, 0,  [SEP] 1, Cloth, 0.419, 0.034, 0.561, 0, 270, 0, 30 [SEP] 2, Cloth, 0.211, 0.034, -0.768, 0, 270, 0, 30 [SEP] 3, Candle, -1.057, 1.087, 0.784, 0, 180, 0, 34 [SEP] 4, SprayBottle, -2.858, 0.082, 0.631, 0, 0, 0, 19 [SEP] 5, SoapBottle, -2.586, 0.083, 0.696, 0, 0, 0, 19 [SEP] 6, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 28 [SEP] 7, Candle, -2.049, 0.122, 0.825, 0, 0, 0, 22 [SEP] 8, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 32 [SEP] 9, SoapBar, -1.057, 1.045, 0.906, 0, 180, 0, 34 [SEP] 10, ToiletPaper, -2.586, 0.078, 0.825, 0, 0, 0, 19 [SEP] 11, Cloth, -2.902, 0.081, 0.760, 0, 0, 0, 17 [SEP] 12, ToiletPaper, -0.865, 1.038, 0.946, 357.597, 0, 0, 34 [SEP] 13, SprayBottle, -1.687, 0.082, 0.631, 0, 0, 0, 21 [SEP] 14, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 15, SoapBottle, -2.924, 0.184, -1.584, 0, 0, 0, 29 [SEP] 16, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 17, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0,  [SEP] 18, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0,  [SEP] 19, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0,  [SEP] 20, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0,  [SEP] 21, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0,  [SEP] 22, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0,  [SEP] 23, Sink, -1.924, 0.930, 0.675, 0, 180, 0,  [SEP] 24, Faucet, -1.922, 1.015, 0.887, 0, 0, 0,  [SEP] 25, Mirror, -2.306, 1.526, 1.001, 0, 0, 0,  [SEP] 26, Faucet, -2.681, 1.015, 0.887, 0, 0, 0,  [SEP] 27, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0,  [SEP] 28, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0,  [SEP] 29, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0,  [SEP] 31, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0,  [SEP] 32, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0,  [SEP] 33, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0,  [SEP] 34, Toilet, -1.054, 0.001, 0.552, 0, 270, 0,  [SEP] 35, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0,  [SEP] 36, Faucet, 0.270, 0.670, 0.906, 0, 0, 0,  [SEP] 37, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0,  [SEP] 38, Sink, -2.681, 0.930, 0.675, 0, 180, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk towards the wall, then turn right and walk up to the counter. | STEP 2: Open the rightmost cabinet door below the counter and take out the green spray bottle, then close the cabinet. | STEP 3: Walk over to the small silver bin in the corner of the room behind you. | STEP 4: Put the green spray bottle in the small silver bin. | STEP 5: Turn right and walk over to the wall, then turn right and walk up to the counter. | STEP 6: Open the leftmost cabinet door below the counter and take out the green spray bottle, then close the cabinet. | STEP 7: Walk over to the small silver bin in the corner of the room behind you. | STEP 8: Put the green spray bottle in the small silver bin. | END


Input: Examine the keys under the light of the lamp 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, -0.25, 0, 180, 0,  [SEP] 1, TissueBox, 1.608, 0.479, 0.186, 0, 180, 0, 31 [SEP] 2, Pencil, 3.876, 0.768, 1.151, 0, 0, 0, 41 [SEP] 3, Pencil, 1.466, 0.476, 0.349, 0, 180, 0, 31 [SEP] 4, CreditCard, 3.967, 0.877, 0.865, 0, 0, 0, 40 [SEP] 5, CreditCard, 4.007, 0.877, 1.181, 0, 0, 0, 40 [SEP] 6, RemoteControl, 1.891, 0.474, 0.267, 0, 180, 0, 31 [SEP] 7, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 8, Newspaper, -0.415, 0.321, 1.814, 0, 91.372, 0, 38 [SEP] 9, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 31 [SEP] 10, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 36 [SEP] 11, TissueBox, 1.799, 0.067, -0.691, 0, 0, 0, 36 [SEP] 12, KeyChain, 0.044, 0.840, -0.867, 0, 90, 0, 35 [SEP] 13, Pen, 0.044, 0.845, -0.672, 0, 0, 0, 35 [SEP] 14, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0,  [SEP] 15, Pencil, 0.025, 0.071, -0.615, 0, 0, 0, 34 [SEP] 16, RemoteControl, 1.324, 0.478, 0.594, 0, 180, 0, 31 [SEP] 17, CreditCard, 3.827, 0.765, 0.674, 0, 0, 0, 41 [SEP] 18, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 21 [SEP] 19, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 37 [SEP] 20, Statue, 1.183, 0.483, 0.431, 0, 180, 0, 31 [SEP] 21, Sofa, 1.174, 0.0, 1.865, 0, 0, 0,  [SEP] 22, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0,  [SEP] 23, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0,  [SEP] 24, Television, 1.897, 1.281, -0.838, 0, 0, 0,  [SEP] 25, Painting, 4.070, 1.950, 0.848, 90, 270, 0,  [SEP] 26, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0,  [SEP] 27, Window, 0.023, 2.072, 2.484, 90, 180, 0,  [SEP] 28, Window, 1.570, 2.072, 2.484, 90, 180, 0,  [SEP] 29, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0,  [SEP] 30, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0,  [SEP] 31, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0,  [SEP] 32, Shelf, 1.905, 0.588, -0.730, 0, 0, 0,  [SEP] 33, TVStand, 1.904, -0.000, -0.770, 0, 0, 0,  [SEP] 34, Shelf, -0.289, 0.200, -0.732, 0, 0, 0,  [SEP] 35, TVStand, -0.290, -0.000, -0.772, 0, 0, 0,  [SEP] 36, Shelf, 1.905, 0.200, -0.730, 0, 0, 0,  [SEP] 37, Shelf, -0.289, 0.588, -0.732, 0, 0, 0,  [SEP] 38, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0,  [SEP] 39, Sofa, 1.193, 0.008, 1.865, 0, 180, 0,  [SEP] 40, SideTable, 3.946, 0.000, 0.865, 0, 270, 0,  [SEP] 41, Drawer, 3.882, 0.774, 0.864, 0, 270, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Move to the right and turn left to face the wooden shelf right of the house plant | STEP 2: Pick up the keys from the shelf | STEP 3: Turn and walk around the room to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END


Input: Carry keys from the table to the lamp, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.25, 0, 180, 0,  [SEP] 1, TissueBox, 1.608, 0.479, 0.186, 0, 180, 0, 31 [SEP] 2, Pencil, 3.876, 0.768, 1.151, 0, 0, 0, 41 [SEP] 3, Pencil, 1.466, 0.476, 0.349, 0, 180, 0, 31 [SEP] 4, CreditCard, 3.967, 0.877, 0.865, 0, 0, 0, 40 [SEP] 5, CreditCard, 4.007, 0.877, 1.181, 0, 0, 0, 40 [SEP] 6, RemoteControl, 1.891, 0.474, 0.267, 0, 180, 0, 31 [SEP] 7, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 8, Newspaper, -0.415, 0.321, 1.814, 0, 91.372, 0, 38 [SEP] 9, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 31 [SEP] 10, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 36 [SEP] 11, TissueBox, 1.799, 0.067, -0.691, 0, 0, 0, 36 [SEP] 12, KeyChain, 0.044, 0.840, -0.867, 0, 90, 0, 35 [SEP] 13, Pen, 0.044, 0.845, -0.672, 0, 0, 0, 35 [SEP] 14, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0,  [SEP] 15, Pencil, 0.025, 0.071, -0.615, 0, 0, 0, 34 [SEP] 16, RemoteControl, 1.324, 0.478, 0.594, 0, 180, 0, 31 [SEP] 17, CreditCard, 3.827, 0.765, 0.674, 0, 0, 0, 41 [SEP] 18, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 21 [SEP] 19, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 37 [SEP] 20, Statue, 1.183, 0.483, 0.431, 0, 180, 0, 31 [SEP] 21, Sofa, 1.174, 0.0, 1.865, 0, 0, 0,  [SEP] 22, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0,  [SEP] 23, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0,  [SEP] 24, Television, 1.897, 1.281, -0.838, 0, 0, 0,  [SEP] 25, Painting, 4.070, 1.950, 0.848, 90, 270, 0,  [SEP] 26, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0,  [SEP] 27, Window, 0.023, 2.072, 2.484, 90, 180, 0,  [SEP] 28, Window, 1.570, 2.072, 2.484, 90, 180, 0,  [SEP] 29, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0,  [SEP] 30, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0,  [SEP] 31, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0,  [SEP] 32, Shelf, 1.905, 0.588, -0.730, 0, 0, 0,  [SEP] 33, TVStand, 1.904, -0.000, -0.770, 0, 0, 0,  [SEP] 34, Shelf, -0.289, 0.200, -0.732, 0, 0, 0,  [SEP] 35, TVStand, -0.290, -0.000, -0.772, 0, 0, 0,  [SEP] 36, Shelf, 1.905, 0.200, -0.730, 0, 0, 0,  [SEP] 37, Shelf, -0.289, 0.588, -0.732, 0, 0, 0,  [SEP] 38, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0,  [SEP] 39, Sofa, 1.193, 0.008, 1.865, 0, 180, 0,  [SEP] 40, SideTable, 3.946, 0.000, 0.865, 0, 270, 0,  [SEP] 41, Drawer, 3.882, 0.774, 0.864, 0, 270, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Move to the red book shelf  | STEP 2: Pickup the keys to the left of the box on top of the shelf | STEP 3: Take the keys and move to the green floor lamp | STEP 4: Turn on the lamp | END


Input: slice and cook a potato in the microwave with the knife SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.5, 0, 270, 0,  [SEP] 1, WineBottle, -0.349, 0.791, 0.713, 0, 0, 0, 80 [SEP] 2, WineBottle, -0.425, 0.791, 1.049, 0, 0, 0, 80 [SEP] 3, Spatula, -0.272, 0.805, 1.049, 0, 90, 0, 80 [SEP] 4, Spoon, 1.919, 0.746, 1.991, 0, 0, 0, 68 [SEP] 5, Egg, 0.788, 0.837, 2.584, 0, 0, 0, 77 [SEP] 6, Egg, -0.349, 0.833, 1.217, 0, 0, 0, 80 [SEP] 7, Cup, 0.576, 0.793, 2.695, 0, 0, 0, 77 [SEP] 8, Cup, -0.119, 0.789, 1.386, 0, 0, 0, 80 [SEP] 9, Plate, 2.164, 0.606, -0.188, 0, 270, 0, 74 [SEP] 10, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 80 [SEP] 11, Knife, 1.917, 0.963, 0.583, 0, 270, 0, 64 [SEP] 12, SoapBottle, 1.156, 0.082, 2.601, 0, 0, 0, 59 [SEP] 13, SoapBottle, -0.042, 0.791, 0.881, 0, 0, 0, 80 [SEP] 14, Tomato, -0.119, 0.837, 1.217, 0, 0, 0, 80 [SEP] 15, Tomato, 1.840, 0.984, 0.361, 0, 0, 0, 64 [SEP] 16, Bowl, 2.223, 1.320, -0.550, 0, 0, 0, 74 [SEP] 17, Bowl, -0.362, 1.032, 2.014, 0, 90, 0, 78 [SEP] 18, PepperShaker, 0.637, 0.076, 2.445, 0, 0, 0, 60 [SEP] 19, Lettuce, 1.920, 0.999, 2.063, 0, 90, 0, 53 [SEP] 20, Apple, 2.225, 0.988, 0.361, 0, 0, 0, 64 [SEP] 21, Apple, -0.119, 0.840, 1.049, 0, 0, 0, 80 [SEP] 22, Egg, 1.997, 0.980, 1.866, 0, 0, 0, 53 [SEP] 23, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 24, Fork, -0.272, 0.791, 1.386, 0, 90, 0, 80 [SEP] 25, SoapBottle, 2.280, 1.504, 0.358, 0, 0, 0, 51 [SEP] 26, Ladle, 2.002, 0.126, 1.915, 0, 90, 0, 49 [SEP] 27, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 53 [SEP] 28, Bread, 0.174, 0.985, 2.618, 0, 0, 0, 53 [SEP] 29, SaltShaker, 1.840, 0.933, 0.806, 0, 270, 0, 64 [SEP] 30, Potato, 1.276, 0.835, 2.529, 0, 270, 0, 77 [SEP] 31, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 32, WineBottle, 1.440, 0.082, 2.601, 0, 0, 0, 59 [SEP] 33, Spatula, -0.053, 0.952, 2.688, 0, 90, 0, 53 [SEP] 34, Knife, 1.872, 0.772, 0.721, 0, 270, 0, 62 [SEP] 35, Tomato, 2.223, 1.369, -0.188, 0, 270, 0, 74 [SEP] 36, Apple, 0.033, 0.840, 0.545, 0, 0, 0, 80 [SEP] 37, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 38, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 57 [SEP] 39, PepperShaker, 2.165, 1.498, 0.388, 0, 0, 0, 51 [SEP] 40, Cup, 2.280, 1.501, 0.478, 0, 0, 0, 61 [SEP] 41, DishSponge, -0.068, 0.745, 2.129, 0, 0, 0, 52 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.276, 0.796, 2.695, 0, 0, 0, 77 [SEP] 44, Mug, -0.349, 0.785, 1.386, 0, 0, 0, 80 [SEP] 45, Bowl, -0.119, 0.787, 0.713, 0, 0, 0, 80 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: go to the counter to the right of the sink | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the sink | STEP 4: cut the potato in the sink with the knife | STEP 5: take the knife to the microwave | STEP 6: cook the knife in the microwave | STEP 7: walk back to the sink | STEP 8: pick up one slice of potato from the sink | STEP 9: take the slice to the microwave | STEP 10: cook the slice in the microwave then remove | STEP 11: take the slice to the fridge | STEP 12: put the potato slice in the fridge | END


Input: Heat up a potato slice in the microwave to put in the fridge.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.5, 0, 270, 0,  [SEP] 1, WineBottle, -0.349, 0.791, 0.713, 0, 0, 0, 80 [SEP] 2, WineBottle, -0.425, 0.791, 1.049, 0, 0, 0, 80 [SEP] 3, Spatula, -0.272, 0.805, 1.049, 0, 90, 0, 80 [SEP] 4, Spoon, 1.919, 0.746, 1.991, 0, 0, 0, 68 [SEP] 5, Egg, 0.788, 0.837, 2.584, 0, 0, 0, 77 [SEP] 6, Egg, -0.349, 0.833, 1.217, 0, 0, 0, 80 [SEP] 7, Cup, 0.576, 0.793, 2.695, 0, 0, 0, 77 [SEP] 8, Cup, -0.119, 0.789, 1.386, 0, 0, 0, 80 [SEP] 9, Plate, 2.164, 0.606, -0.188, 0, 270, 0, 74 [SEP] 10, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 80 [SEP] 11, Knife, 1.917, 0.963, 0.583, 0, 270, 0, 64 [SEP] 12, SoapBottle, 1.156, 0.082, 2.601, 0, 0, 0, 59 [SEP] 13, SoapBottle, -0.042, 0.791, 0.881, 0, 0, 0, 80 [SEP] 14, Tomato, -0.119, 0.837, 1.217, 0, 0, 0, 80 [SEP] 15, Tomato, 1.840, 0.984, 0.361, 0, 0, 0, 64 [SEP] 16, Bowl, 2.223, 1.320, -0.550, 0, 0, 0, 74 [SEP] 17, Bowl, -0.362, 1.032, 2.014, 0, 90, 0, 78 [SEP] 18, PepperShaker, 0.637, 0.076, 2.445, 0, 0, 0, 60 [SEP] 19, Lettuce, 1.920, 0.999, 2.063, 0, 90, 0, 53 [SEP] 20, Apple, 2.225, 0.988, 0.361, 0, 0, 0, 64 [SEP] 21, Apple, -0.119, 0.840, 1.049, 0, 0, 0, 80 [SEP] 22, Egg, 1.997, 0.980, 1.866, 0, 0, 0, 53 [SEP] 23, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 24, Fork, -0.272, 0.791, 1.386, 0, 90, 0, 80 [SEP] 25, SoapBottle, 2.280, 1.504, 0.358, 0, 0, 0, 51 [SEP] 26, Ladle, 2.002, 0.126, 1.915, 0, 90, 0, 49 [SEP] 27, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 53 [SEP] 28, Bread, 0.174, 0.985, 2.618, 0, 0, 0, 53 [SEP] 29, SaltShaker, 1.840, 0.933, 0.806, 0, 270, 0, 64 [SEP] 30, Potato, 1.276, 0.835, 2.529, 0, 270, 0, 77 [SEP] 31, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 32, WineBottle, 1.440, 0.082, 2.601, 0, 0, 0, 59 [SEP] 33, Spatula, -0.053, 0.952, 2.688, 0, 90, 0, 53 [SEP] 34, Knife, 1.872, 0.772, 0.721, 0, 270, 0, 62 [SEP] 35, Tomato, 2.223, 1.369, -0.188, 0, 270, 0, 74 [SEP] 36, Apple, 0.033, 0.840, 0.545, 0, 0, 0, 80 [SEP] 37, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 38, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 57 [SEP] 39, PepperShaker, 2.165, 1.498, 0.388, 0, 0, 0, 51 [SEP] 40, Cup, 2.280, 1.501, 0.478, 0, 0, 0, 61 [SEP] 41, DishSponge, -0.068, 0.745, 2.129, 0, 0, 0, 52 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.276, 0.796, 2.695, 0, 0, 0, 77 [SEP] 44, Mug, -0.349, 0.785, 1.386, 0, 0, 0, 80 [SEP] 45, Bowl, -0.119, 0.787, 0.713, 0, 0, 0, 80 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the counter where the toaster is. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk to the sink. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn right to walk to the sink. | STEP 8: Pick up a slice of potato from the sink. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the potato in the microwave, taking it out afterwards. | STEP 11: Turn around and make your way to the fridge across the room. | STEP 12: Put the potato slice in the fridge. | END


Input: Examine a pillow by the light of a small lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.5, 0, 0, 0,  [SEP] 1, Mug, 1.341, 1.136, 1.558, 0, 90, 0, 38 [SEP] 2, CellPhone, 1.098, 0.319, 1.666, 0, 0, 0, 42 [SEP] 3, CellPhone, 1.288, 0.732, 1.066, 0, 0, 0, 41 [SEP] 4, Pencil, -0.095, 0.693, -1.616, 0, 0, 0, 43 [SEP] 5, Pencil, 1.135, 0.555, 1.595, 0, 0, 0, 40 [SEP] 6, KeyChain, 1.310, 1.139, 0.933, 0, 270, 0, 38 [SEP] 7, KeyChain, 1.135, 0.316, 1.879, 0, 0, 0, 42 [SEP] 8, Book, 1.080, 0.780, -1.537, 0, 0, 0, 30 [SEP] 9, Pillow, 0.955, 0.849, -0.988, 0, 0, 0, 30 [SEP] 10, Book, 1.145, 0.721, 1.806, 0, 0, 0, 40 [SEP] 11, Box, -1.233, 0.263, -1.435, 0, 312.675, 0,  [SEP] 12, CellPhone, 1.330, 0.782, -0.166, 0, 0, 0, 30 [SEP] 13, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045,  [SEP] 14, Bowl, 0.138, 0.690, -1.660, 0, 0, 0, 43 [SEP] 15, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0,  [SEP] 16, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 41 [SEP] 17, CreditCard, 1.135, 0.552, 1.737, 0, 0, 0, 41 [SEP] 18, KeyChain, 1.310, 1.139, 1.089, 0, 270, 0, 38 [SEP] 19, AlarmClock, 1.342, 1.139, 1.402, 0, 270, 0, 38 [SEP] 20, Pencil, 1.084, 0.732, 1.066, 0, 0, 0, 41 [SEP] 21, Pillow, 0.955, 0.849, -0.166, 0, 0, 0, 30 [SEP] 22, CD, 1.134, 0.077, 0.611, 0, 0, 0, 31 [SEP] 23, Pen, -0.213, 0.698, -1.749, 0, 0, 0, 43 [SEP] 24, Mug, 1.084, 0.727, 0.901, 0, 0, 0, 41 [SEP] 25, Poster, 0.978, 1.970, -1.868, 90, 0, 0,  [SEP] 26, Mirror, -0.884, 1.350, 2.086, 0, 0, 0,  [SEP] 27, Poster, 1.483, 1.978, -1.210, 90, 270, 0,  [SEP] 28, Poster, 1.483, 1.503, -0.128, 90, 270, 0,  [SEP] 29, Poster, 1.483, 2.138, -0.128, 90, 270, 0,  [SEP] 30, Bed, 0.955, 0.002, -0.722, 0, 0, 0,  [SEP] 31, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0,  [SEP] 32, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0,  [SEP] 33, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0,  [SEP] 34, Window, -0.174, 1.006, -2.009, 90, 0, 0,  [SEP] 35, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0,  [SEP] 36, Chair, 1.127, -8.434, 1.053, 0, 90, 0,  [SEP] 37, Blinds, -0.145, 1.679, -1.986, 0, 0, 0,  [SEP] 38, Shelf, 1.316, 1.174, 1.388, 0, 270, 0,  [SEP] 39, Drawer, 1.099, 0.167, 1.724, 0, 270, 0,  [SEP] 40, Drawer, 1.099, 0.622, 1.724, 0, 270, 0,  [SEP] 41, Desk, 1.189, 0.002, 1.384, 0, 270, 0,  [SEP] 42, Drawer, 1.099, 0.408, 1.724, 0, 270, 0,  [SEP] 43, SideTable, -0.103, -0.000, -1.691, 0, 0, 0,  [SEP] 44, Drawer, -0.104, 0.157, -1.618, 0, 0, 0,  [SEP] 45, Drawer, -0.104, 0.456, -1.618, 0, 0, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the bed on the left. | STEP 2: Pick up the striped pillow from the middle of the bed. | STEP 3: Turn around and walk to the wooden nightstand with the lamp on the left. | STEP 4: Turn on the small lamp. | END


Input: place two phones on a night table so one makes the other fall on the ground SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.0, 0, 270, 0,  [SEP] 1, CD, 0.128, 0.145, -2.196, 0, 90, 0, 30 [SEP] 2, CellPhone, 0.300, 0.647, 0.598, 0, 0, 0, 27 [SEP] 3, CellPhone, 2.004, 0.647, -0.299, 0, 0, 0, 27 [SEP] 4, CellPhone, 1.152, 0.647, 0.418, 0, 0, 0, 27 [SEP] 5, Pen, -0.705, 0.843, -1.861, 0, 0, 0, 40 [SEP] 6, Pencil, -0.705, 1.780, -1.981, 0, 0, 0, 40 [SEP] 7, KeyChain, -0.901, 1.347, -2.172, 0, 90, 0, 43 [SEP] 8, Book, 0.584, 0.646, -0.120, 0, 0, 0, 27 [SEP] 9, Book, 1.436, 0.646, -0.299, 0, 0, 0, 27 [SEP] 10, Box, -0.935, 2.073, -2.041, 0, 0, 0, 40 [SEP] 11, Pillow, 1.720, 0.739, 0.418, 0, 0, 0, 27 [SEP] 12, Book, -0.935, 0.839, -2.185, 0, 0, 0, 40 [SEP] 13, Box, -0.424, 2.065, -2.027, 0, 352.503, 0, 40 [SEP] 14, Pillow, 0.868, 0.739, -0.299, 0, 0, 0, 27 [SEP] 15, AlarmClock, 1.672, 0.673, -0.863, 0, 0, 0, 35 [SEP] 16, BasketBall, -0.337, 0.120, 1.031, 0, 0, 0, Floor|-00.16| [SEP] 17, BaseballBat, -1.602, 0.022, 0.356, 90, 8.736, 0, Floor|-00.16| [SEP] 18, Pen, 1.536, 0.686, -0.988, 0, 270, 0, 35 [SEP] 19, CellPhone, -1.165, 1.779, -2.281, 0, 0, 0, 40 [SEP] 20, TennisRacket, -1.667, 0.0, 0.818, 90, 29.999, 0, Floor|-00.16| [SEP] 21, Laptop, -1.396, 0.828, -1.896, 0, 19.242, 0, 40 [SEP] 22, Pencil, -1.396, 0.841, -2.293, 0, 0, 0, 40 [SEP] 23, KeyChain, -0.901, 1.347, -2.222, 0, 0, 0, 43 [SEP] 24, CreditCard, 1.672, 0.673, -0.755, 0, 270, 0, 35 [SEP] 25, CD, 1.626, 0.680, -1.142, 0, 270, 0, 35 [SEP] 26, Mirror, 0.883, 1.582, -2.399, 0, 180, 0,  [SEP] 27, Bed, 1.176, -0.002, 0.238, 0, 90, 0,  [SEP] 28, LightSwitch, 1.899, 1.297, -1.302, 0, 270, 0,  [SEP] 29, Poster, -1.927, 1.411, -1.455, 90, 90, 0,  [SEP] 30, GarbageCan, 0.128, -0.030, -2.146, 0, 90, 0,  [SEP] 31, Window, -2.028, 1.388, -0.270, 90, 270, 0,  [SEP] 32, DeskLamp, -1.673, 1.774, -2.190, 0, 0, 0,  [SEP] 33, Drawer, 1.624, 0.453, -0.987, 0, 270, 0,  [SEP] 34, Drawer, 1.624, 0.163, -0.987, 0, 270, 0,  [SEP] 35, SideTable, 1.691, 0.002, -0.988, 0, 270, 0,  [SEP] 36, Chair, -1.089, 0.009, -1.570, 0, 166.824, 0,  [SEP] 37, Blinds, -1.949, 2.158, -0.252, 0, 90, 0,  [SEP] 38, Cabinet, -0.241, 1.534, -2.101, 0, 0, 0,  [SEP] 39, Cabinet, -1.301, 1.534, -2.101, 0, 0, 0,  [SEP] 40, Desk, -0.962, 0.003, -1.942, 0, 0, 0,  [SEP] 41, Cabinet, -1.683, 1.534, -2.101, 0, 0, 0,  [SEP] 42, Cabinet, -0.623, 1.534, -2.101, 0, 0, 0,  [SEP] 43, Shelf, -0.962, 1.534, -2.101, 0, 0, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: walk through the bedroom to face the right side of the bed | STEP 2: pick up the white cell phone on the top left from the bed | STEP 3: turn to the right to face the night table next to the bed | STEP 4: put the phone on the table on top of the blue pencil | STEP 5: turn slightly left to face the bed | STEP 6: pick up the white cell phone from the bed | STEP 7: turn to the right to face the night table next to the bed | STEP 8: put the phone on top of the other phone on the night table so the first phone falls to the ground | END


Input: Place the two purple bottles on the counter to the right of the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, 2.5, 0, 180, 0,  [SEP] 1, Cloth, -2.554, 1.046, 1.691, 0, 90, 0, 41 [SEP] 2, Cloth, 0.682, 0.586, 0.367, 0, 0, 0, 28 [SEP] 3, SoapBar, -0.106, 0.180, 0.385, 0, 0, 0, 37 [SEP] 4, SoapBar, 0.562, 0.254, 2.215, 0, 0, 0, 26 [SEP] 5, Candle, 0.645, 0.252, 1.793, 0, 0, 0, 22 [SEP] 6, SprayBottle, -2.463, 1.047, 1.559, 0, 90, 0, 41 [SEP] 7, SoapBottle, 0.404, 0.742, 1.757, 0, 0, 0, 25 [SEP] 8, Towel, 0.931, 1.193, 0.495, 0, 270, 0, 33 [SEP] 9, HandTowel, 1.033, 1.671, 3.127, 0, 90, 0, 38 [SEP] 10, Towel, 0.474, 1.182, 0.134, 0, 0, 0, 34 [SEP] 11, SoapBar, 0.767, 0.812, 2.004, 349.201, 270, 0, 36 [SEP] 12, ToiletPaper, 0.562, 0.487, 1.281, 0, 0, 0, 22 [SEP] 13, SoapBottle, -2.456, 0.587, 0.250, 0, 0, 0, 28 [SEP] 14, ToiletPaper, -1.859, 0.583, 0.133, 0, 0, 0, 28 [SEP] 15, ScrubBrush, -2.557, 0.001, 2.200, 0, 0, 0,  [SEP] 16, Plunger, -2.568, 0.000, 1.992, 0, 0, 0,  [SEP] 17, Cloth, -2.337, 0.586, 0.601, 0, 0, 0, 28 [SEP] 18, Candle, -2.554, 1.044, 1.822, 0, 90, 0, 41 [SEP] 19, SprayBottle, 0.762, 0.115, 3.04, 0, 0, 0, 40 [SEP] 20, Window, -2.808, 0.962, 0.514, 0, 0, 0,  [SEP] 21, Bathtub, -1.062, 0.300, 0.427, 0, 0, 0,  [SEP] 22, Drawer, 0.409, 0.551, 1.486, 0, 0, 0,  [SEP] 23, Mirror, 0.986, 1.676, 1.896, 0, 0, 0,  [SEP] 24, ShowerDoor, -2.671, 1.001, 2.797, 0, 0, 0,  [SEP] 25, CounterTop, 0.732, 0.697, 1.955, 0, 0, 0,  [SEP] 26, Drawer, 0.409, 0.314, 2.420, 0, 0, 0,  [SEP] 27, ShowerGlass, -1.713, 1.276, 3.298, 0, 0, 0,  [SEP] 28, CounterTop, -0.298, 0.157, 0.531, 0, 0, 0,  [SEP] 29, Sink, 0.812, 0.703, 1.920, 0, 270, 0,  [SEP] 30, Drawer, 0.409, 0.551, 2.420, 0, 0, 0,  [SEP] 31, Window, -0.957, 1.563, -0.059, 0, 0, 0,  [SEP] 32, Drawer, 0.409, 0.314, 1.486, 0, 0, 0,  [SEP] 33, TowelHolder, 1.038, 1.179, 0.495, 0, 270, 0,  [SEP] 34, TowelHolder, 0.474, 1.168, 0.027, 0, 0, 0,  [SEP] 35, ToiletPaperHanger, -2.695, 0.929, 1.200, 0, 90, 0,  [SEP] 36, SinkBasin, 0.720, 0.812, 1.896, 349.201, 270, 0,  [SEP] 37, BathtubBasin, -0.721, 0.171, 0.479, 0, 0, 0,  [SEP] 38, HandTowelHolder, 1.071, 1.773, 3.127, 0, 180, 0,  [SEP] 39, LightSwitch, 0.220, 1.416, 3.998, 0, 180, 0,  [SEP] 40, GarbageCan, 0.713, -0.028, 3.110, 0, 0, 0,  [SEP] 41, Toilet, -2.232, 0.001, 1.628, 0, 180, 0,  [SEP] 42, ShowerHead, -2.619, 1.819, 3.361, 0, 270, 0,  [SEP] 43, Faucet, 1.047, 1.036, 1.921, 0, 0, 0,  [SEP] 44, Faucet, 0.318, 0.631, 0.479, 0, 0, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the wall, and then turn left to face the toilet tank. | STEP 2: Pick up the purple bottle on the tank. | STEP 3: Take a step to your left to face the tub. | STEP 4: Place the bottle on the counter to the right of the tub. | STEP 5: Turn around, walk to the wall, turn right walk to the wall, and turn right to find a green bin on the floor. | STEP 6: Take out a purple bottle from the bin. | STEP 7: Turn right, walk to the shower stall, turn left and walk to the tub. | STEP 8: Place the bottle next to the other bottle on the counter next to the tub. | END