Input: Move the spatula from the counter to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.25, 0, 180, 0,  [SEP] 1, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 51 [SEP] 2, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 61 [SEP] 3, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 51 [SEP] 4, Egg, 0.892, 1.108, 0.381, 0, 90, 0, 47 [SEP] 5, Egg, -1.038, 1.282, 2.242, 0, 90, 0, 64 [SEP] 6, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 56 [SEP] 7, Plate, 1.820, 1.032, -1.484, 0, 0, 0, 55 [SEP] 8, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 51 [SEP] 9, Knife, 1.076, 1.062, -1.281, 15.995, 0, 354.197, 49 [SEP] 10, Tomato, -1.366, 1.279, 1.796, 0, 90, 0, 64 [SEP] 11, Tomato, -1.366, 1.279, 2.153, 0, 90, 0, 64 [SEP] 12, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 51 [SEP] 13, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 47 [SEP] 14, SaltShaker, 0.848, 1.038, 0.720, 0, 0, 0, 51 [SEP] 15, PepperShaker, 0.351, 1.038, 0.738, 0, 0, 0, 51 [SEP] 16, PepperShaker, 1.068, 0.194, -1.628, 0, 0, 0, 60 [SEP] 17, Lettuce, -0.517, 1.106, -1.397, 0, 0, 0, 49 [SEP] 18, Lettuce, -1.095, 1.023, 2.153, 0, 90, 0, 64 [SEP] 19, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 21, Apple, -0.432, 1.090, -1.181, 0, 0, 0, 49 [SEP] 22, Apple, 1.271, 0.936, 0.158, 0, 90, 0, 46 [SEP] 23, SoapBottle, 1.247, 0.200, -1.412, 0, 0, 0, 60 [SEP] 24, Apple, -1.038, 1.271, 1.885, 0, 90, 0, 64 [SEP] 25, Potato, -1.423, 1.766, 2.063, 0, 90, 0, 64 [SEP] 26, Fork, -0.260, 1.047, -1.828, 0, 90, 0, 49 [SEP] 27, Kettle, 1.181, 1.044, 0.676, 0, 90, 0, 51 [SEP] 28, Pan, -1.027, 0.202, -1.410, 0, 90, 0, 57 [SEP] 29, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 64 [SEP] 30, SaltShaker, 0.160, 1.038, 0.307, 0, 0, 0, 51 [SEP] 31, Egg, -1.090, 0.762, 1.796, 0, 90, 0, 64 [SEP] 32, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 55 [SEP] 33, Spatula, 1.238, 1.061, -1.397, 0, 90, 0, 49 [SEP] 34, Knife, 0.876, 1.045, -1.363, 88.456, 178.939, 225, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.036, 1.560, -1.614, 0, 0, 0, 53 [SEP] 38, DishSponge, 1.512, 1.019, -1.484, 0, 0, 0, 55 [SEP] 39, Plate, -1.184, 2.041, -1.555, 0, 0, 0, 56 [SEP] 40, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 1.612, 1.044, 0.307, 0, 0, 0, 51 [SEP] 42, Pot, 1.817, 0.206, -1.480, 0, 90, 0, 59 [SEP] 43, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 64 [SEP] 44, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 58 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk straight to the end cabinet | STEP 2: Grab the spatula on the counter | STEP 3: Turn around to the sink | STEP 4: Put the spatula in the sink | END


Input: Move a spatula from a counter top to a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.25, 0, 180, 0,  [SEP] 1, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 51 [SEP] 2, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 61 [SEP] 3, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 51 [SEP] 4, Egg, 0.892, 1.108, 0.381, 0, 90, 0, 47 [SEP] 5, Egg, -1.038, 1.282, 2.242, 0, 90, 0, 64 [SEP] 6, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 56 [SEP] 7, Plate, 1.820, 1.032, -1.484, 0, 0, 0, 55 [SEP] 8, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 51 [SEP] 9, Knife, 1.076, 1.062, -1.281, 15.995, 0, 354.197, 49 [SEP] 10, Tomato, -1.366, 1.279, 1.796, 0, 90, 0, 64 [SEP] 11, Tomato, -1.366, 1.279, 2.153, 0, 90, 0, 64 [SEP] 12, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 51 [SEP] 13, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 47 [SEP] 14, SaltShaker, 0.848, 1.038, 0.720, 0, 0, 0, 51 [SEP] 15, PepperShaker, 0.351, 1.038, 0.738, 0, 0, 0, 51 [SEP] 16, PepperShaker, 1.068, 0.194, -1.628, 0, 0, 0, 60 [SEP] 17, Lettuce, -0.517, 1.106, -1.397, 0, 0, 0, 49 [SEP] 18, Lettuce, -1.095, 1.023, 2.153, 0, 90, 0, 64 [SEP] 19, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 21, Apple, -0.432, 1.090, -1.181, 0, 0, 0, 49 [SEP] 22, Apple, 1.271, 0.936, 0.158, 0, 90, 0, 46 [SEP] 23, SoapBottle, 1.247, 0.200, -1.412, 0, 0, 0, 60 [SEP] 24, Apple, -1.038, 1.271, 1.885, 0, 90, 0, 64 [SEP] 25, Potato, -1.423, 1.766, 2.063, 0, 90, 0, 64 [SEP] 26, Fork, -0.260, 1.047, -1.828, 0, 90, 0, 49 [SEP] 27, Kettle, 1.181, 1.044, 0.676, 0, 90, 0, 51 [SEP] 28, Pan, -1.027, 0.202, -1.410, 0, 90, 0, 57 [SEP] 29, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 64 [SEP] 30, SaltShaker, 0.160, 1.038, 0.307, 0, 0, 0, 51 [SEP] 31, Egg, -1.090, 0.762, 1.796, 0, 90, 0, 64 [SEP] 32, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 55 [SEP] 33, Spatula, 1.238, 1.061, -1.397, 0, 90, 0, 49 [SEP] 34, Knife, 0.876, 1.045, -1.363, 88.456, 178.939, 225, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.036, 1.560, -1.614, 0, 0, 0, 53 [SEP] 38, DishSponge, 1.512, 1.019, -1.484, 0, 0, 0, 55 [SEP] 39, Plate, -1.184, 2.041, -1.555, 0, 0, 0, 56 [SEP] 40, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 1.612, 1.044, 0.307, 0, 0, 0, 51 [SEP] 42, Pot, 1.817, 0.206, -1.480, 0, 90, 0, 59 [SEP] 43, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 64 [SEP] 44, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 58 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Walk to the left to the spatula on the counter top to the left of the stove. | STEP 2: Pick up the spatula from the counter top. | STEP 3: Turn around and walk slightly forward to the sink. | STEP 4: Put the spatula in the sink basin. | END


Input: Move the alarm clock from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.909, -2.75, 0, 180, 0,  [SEP] 1, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 36 [SEP] 2, Mug, -0.418, 0.541, -3.694, 0, 0, 0, 27 [SEP] 3, Pen, -3.580, 0.814, -3.977, 0, 0, 0, 34 [SEP] 4, KeyChain, -0.657, 0.800, -4.029, 0, 0, 0, 33 [SEP] 5, Book, -2.348, 0.620, -1.218, 0, 0, 0, 18 [SEP] 6, CellPhone, -0.862, 0.803, -3.811, 0, 0, 0, 33 [SEP] 7, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 33 [SEP] 8, CreditCard, -3.469, 0.225, -2.999, 0, 0, 0, 38 [SEP] 9, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 33 [SEP] 10, KeyChain, -0.453, 0.800, -3.811, 0, 0, 0, 33 [SEP] 11, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 18 [SEP] 12, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 13, Pencil, -0.249, 0.803, -4.137, 0, 0, 0, 33 [SEP] 14, Pillow, -2.981, 0.722, -1.506, 0, 0, 0, 18 [SEP] 15, CD, -3.526, 0.418, -4.070, 0, 0, 0, 39 [SEP] 16, Pen, -0.596, 0.548, -3.749, 0, 0, 0, 27 [SEP] 17, Mug, -3.539, 0.977, -3.673, 0, 0, 0, 36 [SEP] 18, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 19, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 20, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 21, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 22, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 23, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 24, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 25, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 26, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 27, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 28, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 29, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 30, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 31, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 33, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 34, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 35, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 36, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 37, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 38, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn left towards the wall and then turn right to face the alarm clock. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Turn right towards  the dresser. | STEP 4: Place the alarm clock on the left side of the dresser. | END


Input: drop a plate with a card on it on the center table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.75, 0, 90, 0,  [SEP] 1, KeyChain, -5.536, 0.534, 6.703, 0, 315, 0, 56 [SEP] 2, KeyChain, -2.598, 0.534, 3.856, 0, 0, 0, 55 [SEP] 3, CreditCard, -2.811, 0.533, 4.106, 0, 0, 0, 55 [SEP] 4, CreditCard, -2.700, 0.533, 4.480, 0, 270, 0, 55 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -5.573, 0.534, 6.516, 0, 45, 0, 56 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -0.710, 0.365, 3.002, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -2.672, 0.880, 7.173, 0, 90, 0, 46 [SEP] 13, CreditCard, -0.326, 0.793, 1.849, 0, 0, 0, 40 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.518, 0.534, 6.797, 0, 225, 0, 56 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -0.484, 0.795, 2.377, 0, 270, 0, 40 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -6.012, 1.282, 4.349, 0, 0, 0, 52 [SEP] 22, Watch, -0.433, 0.793, 6.231, 0, 270, 0, 39 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -2.277, 0.881, 7.208, 0, 180, 0, 47 [SEP] 25, Statue, -5.405, 0.543, 6.684, 0, 135, 0, 56 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: move right to the lamp stand | STEP 2: pick up a card | STEP 3: head left on the lamp stand | STEP 4: drop the card on a plate | STEP 5: pick up the plate | STEP 6: turn around to the center table | STEP 7: drop the plate on the center table | END


Input: Put a clean pot filled with water on a stove top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 110 [SEP] 2, DishSponge, 2.868, 0.770, 1.198, 0, 0, 0, 95 [SEP] 3, DishSponge, 2.173, 0.771, -0.422, 0, 180, 0, 64 [SEP] 4, Kettle, -0.141, 1.655, -0.772, 0, 180, 0, 93 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 7, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 96 [SEP] 8, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 51 [SEP] 9, Fork, 1.422, 0.772, 1.122, 0, 90, 0, 69 [SEP] 10, Fork, -0.193, 0.772, 1.122, 0, 90, 0, 56 [SEP] 11, Spatula, 1.688, 0.926, 1.214, 0, 270, 0, 86 [SEP] 12, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 86 [SEP] 13, Cup, 2.838, 0.723, -0.504, 0, 0, 0, 106 [SEP] 14, Egg, 2.591, 1.326, -0.775, 0, 0, 0, 106 [SEP] 15, Egg, -0.043, 0.949, -0.330, 0, 0, 0, 51 [SEP] 16, SoapBottle, 2.242, 1.661, -0.725, 0, 180, 0, 72 [SEP] 17, SoapBottle, 2.235, 0.120, -0.538, 0, 180, 0, 92 [SEP] 18, Tomato, -0.198, 0.942, 1.129, 0, 0, 0, 62 [SEP] 19, Bowl, 1.955, 0.909, 1.214, 0, 0, 0, 86 [SEP] 20, Bowl, 0.284, 2.154, 1.467, 0, 0, 0, 85 [SEP] 21, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 62 [SEP] 22, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 110 [SEP] 23, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 110 [SEP] 24, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 106 [SEP] 25, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 86 [SEP] 26, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 86 [SEP] 27, Mug, 0.570, 1.779, 1.520, 0, 270, 0, 109 [SEP] 28, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 86 [SEP] 29, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 86 [SEP] 30, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 110 [SEP] 31, Pot, 0.825, 1.659, -0.771, 0, 180, 0, 91 [SEP] 32, Bread, 2.777, 1.346, -0.644, 0, 0, 0, 106 [SEP] 33, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 110 [SEP] 34, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 51 [SEP] 35, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 106 [SEP] 36, Cup, 2.600, 1.653, 1.390, 0, 0, 0, 76 [SEP] 37, Spatula, 0.152, 0.926, -0.316, 0, 0, 0, 51 [SEP] 38, Apple, 2.715, 1.632, -0.512, 0, 0, 0, 106 [SEP] 39, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 89 [SEP] 40, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 62 [SEP] 41, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 62 [SEP] 42, Knife, 1.141, 0.944, -0.345, 0, 0, 0, 51 [SEP] 43, Potato, 2.838, 1.598, -0.644, 0, 0, 0, 106 [SEP] 44, PepperShaker, -0.103, 0.908, 1.468, 0, 0, 0, 62 [SEP] 45, ButterKnife, 1.422, 0.911, 1.299, 0, 0, 0, 86 [SEP] 46, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 51 [SEP] 47, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 62 [SEP] 48, Spoon, 2.221, 0.912, 1.044, 0, 0, 0, 86 [SEP] 49, Mug, -0.939, 0.815, -1.400, 0, 0, 0, 110 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: Walk forward and turn right towards the stove top. | STEP 2: Pick up the large pot from the stove top on the back burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the pot in the sink, rinse it off, fill it with water, and take it back out. | STEP 5: Turn around and walk back to the stove top. | STEP 6: Put the pot back on the stove top on its original burner. | END


Input: To Fill the pot on the back left burner with water as well as return it to the burner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 110 [SEP] 2, DishSponge, 2.868, 0.770, 1.198, 0, 0, 0, 95 [SEP] 3, DishSponge, 2.173, 0.771, -0.422, 0, 180, 0, 64 [SEP] 4, Kettle, -0.141, 1.655, -0.772, 0, 180, 0, 93 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 7, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 96 [SEP] 8, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 51 [SEP] 9, Fork, 1.422, 0.772, 1.122, 0, 90, 0, 69 [SEP] 10, Fork, -0.193, 0.772, 1.122, 0, 90, 0, 56 [SEP] 11, Spatula, 1.688, 0.926, 1.214, 0, 270, 0, 86 [SEP] 12, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 86 [SEP] 13, Cup, 2.838, 0.723, -0.504, 0, 0, 0, 106 [SEP] 14, Egg, 2.591, 1.326, -0.775, 0, 0, 0, 106 [SEP] 15, Egg, -0.043, 0.949, -0.330, 0, 0, 0, 51 [SEP] 16, SoapBottle, 2.242, 1.661, -0.725, 0, 180, 0, 72 [SEP] 17, SoapBottle, 2.235, 0.120, -0.538, 0, 180, 0, 92 [SEP] 18, Tomato, -0.198, 0.942, 1.129, 0, 0, 0, 62 [SEP] 19, Bowl, 1.955, 0.909, 1.214, 0, 0, 0, 86 [SEP] 20, Bowl, 0.284, 2.154, 1.467, 0, 0, 0, 85 [SEP] 21, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 62 [SEP] 22, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 110 [SEP] 23, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 110 [SEP] 24, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 106 [SEP] 25, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 86 [SEP] 26, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 86 [SEP] 27, Mug, 0.570, 1.779, 1.520, 0, 270, 0, 109 [SEP] 28, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 86 [SEP] 29, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 86 [SEP] 30, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 110 [SEP] 31, Pot, 0.825, 1.659, -0.771, 0, 180, 0, 91 [SEP] 32, Bread, 2.777, 1.346, -0.644, 0, 0, 0, 106 [SEP] 33, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 110 [SEP] 34, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 51 [SEP] 35, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 106 [SEP] 36, Cup, 2.600, 1.653, 1.390, 0, 0, 0, 76 [SEP] 37, Spatula, 0.152, 0.926, -0.316, 0, 0, 0, 51 [SEP] 38, Apple, 2.715, 1.632, -0.512, 0, 0, 0, 106 [SEP] 39, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 89 [SEP] 40, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 62 [SEP] 41, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 62 [SEP] 42, Knife, 1.141, 0.944, -0.345, 0, 0, 0, 51 [SEP] 43, Potato, 2.838, 1.598, -0.644, 0, 0, 0, 106 [SEP] 44, PepperShaker, -0.103, 0.908, 1.468, 0, 0, 0, 62 [SEP] 45, ButterKnife, 1.422, 0.911, 1.299, 0, 0, 0, 86 [SEP] 46, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 51 [SEP] 47, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 62 [SEP] 48, Spoon, 2.221, 0.912, 1.044, 0, 0, 0, 86 [SEP] 49, Mug, -0.939, 0.815, -1.400, 0, 0, 0, 110 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: Turn to the right to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and walk forward to face the sink. | STEP 4: Fill the pot up with water and pick it back up. | STEP 5: Turn around and walk forward to face the stove. | STEP 6: Place the pot with water in it on the back left burner. | END


Input: Slice two bread loafs and place the slices on a table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, 0.900, 1.655, -0.849, 0, 180, 0, 54 [SEP] 2, DishSponge, 1.176, 0.114, 1.156, 0, 0, 0, 64 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 4, Kettle, -0.086, 0.116, 1.117, 0, 0, 0, 72 [SEP] 5, ButterKnife, -0.839, 0.820, -1.206, 0, 180, 0, 103 [SEP] 6, ButterKnife, 2.488, 0.911, 1.044, 0, 0, 0, 79 [SEP] 7, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 8, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 9, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 10, Fork, 2.754, 0.912, 1.129, 0, 0, 0, 79 [SEP] 11, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 44 [SEP] 12, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 99 [SEP] 13, Cup, 0.900, 1.653, -0.771, 0, 180, 0, 54 [SEP] 14, Cup, 0.193, 0.763, -0.707, 0, 0, 0, 101 [SEP] 15, Knife, -0.682, 0.853, -1.255, 0, 270, 0, 103 [SEP] 16, Tomato, -1.933, 0.455, 1.417, 0, 270, 0, 97 [SEP] 17, PepperShaker, -0.734, 0.817, -1.255, 0, 0, 0, 103 [SEP] 18, Bread, -0.198, 0.969, 1.383, 0, 0, 0, 55 [SEP] 19, Lettuce, 2.715, 1.644, -0.644, 0, 0, 0, 99 [SEP] 20, Mug, 3.301, 0.835, -0.485, 0, 270, 0, 99 [SEP] 21, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 44 [SEP] 22, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 79 [SEP] 23, Fork, 2.754, 0.912, 1.299, 0, 0, 0, 79 [SEP] 24, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 44 [SEP] 25, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 79 [SEP] 26, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 102 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 97 [SEP] 29, Cup, -0.836, 0.818, -1.473, 0, 0, 0, 103 [SEP] 30, Spatula, 1.141, 0.926, -0.684, 0, 0, 0, 44 [SEP] 31, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 99 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 79 [SEP] 34, SaltShaker, 1.487, 1.650, 1.546, 0, 0, 0, 67 [SEP] 35, Knife, -0.103, 0.944, 1.044, 0, 0, 0, 55 [SEP] 36, Potato, 0.363, 1.819, 1.455, 0, 180, 0, 102 [SEP] 37, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.155, 0.911, 1.383, 0, 0, 0, 79 [SEP] 39, Bowl, 0.053, 0.763, -0.651, 0, 0, 0, 101 [SEP] 40, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 79 [SEP] 41, Spoon, 2.543, 0.772, 1.198, 0, 0, 0, 60 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove.  | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth.  | STEP 6: Place the knife on the table with the grey table cloth.  | STEP 7: Turn around and head back towards the loaf of bread that was sliced.  | STEP 8: Pick up a slice of bread.  | STEP 9: Head back towards the table with a grey table cloth.  | STEP 10: Place the slice of bread on the table.  | STEP 11: Pick up the knife from the table.  | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread.  | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth.  | STEP 15: Place the knife on the table with the grey table cloth.  | STEP 16: Turn around and head back to the loaf of bread that was just sliced.  | STEP 17: Pick up a slice of bread.  | STEP 18: Turn left and head back towards the table with the grey table cloth.  | STEP 19: Place the slice of bread on the table.  | END


Input: pick up knife, cut bread, cook in microwave, place bread in the trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.0, 0, 180, 0,  [SEP] 1, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 72 [SEP] 2, Spoon, 2.837, 0.772, 1.160, 0, 0, 0, 81 [SEP] 3, Spatula, -0.839, 0.835, -1.308, 0, 90, 0, 96 [SEP] 4, Spatula, -0.103, 0.926, 1.214, 0, 90, 0, 48 [SEP] 5, Plate, 0.888, 0.914, -0.430, 0, 0, 0, 37 [SEP] 6, Plate, 2.715, 1.566, -0.709, 0, 0, 0, 92 [SEP] 7, Egg, 2.591, 0.764, -0.535, 0, 0, 0, 92 [SEP] 8, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 94 [SEP] 9, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 37 [SEP] 10, SaltShaker, 0.290, 1.651, -0.771, 0, 180, 0, 77 [SEP] 11, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 48 [SEP] 12, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 72 [SEP] 13, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 37 [SEP] 14, SoapBottle, -0.734, 0.826, -1.183, 0, 0, 0, 96 [SEP] 15, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 72 [SEP] 16, Fork, 2.124, 0.772, 1.198, 0, 270, 0, 68 [SEP] 17, Pot, 1.688, 0.915, 1.214, 0, 0, 0, 72 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 72 [SEP] 19, Egg, 0.349, 0.949, -0.302, 0, 0, 0, 37 [SEP] 20, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 43 [SEP] 21, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 90 [SEP] 22, Cup, -0.734, 0.818, -1.328, 0, 0, 0, 96 [SEP] 23, Spatula, 1.688, 0.926, 1.044, 0, 0, 0, 72 [SEP] 24, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 72 [SEP] 25, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 52 [SEP] 26, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 48 [SEP] 27, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 48 [SEP] 28, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 37 [SEP] 29, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 92 [SEP] 30, PepperShaker, 1.597, 1.650, 1.470, 0, 0, 0, 60 [SEP] 31, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 96 [SEP] 32, Bowl, 2.838, 1.017, -0.644, 0, 0, 0, 92 [SEP] 33, DishSponge, 1.175, 0.771, 1.236, 0, 0, 0, 82 [SEP] 34, Spoon, 1.140, 0.773, -0.498, 0, 180, 0, 56 [SEP] 35, Mug, -0.734, 0.815, -1.038, 0, 0, 0, 96 [SEP] 36, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 37, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 38, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 39, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 40, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 41, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 42, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 43, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 46, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 48, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 49, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 51, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 53, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 59, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 60, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 72, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 73, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 75, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 76, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 77, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 78, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 79, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 81, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 84, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 85, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 86, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 89, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 90, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 91, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 92, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 93, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 94, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 95, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 96, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 97, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 98, NorthWall, , , , , , ,  [SEP] 99, EastWall, , , , , , ,  [SEP] 100, SouthWall, , , , , , ,  [SEP] 101, WestWall, , , , , , ,

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


Input: Place a cooked slice of bread in the recycle bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.0, 0, 180, 0,  [SEP] 1, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 72 [SEP] 2, Spoon, 2.837, 0.772, 1.160, 0, 0, 0, 81 [SEP] 3, Spatula, -0.839, 0.835, -1.308, 0, 90, 0, 96 [SEP] 4, Spatula, -0.103, 0.926, 1.214, 0, 90, 0, 48 [SEP] 5, Plate, 0.888, 0.914, -0.430, 0, 0, 0, 37 [SEP] 6, Plate, 2.715, 1.566, -0.709, 0, 0, 0, 92 [SEP] 7, Egg, 2.591, 0.764, -0.535, 0, 0, 0, 92 [SEP] 8, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 94 [SEP] 9, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 37 [SEP] 10, SaltShaker, 0.290, 1.651, -0.771, 0, 180, 0, 77 [SEP] 11, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 48 [SEP] 12, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 72 [SEP] 13, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 37 [SEP] 14, SoapBottle, -0.734, 0.826, -1.183, 0, 0, 0, 96 [SEP] 15, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 72 [SEP] 16, Fork, 2.124, 0.772, 1.198, 0, 270, 0, 68 [SEP] 17, Pot, 1.688, 0.915, 1.214, 0, 0, 0, 72 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 72 [SEP] 19, Egg, 0.349, 0.949, -0.302, 0, 0, 0, 37 [SEP] 20, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 43 [SEP] 21, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 90 [SEP] 22, Cup, -0.734, 0.818, -1.328, 0, 0, 0, 96 [SEP] 23, Spatula, 1.688, 0.926, 1.044, 0, 0, 0, 72 [SEP] 24, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 72 [SEP] 25, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 52 [SEP] 26, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 48 [SEP] 27, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 48 [SEP] 28, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 37 [SEP] 29, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 92 [SEP] 30, PepperShaker, 1.597, 1.650, 1.470, 0, 0, 0, 60 [SEP] 31, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 96 [SEP] 32, Bowl, 2.838, 1.017, -0.644, 0, 0, 0, 92 [SEP] 33, DishSponge, 1.175, 0.771, 1.236, 0, 0, 0, 82 [SEP] 34, Spoon, 1.140, 0.773, -0.498, 0, 180, 0, 56 [SEP] 35, Mug, -0.734, 0.815, -1.038, 0, 0, 0, 96 [SEP] 36, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 37, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 38, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 39, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 40, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 41, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 42, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 43, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 46, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 48, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 49, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 51, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 53, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 59, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 60, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 72, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 73, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 75, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 76, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 77, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 78, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 79, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 81, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 84, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 85, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 86, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 89, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 90, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 91, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 92, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 93, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 94, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 95, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 96, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 97, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 98, NorthWall, , , , , , ,  [SEP] 99, EastWall, , , , , , ,  [SEP] 100, SouthWall, , , , , , ,  [SEP] 101, WestWall, , , , , , ,

Output: STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread. | STEP 8: Pick up a slice of bread. | STEP 9: Walk over to the microwave above the stove. | STEP 10: Cook the slice of bread in the microwave. | STEP 11: Take the slice of bread over to the recycle bin. | STEP 12: Place the slice of bread in the recycle bin. | END


Input: Move two pencils from the top of the dresser to the drawer.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -0.75, 0, 90, 0,  [SEP] 1, Mug, -0.507, 0.541, -3.713, 0, 0, 0, 35 [SEP] 2, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 41 [SEP] 3, CellPhone, -1.270, 0.800, -4.246, 0, 0, 0, 41 [SEP] 4, Pen, -3.638, 0.620, -4.070, 0, 0, 0, 50 [SEP] 5, Pen, -0.249, 0.805, -3.703, 0, 0, 0, 41 [SEP] 6, Pencil, -3.760, 0.984, -3.673, 0, 0, 0, 44 [SEP] 7, CreditCard, -0.453, 0.800, -3.920, 0, 0, 0, 41 [SEP] 8, KeyChain, -1.066, 0.804, -4.137, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.466, 0.982, -3.874, 0, 0, 0, 44 [SEP] 10, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 26 [SEP] 11, AlarmClock, -3.834, 0.981, -4.276, 0, 0, 0, 44 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 13, Book, -3.760, 0.981, -3.472, 0, 0, 0, 44 [SEP] 14, CellPhone, -0.426, 0.030, -3.844, 0, 0, 0, 33 [SEP] 15, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -0.862, 0.803, -3.703, 0, 0, 0, 41 [SEP] 17, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 18, KeyChain, -3.539, 0.980, -3.271, 0, 90, 0, 44 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.613, 0.984, -3.874, 0, 0, 0, 44 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -1.854, 0.063, -3.925, 0, 279.990, 0, 30 [SEP] 24, Pen, -1.474, 0.805, -3.920, 0, 0, 0, 41 [SEP] 25, Mug, -0.240, 0.541, -3.731, 0, 0, 0, 35 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the wooden dresser in the corner across the room.  | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left.  | STEP 5: Move forward slightly towards the dresser. | STEP 6: Pick up the yellow pencil on the top of the dresser on the left of the white note book.  | STEP 7: Move back from the wooden dresser. | STEP 8: Place the pencil in the second drawer on the bottom left on top of the first pencil.  | END


Input: Wash a fork and put it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.25, 0, 90, 0,  [SEP] 1, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 81 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 81 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 6, Pot, 1.141, 0.915, -0.515, 0, 0, 0, 46 [SEP] 7, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 103 [SEP] 8, Spoon, 1.276, 0.773, -0.460, 0, 270, 0, 65 [SEP] 9, Fork, -0.103, 0.912, 1.129, 0, 90, 0, 57 [SEP] 10, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 11, Spatula, -0.887, 0.835, -1.473, 0, 180, 0, 105 [SEP] 12, Plate, 2.777, 1.566, -0.709, 0, 0, 0, 101 [SEP] 13, Cup, -0.734, 0.818, -1.473, 0, 0, 0, 105 [SEP] 14, Egg, 0.251, 0.949, -0.302, 0, 0, 0, 46 [SEP] 15, Knife, -0.103, 0.944, 1.468, 0, 0, 0, 57 [SEP] 16, SaltShaker, -1.056, 0.817, -1.411, 0, 90, 0, 105 [SEP] 17, SaltShaker, 1.141, 0.908, -0.769, 0, 0, 0, 46 [SEP] 18, PepperShaker, -1.056, 0.817, -1.103, 0, 90, 0, 105 [SEP] 19, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 81 [SEP] 21, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 105 [SEP] 22, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 105 [SEP] 23, SoapBottle, -1.962, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 81 [SEP] 25, Fork, 1.925, 0.771, 1.198, 0, 270, 0, 79 [SEP] 26, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, -2.019, 0.461, 1.502, 0, 270, 0, 99 [SEP] 29, Kettle, 1.139, 0.116, 1.117, 0, 0, 0, 53 [SEP] 30, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 46 [SEP] 31, Cup, -0.086, 0.112, 1.077, 0, 0, 0, 74 [SEP] 32, Spatula, 2.488, 0.926, 1.383, 0, 0, 0, 81 [SEP] 33, Apple, 2.653, 1.357, -0.644, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 57 [SEP] 36, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 81 [SEP] 37, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 38, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 0.937, 1.651, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 81 [SEP] 41, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 46 [SEP] 42, DishSponge, -0.887, 0.820, -1.255, 0, 0, 0, 105 [SEP] 43, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 44, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 46 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Walk to the kitchen counter on the left of the stove. | STEP 2: Grab a fork from the counter. | STEP 3: Walk to the kitchen sink behind you. | STEP 4: Put the fork in the sink, wash it, then grab it. | STEP 5: Walk to the kitchen table on your right. | STEP 6: Place the fork on the table. | END


Input: Put a clean fork on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.25, 0, 90, 0,  [SEP] 1, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 81 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 81 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 6, Pot, 1.141, 0.915, -0.515, 0, 0, 0, 46 [SEP] 7, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 103 [SEP] 8, Spoon, 1.276, 0.773, -0.460, 0, 270, 0, 65 [SEP] 9, Fork, -0.103, 0.912, 1.129, 0, 90, 0, 57 [SEP] 10, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 11, Spatula, -0.887, 0.835, -1.473, 0, 180, 0, 105 [SEP] 12, Plate, 2.777, 1.566, -0.709, 0, 0, 0, 101 [SEP] 13, Cup, -0.734, 0.818, -1.473, 0, 0, 0, 105 [SEP] 14, Egg, 0.251, 0.949, -0.302, 0, 0, 0, 46 [SEP] 15, Knife, -0.103, 0.944, 1.468, 0, 0, 0, 57 [SEP] 16, SaltShaker, -1.056, 0.817, -1.411, 0, 90, 0, 105 [SEP] 17, SaltShaker, 1.141, 0.908, -0.769, 0, 0, 0, 46 [SEP] 18, PepperShaker, -1.056, 0.817, -1.103, 0, 90, 0, 105 [SEP] 19, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 81 [SEP] 21, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 105 [SEP] 22, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 105 [SEP] 23, SoapBottle, -1.962, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 81 [SEP] 25, Fork, 1.925, 0.771, 1.198, 0, 270, 0, 79 [SEP] 26, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, -2.019, 0.461, 1.502, 0, 270, 0, 99 [SEP] 29, Kettle, 1.139, 0.116, 1.117, 0, 0, 0, 53 [SEP] 30, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 46 [SEP] 31, Cup, -0.086, 0.112, 1.077, 0, 0, 0, 74 [SEP] 32, Spatula, 2.488, 0.926, 1.383, 0, 0, 0, 81 [SEP] 33, Apple, 2.653, 1.357, -0.644, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 57 [SEP] 36, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 81 [SEP] 37, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 38, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 0.937, 1.651, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 81 [SEP] 41, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 46 [SEP] 42, DishSponge, -0.887, 0.820, -1.255, 0, 0, 0, 105 [SEP] 43, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 44, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 46 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter. | STEP 3: Turn around and face the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink. | STEP 5: Turn to the right and then to the left to face the round table. | STEP 6: Put the fork down on the table. | END


Input: Move a statue from a shelf to a table 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, 0.5, 0, 270, 0,  [SEP] 1, Watch, 1.808, 0.870, 0.008, 0, 90, 0, 36 [SEP] 2, Newspaper, -0.288, 0.332, -1.697, 0, 0, 0, 32 [SEP] 3, CreditCard, -0.561, 0.551, -0.623, 0, 270, 0, 30 [SEP] 4, RemoteControl, -0.411, 0.553, -0.537, 0, 270, 0, 30 [SEP] 5, RemoteControl, 1.807, 0.872, 0.326, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.288, 0.326, -1.917, 0, 0, 0, 32 [SEP] 8, Watch, -0.711, 0.040, -0.217, 0, 270, 0, 28 [SEP] 9, Newspaper, 1.808, 0.869, 0.220, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.364, 0.277, -0.589, 0, 0, 0, 38 [SEP] 12, RemoteControl, 1.766, 0.871, 0.643, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, -0.260, 0.562, -0.451, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Go to the shelf above the sofa | STEP 2: Pick up the dog statue on the shelf | STEP 3: Go to the table next to the sofa | STEP 4: Place the dog statue on the table | END


Input: Look at the box under light from the table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 5.25, 0, 270, 0,  [SEP] 1, Newspaper, -0.484, 0.792, 2.252, 0, 270, 0, 40 [SEP] 2, Watch, -5.917, 0.880, 4.349, 0, 0, 0, 50 [SEP] 3, KeyChain, -0.636, 0.794, 2.377, 0, 270, 0, 40 [SEP] 4, Box, -0.868, 0.603, 3.915, 0, 0, 0, 38 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -2.422, 0.534, 4.335, 0, 270, 0, 55 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -2.352, 0.532, 4.043, 0, 270, 0, 55 [SEP] 10, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 38 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.868, 0.367, 4.828, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.885, 0.453, 4.547, 0, 0, 0, 50 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -2.492, 0.535, 4.043, 0, 270, 0, 55 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.172, 0.536, 4.044, 0, 0, 0, 55 [SEP] 22, Watch, -6.139, 1.280, 3.891, 0, 0, 0, 52 [SEP] 23, Statue, -2.474, 0.460, 7.183, 0, 90, 0, 47 [SEP] 24, Statue, -2.422, 0.535, 3.752, 0, 270, 0, 55 [SEP] 25, Statue, -5.950, 0.156, 4.942, 0, 0, 0, 45 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk forward to the sofa | STEP 2: Pick up the cardboard box from the sofa | STEP 3: Turn right and walk over to the lamp on the small table by the sofa | STEP 4: Turn on the lamp | END


Input: pick up knife, cut bread, cook bread in microwave, place in trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Pan, 0.634, 0.911, -0.515, 0, 0, 0, 44 [SEP] 3, Potato, 0.363, 1.819, 1.423, 0, 180, 0, 102 [SEP] 4, Potato, 2.838, 1.598, -0.775, 0, 0, 0, 99 [SEP] 5, Kettle, 0.707, 2.154, 1.506, 0, 0, 0, 53 [SEP] 6, ButterKnife, 1.155, 0.911, 1.214, 0, 0, 0, 79 [SEP] 7, ButterKnife, -0.151, 0.911, 1.383, 0, 0, 0, 55 [SEP] 8, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 79 [SEP] 9, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 44 [SEP] 10, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 79 [SEP] 11, Egg, 0.466, 1.822, 1.488, 0, 180, 0, 102 [SEP] 12, Egg, -0.017, 0.803, -0.541, 0, 0, 0, 101 [SEP] 13, Knife, -0.785, 0.853, -1.473, 0, 0, 0, 103 [SEP] 14, Tomato, 1.422, 0.942, 1.553, 0, 0, 0, 79 [SEP] 15, Bowl, 1.210, 0.112, -0.421, 0, 180, 0, 52 [SEP] 16, Bowl, 1.525, 0.112, 1.193, 0, 0, 0, 73 [SEP] 17, PepperShaker, 1.798, 1.650, -0.658, 0, 180, 0, 81 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 79 [SEP] 19, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 55 [SEP] 20, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 101 [SEP] 21, SoapBottle, -0.198, 0.917, 1.553, 0, 0, 0, 55 [SEP] 22, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 2.249, 0.772, 1.198, 0, 270, 0, 75 [SEP] 24, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 59 [SEP] 25, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, -0.766, 0.858, -1.206, 0, 90, 0, 103 [SEP] 27, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 28, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 103 [SEP] 29, Cup, 2.591, 0.723, -0.473, 0, 0, 0, 99 [SEP] 30, Spatula, 1.141, 0.926, -0.769, 0, 180, 0, 44 [SEP] 31, Apple, 2.900, 1.087, -0.578, 0, 0, 0, 99 [SEP] 32, Pan, 2.715, 1.288, -0.644, 0, 0, 0, 99 [SEP] 33, Lettuce, 2.838, 1.644, -0.578, 0, 0, 0, 99 [SEP] 34, SaltShaker, 0.937, 1.651, -0.693, 0, 180, 0, 54 [SEP] 35, Knife, -0.839, 0.853, -1.257, 0, 90, 0, 103 [SEP] 36, Potato, 0.123, 0.800, -0.762, 0, 90, 0, 101 [SEP] 37, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 103 [SEP] 38, ButterKnife, 0.053, 0.765, -0.596, 0, 0, 0, 101 [SEP] 39, Bowl, 2.221, 0.909, 1.214, 0, 0, 0, 79 [SEP] 40, DishSponge, 1.139, 0.114, 1.117, 0, 0, 0, 73 [SEP] 41, Spoon, 2.837, 0.772, 1.198, 0, 0, 0, 88 [SEP] 42, Mug, 2.838, 0.721, -0.504, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

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


Input: move pencil from trash can to dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -2.25, 0, 90, 0,  [SEP] 1, CD, -1.270, 0.799, -3.811, 0, 0, 0, 37 [SEP] 2, CD, -0.453, 0.799, -4.354, 0, 0, 0, 37 [SEP] 3, CellPhone, -1.270, 0.803, -3.811, 0, 0, 0, 37 [SEP] 4, Pen, -0.507, 0.548, -3.768, 0, 0, 0, 31 [SEP] 5, KeyChain, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 6, KeyChain, -0.274, 0.030, -3.779, 0, 0, 0, 32 [SEP] 7, Book, -3.580, 0.810, -3.091, 0, 0, 0, 47 [SEP] 8, Book, -3.637, 0.045, -3.091, 0, 0, 0, 39 [SEP] 9, Book, -3.834, 0.981, -3.472, 0, 0, 0, 40 [SEP] 10, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 11, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 12, CreditCard, -3.466, 0.981, -4.276, 0, 0, 0, 40 [SEP] 13, AlarmClock, -3.613, 0.979, -4.276, 0, 0, 0, 40 [SEP] 14, KeyChain, -3.469, 0.227, -3.557, 0, 0, 0, 42 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.882, 0.066, -3.944, 0, 9.990, 0, 26 [SEP] 18, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 22 [SEP] 19, CD, -3.539, 0.979, -3.070, 0, 0, 0, 40 [SEP] 20, Pen, -0.453, 0.805, -3.920, 0, 0, 0, 37 [SEP] 21, Mug, -0.685, 0.541, -3.694, 0, 0, 0, 31 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table | STEP 2: pick up the pencil that is in the trash can | STEP 3: turn around, walk forward to the dresser | STEP 4: put the pencil on the dresser | END


Input: Examine a newspaper 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, -5.0, 0.901, 5.25, 0, 90, 0,  [SEP] 1, Bowl, -2.352, 0.535, 3.752, 0, 270, 0, 58 [SEP] 2, Bowl, -5.950, 0.148, 3.954, 0, 0, 0, 48 [SEP] 3, KeyChain, -0.552, 0.367, 4.524, 0, 0, 0, 41 [SEP] 4, KeyChain, -2.283, 0.534, 3.607, 0, 270, 0, 58 [SEP] 5, CreditCard, -0.484, 0.793, 1.751, 0, 270, 0, 43 [SEP] 6, RemoteControl, -0.868, 0.442, 3.915, 0, 0, 0, 41 [SEP] 7, Box, -3.328, 1.443, 7.171, 0, 90, 0, 57 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -5.848, 0.147, 3.757, 0, 0, 0, 48 [SEP] 11, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 53 [SEP] 12, Newspaper, -5.896, 0.532, 6.494, 0, 135, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 15, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 51 [SEP] 16, CreditCard, -0.845, 0.793, 1.900, 0, 0, 0, 43 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -2.277, 0.453, 7.145, 0, 90, 0, 50 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -0.586, 0.795, 5.600, 0, 270, 0, 42 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -0.868, 0.369, 3.306, 0, 0, 0, 41 [SEP] 25, Watch, -5.368, 0.533, 6.871, 0, 45, 0, 59 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.352, 0.543, 4.335, 0, 270, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,

Output: STEP 1: Turn around, head towards the wall and turn right to face the round television table. | STEP 2: Pick up the newspaper on the left side of the table. | STEP 3: Turn right and walk to the round side table with the lamp. | STEP 4: Turn on the small lamp on the table. | END


Input: Carry a grey square object, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -3.25, 0, 270, 0,  [SEP] 1, CellPhone, -2.981, 0.620, -0.931, 0, 0, 0, 22 [SEP] 2, Pen, -3.613, 0.986, -3.070, 0, 0, 0, 40 [SEP] 3, Pen, -3.750, 0.231, -3.185, 0, 0, 0, 42 [SEP] 4, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 31 [SEP] 5, KeyChain, -0.685, 0.543, -3.694, 0, 0, 0, 31 [SEP] 6, Book, -0.453, 0.800, -3.811, 0, 0, 0, 37 [SEP] 7, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 9, Book, -3.834, 0.980, -3.271, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 40 [SEP] 11, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 12, CreditCard, -3.582, 0.225, -3.464, 0, 0, 0, 42 [SEP] 13, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 14, KeyChain, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 26 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.453, 0.799, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -0.453, 0.809, -4.029, 0, 90, 0, 37 [SEP] 21, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Head towards the dark brown dresser | STEP 2: pick up the square grey object sitting on top of the dresser | STEP 3: Carry the grey square object to the white table | STEP 4: Turn on the lamp | END


Input: Examine an alarm clock by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -3.25, 0, 270, 0,  [SEP] 1, CellPhone, -2.981, 0.620, -0.931, 0, 0, 0, 22 [SEP] 2, Pen, -3.613, 0.986, -3.070, 0, 0, 0, 40 [SEP] 3, Pen, -3.750, 0.231, -3.185, 0, 0, 0, 42 [SEP] 4, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 31 [SEP] 5, KeyChain, -0.685, 0.543, -3.694, 0, 0, 0, 31 [SEP] 6, Book, -0.453, 0.800, -3.811, 0, 0, 0, 37 [SEP] 7, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 9, Book, -3.834, 0.980, -3.271, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 40 [SEP] 11, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 12, CreditCard, -3.582, 0.225, -3.464, 0, 0, 0, 42 [SEP] 13, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 14, KeyChain, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 26 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.453, 0.799, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -0.453, 0.809, -4.029, 0, 90, 0, 37 [SEP] 21, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the dresser in front of you. | STEP 2: Pick up the alarm clock from the dresser. | STEP 3: Turn around and walk in front of the lamp on the desk. | STEP 4: Turn on the lamp. | END


Input: Examine the pen 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, -2.25, 0.909, -4.25, 0, 180, 0,  [SEP] 1, CD, -3.469, 0.225, -3.185, 0, 0, 0, 41 [SEP] 2, CellPhone, -3.466, 0.981, -3.271, 0, 0, 0, 39 [SEP] 3, CellPhone, -1.474, 0.803, -3.920, 0, 0, 0, 36 [SEP] 4, CreditCard, -3.613, 0.979, -3.271, 0, 0, 0, 39 [SEP] 5, CreditCard, -3.750, 0.045, -4.070, 0, 0, 0, 44 [SEP] 6, KeyChain, -3.582, 0.227, -3.557, 0, 0, 0, 41 [SEP] 7, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 21 [SEP] 8, Book, -3.834, 0.981, -3.271, 0, 0, 0, 39 [SEP] 9, CellPhone, -3.402, 0.620, -1.506, 0, 0, 0, 21 [SEP] 10, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.862, 0.800, -4.137, 0, 0, 0, 36 [SEP] 12, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 36 [SEP] 13, KeyChain, -3.613, 0.980, -3.673, 0, 0, 0, 39 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 30 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -1.822, 0.063, -3.881, 0, 279.990, 0, 25 [SEP] 19, Pen, -3.539, 0.985, -4.075, 0, 0, 0, 39 [SEP] 20, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 30 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk up to the dresser | STEP 2: Pick up the pen from the dresser | STEP 3: Turn around and walk up to the lamp on the white desk | STEP 4: Turn on the lamp | END


Input: Pick up an empty cardboard box to look at under a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 6.25, 0, 180, 0,  [SEP] 1, Bowl, -0.585, 0.795, 2.252, 0, 270, 0, 40 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 55 [SEP] 3, Newspaper, -0.947, 0.440, 3.002, 0, 0, 0, 38 [SEP] 4, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 55 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -2.811, 0.534, 3.919, 0, 0, 0, 55 [SEP] 8, Vase, -2.870, 1.289, 7.298, 0, 90, 0, 54 [SEP] 9, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -5.917, 0.880, 4.349, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.461, 0.534, 6.628, 0, 45, 0, 56 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -0.326, 0.795, 1.951, 0, 0, 0, 40 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.640, 1.282, 7.361, 0, 90, 0, 54 [SEP] 22, Watch, -5.290, 0.533, 7.024, 0, 135, 0, 56 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -2.561, 0.543, 3.752, 0, 270, 0, 55 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf. | STEP 2: Pick up the cardboard box on the floor next to the bookshelf. | STEP 3: Turn around to cross the room and walk towards the oval side table. | STEP 4: Turn on the lamp on the oval side table. | END