Input: To heat a potato slice and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.75, 0, 90, 0,  [SEP] 1, Potato, -1.962, 0.458, 1.459, 0, 270, 0, 96 [SEP] 2, DishSponge, -0.734, 0.820, -1.400, 0, 0, 0, 102 [SEP] 3, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 51 [SEP] 4, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 78 [SEP] 6, ButterKnife, -1.056, 0.820, -1.257, 0, 90, 0, 102 [SEP] 7, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 78 [SEP] 8, Pot, 1.955, 0.915, 1.383, 0, 0, 0, 78 [SEP] 9, Fork, 2.221, 0.912, 1.214, 0, 0, 0, 78 [SEP] 10, Spatula, -0.621, 0.835, -1.206, 0, 270, 0, 102 [SEP] 11, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 102 [SEP] 12, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 98 [SEP] 13, Egg, -0.734, 0.858, -1.183, 0, 0, 0, 102 [SEP] 14, SoapBottle, 2.208, 1.661, -0.835, 0, 180, 0, 64 [SEP] 15, Tomato, 2.777, 1.594, -0.447, 0, 0, 0, 98 [SEP] 16, Tomato, 1.422, 0.942, 1.553, 0, 0, 0, 78 [SEP] 17, SaltShaker, 0.125, 2.153, 1.350, 0, 0, 0, 77 [SEP] 18, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 102 [SEP] 19, Mug, -0.198, 0.906, 1.044, 0, 0, 0, 54 [SEP] 20, SoapBottle, 1.872, 0.120, -0.383, 0, 180, 0, 89 [SEP] 21, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 43 [SEP] 22, Fork, -0.159, 0.771, 1.122, 0, 90, 0, 48 [SEP] 23, Pot, 1.155, 0.915, 1.214, 0, 0, 0, 78 [SEP] 24, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -1.962, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 27, Tomato, 2.838, 1.050, -0.709, 0, 0, 0, 98 [SEP] 28, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 54 [SEP] 29, Spatula, 0.888, 0.926, -0.6, 0, 90, 0, 43 [SEP] 30, Apple, 2.221, 0.980, 1.044, 0, 0, 0, 78 [SEP] 31, Pan, 0.634, 0.911, -0.430, 0, 90, 0, 43 [SEP] 32, Lettuce, 0.634, 0.992, -0.684, 0, 0, 0, 43 [SEP] 33, SaltShaker, 1.597, 1.650, 1.585, 0, 0, 0, 66 [SEP] 34, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 100 [SEP] 35, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 98 [SEP] 36, PepperShaker, 1.632, 0.111, -0.498, 0, 180, 0, 60 [SEP] 37, ButterKnife, 2.754, 0.911, 1.129, 0, 0, 0, 78 [SEP] 38, Bowl, 0.865, 2.151, 1.468, 0, 0, 0, 52 [SEP] 39, DishSponge, 2.543, 0.771, 1.160, 0, 0, 0, 59 [SEP] 40, Spoon, -0.887, 0.822, -1.473, 0, 0, 0, 102 [SEP] 41, Mug, -0.103, 0.906, 1.298, 0, 0, 0, 54 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can. | STEP 9: Turn right and walk forward and turn left and look up to face the microwave. | STEP 10: Heat the potato in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink. | STEP 12: Place the potato slice in the sink. | END


Input: Move a bottle of lotion to the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.0, 0, 180, 0,  [SEP] 1, TissueBox, -1.561, 0.069, 2.807, 0, 0, 0, 21 [SEP] 2, Cloth, -1.441, 0.068, 3.743, 0, 0, 0, 29 [SEP] 3, SoapBar, 0.351, 0.893, 1.618, 0, 0, 0, 34 [SEP] 4, Candle, -1.382, 0.068, 2.656, 0, 0, 0, 23 [SEP] 5, Candle, -1.481, 0.994, 3.903, 0, 0, 0, 28 [SEP] 6, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 31 [SEP] 7, SoapBottle, -1.350, 0.993, 2.269, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.500, 0.067, 2.391, 0, 0, 0, 23 [SEP] 11, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 23 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.613, 0.994, 3.219, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.416, 0.994, 2.923, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.284, 0.993, 2.863, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 17, SprayBottle, -1.613, 0.995, 3.903, 0, 0, 0, 28 [SEP] 18, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 27 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Walk forward, then turn right and walk up to the counter. | STEP 2: Pick up the bottle of lotion that is to the right of the sink. | STEP 3: Walk over to the toilet behind you. | STEP 4: Put the bottle of lotion on top of the toilet tank. | END


Input: take the remote from the desk to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Watch, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 2, Watch, 1.891, 0.871, 0.431, 0, 90, 0, 38 [SEP] 3, Newspaper, -1.100, 0.199, -0.185, 0, 270, 0, 41 [SEP] 4, KeyChain, -0.561, 0.553, -0.537, 0, 270, 0, 32 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 32 [SEP] 6, CreditCard, 1.364, 0.308, -0.588, 0, 0, 0, 40 [SEP] 7, RemoteControl, 1.766, 0.872, 0.326, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.808, 0.872, 0.114, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.451, 0, 270, 0, 32 [SEP] 11, Newspaper, 1.285, 0.315, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.712, 0.551, -0.623, 0, 270, 0, 32 [SEP] 14, RemoteControl, -0.582, 0.201, -0.544, 0, 90, 0, 33 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.260, 0.562, -0.192, 0, 270, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: go to the desk | STEP 2: pick up the remote from the desk | STEP 3: take the remote to the brown chair | STEP 4: put the remote in the chair | END


Input: move the remote from the table to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Watch, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 2, Watch, 1.891, 0.871, 0.431, 0, 90, 0, 38 [SEP] 3, Newspaper, -1.100, 0.199, -0.185, 0, 270, 0, 41 [SEP] 4, KeyChain, -0.561, 0.553, -0.537, 0, 270, 0, 32 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 32 [SEP] 6, CreditCard, 1.364, 0.308, -0.588, 0, 0, 0, 40 [SEP] 7, RemoteControl, 1.766, 0.872, 0.326, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.808, 0.872, 0.114, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.451, 0, 270, 0, 32 [SEP] 11, Newspaper, 1.285, 0.315, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.712, 0.551, -0.623, 0, 270, 0, 32 [SEP] 14, RemoteControl, -0.582, 0.201, -0.544, 0, 90, 0, 33 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.260, 0.562, -0.192, 0, 270, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: walk straight a bit then turn left and walk straight towards the table | STEP 2: pick up the remote on the table | STEP 3: turn around and then turn left and then walk straight a bit then turn left towards the chair | STEP 4: put the remote down on the chair | END


Input: Put a pan with knife on the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 102 [SEP] 2, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 47 [SEP] 3, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 4, Spoon, 2.156, 0.912, -0.345, 0, 0, 0, 47 [SEP] 5, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 104 [SEP] 6, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 104 [SEP] 7, Spatula, 1.155, 0.926, 1.044, 0, 90, 0, 82 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 9, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 82 [SEP] 10, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 104 [SEP] 11, Cup, -0.983, 0.818, -1.308, 0, 90, 0, 106 [SEP] 12, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 104 [SEP] 13, Knife, -0.766, 0.853, -1.257, 0, 180, 0, 106 [SEP] 14, Tomato, -2.019, 0.455, 1.375, 0, 270, 0, 100 [SEP] 15, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 106 [SEP] 16, SaltShaker, 2.754, 0.908, 1.044, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 106 [SEP] 18, PepperShaker, 1.135, 0.110, -0.383, 0, 180, 0, 55 [SEP] 19, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 58 [SEP] 20, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 102 [SEP] 21, Mug, 1.179, 1.650, 1.546, 0, 0, 0, 74 [SEP] 22, Mug, 0.466, 1.779, 1.455, 0, 180, 0, 105 [SEP] 23, Apple, -0.055, 0.980, 1.214, 0, 0, 0, 58 [SEP] 24, SoapBottle, 2.221, 0.917, 1.383, 0, 0, 0, 82 [SEP] 25, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 56 [SEP] 26, Fork, 1.626, 0.772, -0.460, 0, 270, 0, 77 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 1.955, 0.949, 1.214, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, 2.653, 0.756, -0.535, 0, 0, 0, 102 [SEP] 32, Cup, 2.591, 1.561, -0.840, 0, 0, 0, 102 [SEP] 33, Spatula, 2.754, 0.926, 1.214, 0, 0, 0, 82 [SEP] 34, Apple, 2.900, 1.087, -0.709, 0, 0, 0, 102 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 2.918, 1.345, -0.612, 15.987, 3.568, 14.457, 102 [SEP] 37, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 58 [SEP] 38, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.962, 0.760, -0.504, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, -0.911, 0.820, -1.257, 0, 180, 0, 106 [SEP] 42, Bowl, 2.653, 1.286, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.151, 0.911, 1.129, 0, 0, 0, 58 [SEP] 44, Spoon, -0.939, 0.822, -1.473, 0, 180, 0, 106 [SEP] 45, Mug, -0.785, 0.815, -1.473, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table.  | STEP 3: Turn around, bring the knife to the stove on the left counter. | STEP 4: Stand the knife on its tip, in the right pan on the stove.  | STEP 5: Pick up the the pan with knife from on the stove.  | STEP 6: Turn left, bring the pan to the small table on the left. | STEP 7: Put the pan with knife on the table. | END


Input: put a dish and knife onto a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 102 [SEP] 2, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 47 [SEP] 3, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 4, Spoon, 2.156, 0.912, -0.345, 0, 0, 0, 47 [SEP] 5, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 104 [SEP] 6, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 104 [SEP] 7, Spatula, 1.155, 0.926, 1.044, 0, 90, 0, 82 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 9, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 82 [SEP] 10, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 104 [SEP] 11, Cup, -0.983, 0.818, -1.308, 0, 90, 0, 106 [SEP] 12, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 104 [SEP] 13, Knife, -0.766, 0.853, -1.257, 0, 180, 0, 106 [SEP] 14, Tomato, -2.019, 0.455, 1.375, 0, 270, 0, 100 [SEP] 15, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 106 [SEP] 16, SaltShaker, 2.754, 0.908, 1.044, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 106 [SEP] 18, PepperShaker, 1.135, 0.110, -0.383, 0, 180, 0, 55 [SEP] 19, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 58 [SEP] 20, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 102 [SEP] 21, Mug, 1.179, 1.650, 1.546, 0, 0, 0, 74 [SEP] 22, Mug, 0.466, 1.779, 1.455, 0, 180, 0, 105 [SEP] 23, Apple, -0.055, 0.980, 1.214, 0, 0, 0, 58 [SEP] 24, SoapBottle, 2.221, 0.917, 1.383, 0, 0, 0, 82 [SEP] 25, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 56 [SEP] 26, Fork, 1.626, 0.772, -0.460, 0, 270, 0, 77 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 1.955, 0.949, 1.214, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, 2.653, 0.756, -0.535, 0, 0, 0, 102 [SEP] 32, Cup, 2.591, 1.561, -0.840, 0, 0, 0, 102 [SEP] 33, Spatula, 2.754, 0.926, 1.214, 0, 0, 0, 82 [SEP] 34, Apple, 2.900, 1.087, -0.709, 0, 0, 0, 102 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 2.918, 1.345, -0.612, 15.987, 3.568, 14.457, 102 [SEP] 37, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 58 [SEP] 38, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.962, 0.760, -0.504, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, -0.911, 0.820, -1.257, 0, 180, 0, 106 [SEP] 42, Bowl, 2.653, 1.286, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.151, 0.911, 1.129, 0, 0, 0, 58 [SEP] 44, Spoon, -0.939, 0.822, -1.473, 0, 180, 0, 106 [SEP] 45, Mug, -0.785, 0.815, -1.473, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table | STEP 3: walk to face the stove top | STEP 4: put the knife into the dish on the bottom right burner on the stove | STEP 5: pick up the dish from the stove | STEP 6: walk to face the grey table | STEP 7: put the dish on to the table | END


Input: Heat the tomato and set it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, -0.5, 0, 90, 0,  [SEP] 1, Potato, -1.423, 1.766, 2.331, 0, 90, 0, 51 [SEP] 2, DishSponge, 0.823, 1.046, -1.181, 0, 0, 0, 36 [SEP] 3, ButterKnife, -0.603, 1.046, -1.397, 0, 0, 0, 36 [SEP] 4, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 39 [SEP] 5, Kettle, 1.588, 0.205, -1.408, 0, 0, 0, 46 [SEP] 6, Egg, -1.095, 1.018, 2.153, 0, 90, 0, 51 [SEP] 7, Egg, -1.312, 1.768, 2.153, 0, 90, 0, 51 [SEP] 8, Knife, 0.351, 1.069, 0.738, 0, 0, 0, 38 [SEP] 9, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 34 [SEP] 10, SoapBottle, 1.068, 0.200, -1.556, 0, 0, 0, 47 [SEP] 11, Apple, 0.717, 1.097, 0.231, 0, 90, 0, 34 [SEP] 12, Potato, 0.542, 1.096, 0.091, 0, 0, 0, 38 [SEP] 13, Fork, 0.761, 1.054, 0.281, 0, 90, 0, 34 [SEP] 14, Kettle, -1.027, 0.203, -1.410, 0, 0, 0, 44 [SEP] 15, Pan, -1.342, 1.488, 2.063, 0, 180, 0, 51 [SEP] 16, Tomato, -0.775, 1.097, -1.720, 0, 0, 0, 36 [SEP] 17, SaltShaker, 0.801, 0.194, -1.339, 0, 0, 0, 47 [SEP] 18, Egg, 1.854, 0.177, 2.442, 0, 270, 0, 52 [SEP] 19, Cup, -1.261, 0.202, -1.627, 0, 0, 0, 44 [SEP] 20, Spatula, -0.432, 1.061, -1.397, 0, 90, 0, 36 [SEP] 21, Knife, 1.514, 1.069, 0.001, 0, 0, 0, 38 [SEP] 22, Lettuce, 0.542, 1.103, 0.630, 0, 0, 0, 38 [SEP] 23, ButterKnife, -0.177, 1.046, -1.107, 0, 0, 0, 36 [SEP] 24, PepperShaker, -1.184, 2.023, -1.482, 0, 0, 0, 43 [SEP] 25, DishSponge, 1.589, 1.019, -1.337, 0, 0, 0, 42 [SEP] 26, Plate, 1.512, 1.032, -1.557, 0, 0, 0, 42 [SEP] 27, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 38 [SEP] 28, Spoon, 1.514, 1.044, 0.720, 0, 0, 0, 38 [SEP] 29, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 37 [SEP] 30, Mug, -1.051, 0.702, 1.885, 0, 90, 0, 51 [SEP] 31, Bowl, 1.743, 1.018, -1.557, 0, 0, 0, 42 [SEP] 32, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 33, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 34, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 35, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 36, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 37, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 38, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 39, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 40, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 41, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 42, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 43, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 44, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 45, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 46, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 47, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 48, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 49, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 50, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 51, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 52, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 53, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 54, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 55, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 56, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 57, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 58, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 59, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 60, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 61, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 62, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 63, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Go to the microwave on the right. | STEP 4: Open the microwave, heat the tomato and take the tomato out. | STEP 5: Turn left and take the tomato to the sink. | STEP 6: Set the tomato in the sink. | END


Input: Place the cup with a knife on the circle 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, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 95 [SEP] 2, Kettle, 2.754, 0.912, 1.383, 0, 0, 0, 77 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 4, ButterKnife, -0.055, 0.911, 1.214, 0, 90, 0, 53 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 6, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 77 [SEP] 7, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 101 [SEP] 8, Fork, 1.902, 0.771, -0.498, 0, 90, 0, 56 [SEP] 9, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 42 [SEP] 10, Spatula, 1.955, 0.926, 1.044, 0, 0, 0, 77 [SEP] 11, Plate, 2.777, 1.566, -0.578, 0, 0, 0, 97 [SEP] 12, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 100 [SEP] 13, Egg, 0.518, 1.822, 1.455, 0, 180, 0, 100 [SEP] 14, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 99 [SEP] 15, Knife, -0.836, 0.853, -1.328, 0, 180, 0, 101 [SEP] 16, SoapBottle, -0.887, 0.826, -1.328, 0, 0, 0, 101 [SEP] 17, SaltShaker, 1.635, 1.651, -0.849, 0, 180, 0, 64 [SEP] 18, SaltShaker, -0.240, 0.908, -0.330, 0, 0, 0, 42 [SEP] 19, SoapBottle, 1.155, 0.917, 1.044, 0, 0, 0, 77 [SEP] 20, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 77 [SEP] 21, Fork, -0.227, 0.771, 1.122, 0, 90, 0, 47 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 77 [SEP] 24, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 101 [SEP] 25, Kettle, -0.198, 0.912, 1.299, 0, 0, 0, 53 [SEP] 26, Tomato, 2.962, 1.050, -0.447, 0, 0, 0, 97 [SEP] 27, Cup, 1.955, 1.653, 1.429, 0, 0, 0, 54 [SEP] 28, Spatula, -0.055, 0.926, 1.129, 0, 0, 0, 53 [SEP] 29, Apple, 2.156, 0.980, -0.684, 0, 0, 0, 42 [SEP] 30, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.913, 1.345, -0.613, 15.100, 4.744, 18.666, 97 [SEP] 32, SaltShaker, 2.221, 0.908, 1.214, 0, 0, 0, 77 [SEP] 33, Knife, -0.983, 0.853, -1.206, 0, 270, 0, 101 [SEP] 34, Potato, 2.653, 0.761, -0.565, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 101 [SEP] 36, ButterKnife, 1.955, 0.911, 1.129, 0, 90, 0, 77 [SEP] 37, Bowl, 1.487, 1.652, 1.508, 0, 0, 0, 65 [SEP] 38, DishSponge, -0.017, 0.765, -0.651, 0, 0, 0, 99 [SEP] 39, Spoon, 2.837, 0.772, 1.198, 0, 0, 0, 86 [SEP] 40, Mug, 2.653, 1.283, -0.578, 0, 0, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above. | STEP 4: Open the left cabinet and place the knife in the clear cup. | STEP 5: Take out the cup with the knife from the cabinet and close it. | STEP 6: Turn left, walk past the kitchen counter, and turn left towards a small circle table. | STEP 7: Place the glass cup next to the salt shaker on the table. | END


Input: Place a chilled piece of lettuce near a pot 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, 0, 0,  [SEP] 1, Potato, 2.591, 0.761, -0.565, 0, 90, 0, 101 [SEP] 2, Kettle, 1.422, 0.912, 1.299, 0, 0, 0, 81 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 46 [SEP] 5, ButterKnife, 1.141, 0.911, -0.345, 0, 0, 0, 46 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 7, Spoon, 1.395, 0.912, -0.345, 0, 0, 0, 46 [SEP] 8, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 9, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 81 [SEP] 10, Spatula, -0.151, 0.926, 1.299, 0, 270, 0, 57 [SEP] 11, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 58 [SEP] 12, Egg, 2.962, 0.762, -0.473, 0, 0, 0, 101 [SEP] 13, Egg, -0.990, 0.858, -1.255, 0, 0, 0, 105 [SEP] 14, Knife, -0.103, 0.944, 1.299, 0, 90, 0, 57 [SEP] 15, Knife, 0.634, 0.944, -0.345, 0, 0, 0, 46 [SEP] 16, SoapBottle, 1.485, 0.120, -0.538, 0, 180, 0, 63 [SEP] 17, SoapBottle, -0.198, 0.917, 1.468, 0, 0, 0, 57 [SEP] 18, Bowl, 0.865, 2.151, 1.506, 0, 0, 0, 55 [SEP] 19, Bowl, 2.653, 1.286, -0.709, 0, 0, 0, 101 [SEP] 20, PepperShaker, -0.983, 0.817, -1.411, 0, 90, 0, 105 [SEP] 21, Bread, 2.777, 1.077, -0.644, 0, 0, 0, 101 [SEP] 22, Bread, 2.715, 1.621, -0.709, 0, 0, 0, 101 [SEP] 23, SoapBottle, 2.524, 1.661, 1.390, 0, 0, 0, 71 [SEP] 24, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 105 [SEP] 26, Pot, 2.221, 0.915, 1.214, 0, 0, 0, 81 [SEP] 27, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 81 [SEP] 28, Egg, 0.466, 1.822, 1.391, 0, 180, 0, 104 [SEP] 29, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 30, Tomato, 2.591, 1.050, -0.447, 0, 0, 0, 101 [SEP] 31, Cup, 2.962, 1.016, -0.840, 0, 0, 0, 101 [SEP] 32, Spatula, 2.221, 0.926, 1.383, 0, 0, 0, 81 [SEP] 33, Apple, -1.991, 0.492, 1.332, 0, 270, 0, 99 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.155, 0.992, 1.214, 0, 0, 0, 81 [SEP] 36, SaltShaker, 1.413, 1.650, 1.508, 0, 0, 0, 69 [SEP] 37, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 105 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.887, 0.817, -1.400, 0, 0, 0, 105 [SEP] 40, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 105 [SEP] 41, Bowl, 2.777, 0.724, -0.504, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.939, 0.820, -1.110, 0, 0, 0, 105 [SEP] 43, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 103 [SEP] 44, Mug, 2.754, 0.906, 1.044, 0, 0, 0, 81 [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 to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is | STEP 8: Take a piece of lettuce | STEP 9: Go to the fridge | STEP 10: Chill the lettuce | STEP 11: Go to the counter | STEP 12: Place the lettuce near a pot | END


Input: Move the glass and spoon 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, -1.0, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Pan, 2.777, 1.018, -0.644, 0, 0, 0, 107 [SEP] 2, Potato, 1.141, 0.946, -0.6, 0, 0, 0, 46 [SEP] 3, DishSponge, 1.955, 0.911, 1.299, 0, 0, 0, 81 [SEP] 4, Kettle, 1.902, 0.912, -0.430, 0, 0, 0, 46 [SEP] 5, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 81 [SEP] 6, Spoon, 1.967, 0.772, -0.460, 0, 270, 0, 60 [SEP] 7, Spoon, -0.682, 0.822, -1.400, 0, 270, 0, 105 [SEP] 8, Spatula, -0.734, 0.835, -1.255, 0, 0, 0, 105 [SEP] 9, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 10, Cup, -0.055, 0.909, 1.129, 0, 0, 0, 57 [SEP] 11, SoapBottle, -0.246, 0.917, 1.214, 0, 0, 0, 57 [SEP] 12, SoapBottle, -0.055, 0.917, 1.383, 0, 0, 0, 57 [SEP] 13, Tomato, 1.688, 0.942, 1.129, 0, 0, 0, 81 [SEP] 14, Bowl, 1.487, 1.652, 1.508, 0, 0, 0, 69 [SEP] 15, SaltShaker, 2.120, 1.650, 1.432, 0, 0, 0, 70 [SEP] 16, SaltShaker, -0.621, 0.817, -1.155, 0, 90, 0, 105 [SEP] 17, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 101 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 81 [SEP] 19, Lettuce, 2.777, 1.644, -0.709, 0, 0, 0, 101 [SEP] 20, Mug, 1.155, 0.906, 1.468, 0, 0, 0, 81 [SEP] 21, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 105 [SEP] 22, Apple, 0.570, 1.853, 1.455, 0, 180, 0, 104 [SEP] 23, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 99 [SEP] 24, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, 1.925, 0.771, 1.122, 0, 90, 0, 79 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, 2.156, 0.949, -0.769, 0, 0, 0, 46 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, -0.160, 0.112, 1.117, 0, 0, 0, 74 [SEP] 32, Spatula, -1.056, 0.835, -1.308, 0, 90, 0, 105 [SEP] 33, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 105 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.198, 0.908, 1.383, 0, 0, 0, 57 [SEP] 37, Knife, 0.123, 0.798, -0.707, 0, 90, 0, 103 [SEP] 38, Potato, 2.591, 1.598, -0.644, 0, 90, 0, 101 [SEP] 39, PepperShaker, 2.156, 0.908, -0.684, 0, 0, 0, 46 [SEP] 40, ButterKnife, -0.836, 0.820, -1.473, 0, 0, 0, 105 [SEP] 41, Bowl, 0.862, 1.653, -0.771, 0, 180, 0, 56 [SEP] 42, DishSponge, 1.447, 1.655, -0.810, 0, 180, 0, 68 [SEP] 43, Spoon, -0.103, 0.912, 1.129, 0, 0, 0, 57 [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, , , , , , , ,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the counter to the left of the stove. | STEP 2: Pick up the glass with the spoon in it. | STEP 3: Turn around and go to the sink. | STEP 4: Put the glass and spoon in the sink. | END


Input: Put a microwaved potato on a kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 0.514, 1.654, -0.773, 0, 180, 0, 83 [SEP] 2, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 79 [SEP] 3, DishSponge, -2.019, 0.423, 1.459, 0, 270, 0, 97 [SEP] 4, ButterKnife, 0.123, 0.765, -0.596, 0, 0, 0, 101 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 6, Spoon, -0.017, 0.766, -0.541, 0, 270, 0, 101 [SEP] 7, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 8, Fork, 1.456, 0.772, 1.122, 0, 90, 0, 62 [SEP] 9, Spatula, 2.156, 0.926, -0.6, 0, 0, 0, 44 [SEP] 10, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 79 [SEP] 11, Knife, 0.634, 0.944, -0.515, 0, 0, 0, 44 [SEP] 12, SoapBottle, -0.049, 0.120, 1.077, 0, 0, 0, 72 [SEP] 13, Tomato, 2.653, 1.320, -0.775, 0, 0, 0, 99 [SEP] 14, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 97 [SEP] 15, SaltShaker, -0.055, 0.908, 1.044, 0, 0, 0, 55 [SEP] 16, SaltShaker, -0.151, 0.908, 1.214, 0, 0, 0, 55 [SEP] 17, PepperShaker, -0.621, 0.817, -1.257, 0, 90, 0, 103 [SEP] 18, PepperShaker, 0.251, 0.908, -0.316, 0, 0, 0, 44 [SEP] 19, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 99 [SEP] 20, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, 0.140, 1.661, -0.732, 0, 180, 0, 84 [SEP] 22, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 79 [SEP] 23, Fork, -0.911, 0.821, -1.257, 0, 90, 0, 103 [SEP] 24, Pot, 1.872, 0.118, -0.458, 0, 180, 0, 90 [SEP] 25, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 99 [SEP] 26, Egg, -0.151, 0.949, 1.383, 0, 0, 0, 55 [SEP] 27, Kettle, 2.188, 0.115, 1.119, 0, 0, 0, 80 [SEP] 28, Tomato, 3.301, 0.871, -0.543, 0, 0, 0, 99 [SEP] 29, Cup, -0.839, 0.818, -1.206, 0, 90, 0, 103 [SEP] 30, Spatula, 1.141, 0.926, -0.769, 0, 0, 0, 44 [SEP] 31, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 79 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 1.141, 0.992, -0.430, 0, 0, 0, 44 [SEP] 34, SaltShaker, 1.487, 1.650, 1.432, 0, 0, 0, 67 [SEP] 35, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 103 [SEP] 36, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 103 [SEP] 37, PepperShaker, 1.522, 1.651, -0.693, 0, 180, 0, 66 [SEP] 38, ButterKnife, 2.754, 0.911, 1.468, 0, 0, 0, 79 [SEP] 39, Bowl, 2.524, 1.653, 1.468, 0, 0, 0, 69 [SEP] 40, DishSponge, -0.766, 0.820, -1.411, 0, 90, 0, 103 [SEP] 41, Spoon, 1.524, 0.772, -0.498, 0, 180, 0, 74 [SEP] 42, Mug, -0.887, 0.815, -1.473, 0, 0, 0, 103 [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 forward past the end of the left counter and turn left to go to the round table in the corner. | STEP 2: Pick up the potato from the table. | STEP 3: Turn and go to the stove behind you. | STEP 4: Cook the potato in the microwave above the stove. | STEP 5: Take the cooked potato back to the round table. | STEP 6: Put the potato back on the table. | END


Input: Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, DishSponge, -0.087, 0.765, -0.541, 0, 0, 0, 98 [SEP] 2, Kettle, 2.488, 0.912, 1.214, 0, 0, 0, 76 [SEP] 3, Kettle, 1.955, 0.912, 1.129, 0, 0, 0, 76 [SEP] 4, Spoon, 2.743, 0.773, 1.160, 0, 90, 0, 85 [SEP] 5, Spoon, 2.488, 0.912, 1.383, 0, 0, 0, 76 [SEP] 6, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 76 [SEP] 7, Cup, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 8, Cup, 2.715, 1.016, -0.578, 0, 0, 0, 96 [SEP] 9, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 100 [SEP] 10, Bowl, 1.155, 0.909, 1.468, 0, 0, 0, 76 [SEP] 11, Bowl, 2.900, 1.561, -0.709, 0, 0, 0, 96 [SEP] 12, PepperShaker, -0.734, 0.817, -1.255, 0, 0, 0, 100 [SEP] 13, Bread, 2.715, 1.346, -0.709, 0, 0, 0, 96 [SEP] 14, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 76 [SEP] 15, Lettuce, 1.902, 0.992, -0.430, 0, 0, 0, 41 [SEP] 16, Mug, 2.715, 1.014, -0.775, 0, 0, 0, 96 [SEP] 17, Mug, -0.734, 0.815, -1.400, 0, 0, 0, 100 [SEP] 18, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 76 [SEP] 19, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, 2.806, 0.772, 1.122, 0, 90, 0, 85 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 41 [SEP] 23, Egg, -0.911, 0.858, -1.308, 0, 90, 0, 100 [SEP] 24, Kettle, 2.221, 0.912, 1.383, 0, 0, 0, 76 [SEP] 25, Tomato, -2.019, 0.455, 1.417, 0, 270, 0, 94 [SEP] 26, Cup, 0.363, 1.782, 1.391, 0, 180, 0, 99 [SEP] 27, Spatula, 0.251, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, -0.734, 0.889, -1.110, 0, 0, 0, 100 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 52 [SEP] 31, SaltShaker, 1.155, 0.908, 1.214, 0, 0, 0, 76 [SEP] 32, Knife, -0.198, 0.944, 1.468, 0, 180, 0, 52 [SEP] 33, Potato, 0.888, 0.946, -0.345, 0, 0, 0, 41 [SEP] 34, PepperShaker, 0.750, 1.651, -0.888, 0, 180, 0, 80 [SEP] 35, ButterKnife, 1.422, 0.911, 1.214, 0, 0, 0, 76 [SEP] 36, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 76 [SEP] 37, DishSponge, -0.911, 0.820, -1.411, 0, 90, 0, 100 [SEP] 38, Spoon, 1.955, 0.912, 1.299, 0, 0, 0, 76 [SEP] 39, Mug, 2.838, 0.720, -0.473, 0, 0, 0, 96 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Move to the left to face the refrigerator. | STEP 10: Place the slice of lettuce in the refrigerator, close the refrigerator, wait a second, open the refrigerator, pick up the slice of lettuce and close the refrigerator. | STEP 11: Turn to the right and walk to the end of the room to face the blue recycle bin in the corner of the room. | STEP 12: Place the slice of lettuce in the recycle bin. | END


Input: put two pens in the drawer in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 1.5, 0, 90, 0,  [SEP] 1, Vase, 1.950, 0.993, -2.125, 0, 270, 0, 41 [SEP] 2, CD, 1.576, 0.179, -1.786, 0, 270, 0, 38 [SEP] 3, CD, -0.970, 0.784, -0.548, 0, 0, 0, 62 [SEP] 4, CellPhone, 2.235, 0.988, -2.212, 0, 270, 0, 41 [SEP] 5, CellPhone, 2.381, 0.610, -0.172, 0, 0, 0, 26 [SEP] 6, Pen, -0.970, 0.789, -0.338, 0, 0, 0, 62 [SEP] 7, Pen, 3.087, 0.993, -1.774, 0, 270, 0, 41 [SEP] 8, Pen, -0.253, 0.789, 3.115, 0, 180, 0, 48 [SEP] 9, CreditCard, -0.776, 0.379, -0.476, 0, 0, 0, 61 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 41 [SEP] 11, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 41 [SEP] 12, AlarmClock, -0.904, 0.785, 0.081, 0, 180, 0, 62 [SEP] 13, Book, -0.772, 0.785, -0.128, 0, 0, 0, 62 [SEP] 14, KeyChain, 0.117, 1.109, 3.226, 0, 270, 0, 49 [SEP] 15, CreditCard, 1.666, 0.988, -2.212, 0, 270, 0, 41 [SEP] 16, Pen, 1.666, 0.993, -1.950, 0, 270, 0, 41 [SEP] 17, Pencil, 3.300, 0.727, 1.352, 0, 180, 0, 66 [SEP] 18, Laptop, 1.888, 0.607, 0.068, 0, 0, 0, 26 [SEP] 19, Vase, 3.377, 0.728, 1.443, 0, 180, 0, 66 [SEP] 20, AlarmClock, 2.234, 0.989, -1.862, 0, 270, 0, 41 [SEP] 21, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 26 [SEP] 22, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 26 [SEP] 23, CellPhone, 3.222, 0.723, 1.488, 0, 180, 0, 66 [SEP] 24, CD, 3.087, 0.987, -2.125, 0, 270, 0, 41 [SEP] 25, Vase, 2.370, 0.184, -1.786, 0, 270, 0, 43 [SEP] 26, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 27, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 28, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 29, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 30, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 31, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 32, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 33, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 34, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 35, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 42, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 43, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 44, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 46, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 47, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 48, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 49, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 50, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 51, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 62, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 63, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 64, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 65, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 66, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 67, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 68, NorthWall, , , , , , ,  [SEP] 69, EastWall, , , , , , ,  [SEP] 70, SouthWall, , , , , , ,  [SEP] 71, WestWall, , , , , , ,

Output: STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room | STEP 4: put the pen in the second to the bottom drawer | STEP 5: move right a bit to stand in front of the cabinet | STEP 6: grab the pen off of the cabinet | STEP 7: move to the left a bit to stand on the left side of the cabinet | STEP 8: place the pen in the same drawer you put the other pen in | END


Input: Place two red pens in top drawer of brown cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 1.5, 0, 90, 0,  [SEP] 1, Vase, 1.950, 0.993, -2.125, 0, 270, 0, 41 [SEP] 2, CD, 1.576, 0.179, -1.786, 0, 270, 0, 38 [SEP] 3, CD, -0.970, 0.784, -0.548, 0, 0, 0, 62 [SEP] 4, CellPhone, 2.235, 0.988, -2.212, 0, 270, 0, 41 [SEP] 5, CellPhone, 2.381, 0.610, -0.172, 0, 0, 0, 26 [SEP] 6, Pen, -0.970, 0.789, -0.338, 0, 0, 0, 62 [SEP] 7, Pen, 3.087, 0.993, -1.774, 0, 270, 0, 41 [SEP] 8, Pen, -0.253, 0.789, 3.115, 0, 180, 0, 48 [SEP] 9, CreditCard, -0.776, 0.379, -0.476, 0, 0, 0, 61 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 41 [SEP] 11, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 41 [SEP] 12, AlarmClock, -0.904, 0.785, 0.081, 0, 180, 0, 62 [SEP] 13, Book, -0.772, 0.785, -0.128, 0, 0, 0, 62 [SEP] 14, KeyChain, 0.117, 1.109, 3.226, 0, 270, 0, 49 [SEP] 15, CreditCard, 1.666, 0.988, -2.212, 0, 270, 0, 41 [SEP] 16, Pen, 1.666, 0.993, -1.950, 0, 270, 0, 41 [SEP] 17, Pencil, 3.300, 0.727, 1.352, 0, 180, 0, 66 [SEP] 18, Laptop, 1.888, 0.607, 0.068, 0, 0, 0, 26 [SEP] 19, Vase, 3.377, 0.728, 1.443, 0, 180, 0, 66 [SEP] 20, AlarmClock, 2.234, 0.989, -1.862, 0, 270, 0, 41 [SEP] 21, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 26 [SEP] 22, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 26 [SEP] 23, CellPhone, 3.222, 0.723, 1.488, 0, 180, 0, 66 [SEP] 24, CD, 3.087, 0.987, -2.125, 0, 270, 0, 41 [SEP] 25, Vase, 2.370, 0.184, -1.786, 0, 270, 0, 43 [SEP] 26, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 27, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 28, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 29, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 30, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 31, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 32, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 33, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 34, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 35, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 42, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 43, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 44, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 46, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 47, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 48, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 49, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 50, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 51, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 62, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 63, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 64, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 65, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 66, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 67, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 68, NorthWall, , , , , , ,  [SEP] 69, EastWall, , , , , , ,  [SEP] 70, SouthWall, , , , , , ,  [SEP] 71, WestWall, , , , , , ,

Output: STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right  | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer | STEP 5: face the front of brown cabinet | STEP 6: pick up red pen from cabinet shelf | STEP 7: go to left side of brown cabinet | STEP 8: place red pen in cabinet, close drawer | END


Input: grab the water can from shelf, 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, -3.0, 0.901, 1.75, 0, 270, 0,  [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: turn around, walk across the room to the black shelves | STEP 2: take the water can on the shelf | STEP 3: turn right, walk to the end table with a lamp on it | STEP 4: turn on the lamp | END


Input: Examine a water canister next to 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, -3.0, 0.901, 1.75, 0, 270, 0,  [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: Turn around towards the door, turn left towards the lamp, and then walk straight towards the wooden shelves. | STEP 2: Pick up the water canister on the bottom of the shelves. | STEP 3: Turn right towards the lamp | STEP 4: Turn on the lamp. | END


Input: Examine a watering can 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, -3.0, 0.901, 1.75, 0, 270, 0,  [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the black shelves against the wall containing a statue. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and walk to the lamp on the small desk next to the sofa. | STEP 4: Turn on the lamp. | END


Input: Carry a tea pot while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 1.75, 0, 270, 0,  [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: Move across the room to the right side of the large brown side table  | STEP 2: Pick up the tea pot from the bottom shelf on the side table  | STEP 3: Carry the tea pot to the lamp on top of the small round end table | STEP 4: Turn on the lamp | END


Input: Move the plunger from the toilet to underneath the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.75, 0, 270, 0,  [SEP] 1, TissueBox, -1.560, 0.068, 3.226, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.379, 0.068, 3.327, 0, 0, 0, 28 [SEP] 3, SoapBar, 0.313, 0.047, 3.893, 0, 0, 0, 32 [SEP] 4, SoapBar, -1.561, 0.068, 3.844, 0, 0, 0, 30 [SEP] 5, Candle, -1.547, 0.994, 2.118, 0, 0, 0, 29 [SEP] 6, Candle, -1.259, 0.067, 3.126, 0, 0, 0, 28 [SEP] 7, SprayBottle, -1.416, 0.995, 3.933, 0, 0, 0, 29 [SEP] 8, SoapBottle, -1.219, 0.993, 2.148, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, 0.231, 0.047, 3.782, 0, 0, 0, 32 [SEP] 12, ToiletPaper, -1.350, 0.991, 2.269, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.560, 0.067, 2.190, 0, 0, 0, 24 [SEP] 15, TissueBox, -1.547, 0.994, 2.982, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.481, 0.993, 3.812, 0, 0, 0, 29 [SEP] 17, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 37 [SEP] 18, SprayBottle, -1.416, 0.995, 2.178, 0, 0, 0, 29 [SEP] 19, Cloth, -1.350, 0.994, 2.923, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the toilet. | STEP 2: Pick up the plunger to the right of the toilet. | STEP 3: Turn around and face the sink. | STEP 4: Open the right drawer and place the plunger inside. | END


Input: Examine a watch 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, -3.75, 0.901, 1.25, 0, 0, 0,  [SEP] 1, Newspaper, -5.960, 0.451, 4.152, 0, 0, 0, 49 [SEP] 2, Watch, -3.099, 1.280, 6.981, 0, 90, 0, 58 [SEP] 3, Watch, -0.585, 0.793, 6.357, 0, 270, 0, 43 [SEP] 4, Watch, -3.067, 0.146, 7.173, 0, 90, 0, 53 [SEP] 5, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.710, 0.367, 4.524, 0, 0, 0, 42 [SEP] 7, RemoteControl, -5.518, 0.536, 6.797, 0, 135, 0, 60 [SEP] 8, RemoteControl, -0.585, 0.796, 2.252, 0, 270, 0, 44 [SEP] 9, Box, -0.868, 0.603, 3.915, 0, 0, 0, 42 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -5.330, 0.534, 6.609, 0, 45, 0, 60 [SEP] 12, Vase, -5.592, 0.542, 6.647, 0, 45, 0, 60 [SEP] 13, Newspaper, -5.896, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -2.474, 0.147, 7.276, 0, 90, 0, 53 [SEP] 17, CreditCard, -2.172, 0.533, 4.169, 0, 0, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.947, 0.367, 3.915, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -0.687, 0.795, 1.626, 0, 270, 0, 44 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.947, 0.369, 3.002, 0, 0, 0, 42 [SEP] 26, Watch, -2.491, 0.533, 4.480, 0, 270, 0, 59 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 58 [SEP] 29, Statue, -5.950, 0.156, 3.757, 0, 0, 0, 49 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Turn left, hang a right at the chair and walk to the rack of wooden shelves against the wall. | STEP 2: Pick up the watch in front of the statue on the top shelf on the left side. | STEP 3: Turn right, hang a right at the table and walk to the round wooden table on the left with the small lamp. | STEP 4: Turn on the small lamp. | END


Input: Look at a watch by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.25, 0, 0, 0,  [SEP] 1, Newspaper, -5.960, 0.451, 4.152, 0, 0, 0, 49 [SEP] 2, Watch, -3.099, 1.280, 6.981, 0, 90, 0, 58 [SEP] 3, Watch, -0.585, 0.793, 6.357, 0, 270, 0, 43 [SEP] 4, Watch, -3.067, 0.146, 7.173, 0, 90, 0, 53 [SEP] 5, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.710, 0.367, 4.524, 0, 0, 0, 42 [SEP] 7, RemoteControl, -5.518, 0.536, 6.797, 0, 135, 0, 60 [SEP] 8, RemoteControl, -0.585, 0.796, 2.252, 0, 270, 0, 44 [SEP] 9, Box, -0.868, 0.603, 3.915, 0, 0, 0, 42 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -5.330, 0.534, 6.609, 0, 45, 0, 60 [SEP] 12, Vase, -5.592, 0.542, 6.647, 0, 45, 0, 60 [SEP] 13, Newspaper, -5.896, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -2.474, 0.147, 7.276, 0, 90, 0, 53 [SEP] 17, CreditCard, -2.172, 0.533, 4.169, 0, 0, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.947, 0.367, 3.915, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -0.687, 0.795, 1.626, 0, 270, 0, 44 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.947, 0.369, 3.002, 0, 0, 0, 42 [SEP] 26, Watch, -2.491, 0.533, 4.480, 0, 270, 0, 59 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 58 [SEP] 29, Statue, -5.950, 0.156, 3.757, 0, 0, 0, 49 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Walk to the left of the chair, then straight ahead to thee shelving unit. | STEP 2: Pick up the watch on the top shelf. | STEP 3: Turn around and veer left past the couch to the side table. | STEP 4: Turn on the lamp on the table. | END