Input: TO cut and heat a tomato slice and place it on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.290, 0, 270, 0, 98 [SEP] 2, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 3, ButterKnife, 0.123, 0.765, -0.707, 0, 270, 0, 102 [SEP] 4, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 104 [SEP] 5, Spoon, 0.123, 0.766, -0.651, 0, 0, 0, 102 [SEP] 6, Fork, 2.217, 0.771, 1.198, 0, 270, 0, 76 [SEP] 7, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 102 [SEP] 8, Cup, 1.688, 0.909, 1.299, 0, 0, 0, 80 [SEP] 9, Egg, 2.962, 1.326, -0.709, 0, 0, 0, 100 [SEP] 10, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 80 [SEP] 11, SoapBottle, 1.210, 0.120, -0.383, 0, 180, 0, 53 [SEP] 12, Tomato, 1.688, 0.942, 1.553, 0, 0, 0, 80 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 98 [SEP] 14, Bowl, -0.123, 0.112, 1.196, 0, 0, 0, 73 [SEP] 15, Bowl, 1.141, 0.909, -0.430, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.103, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 80 [SEP] 18, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 100 [SEP] 19, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 104 [SEP] 22, SoapBottle, 1.155, 0.917, 1.383, 0, 0, 0, 80 [SEP] 23, Plate, 2.838, 1.021, -0.709, 0, 0, 0, 100 [SEP] 24, Fork, 1.155, 0.912, 1.214, 0, 270, 0, 80 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 56 [SEP] 27, Egg, 2.900, 1.601, -0.840, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -1.056, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 0.570, 1.782, 1.391, 0, 180, 0, 103 [SEP] 31, Spatula, -0.682, 0.835, -1.255, 0, 90, 0, 104 [SEP] 32, Apple, 2.653, 1.357, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, -0.621, 0.817, -1.155, 0, 90, 0, 104 [SEP] 36, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 56 [SEP] 37, Potato, 2.962, 0.760, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.221, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 45 [SEP] 40, Bowl, 0.178, 2.154, 1.467, 0, 0, 0, 79 [SEP] 41, DishSponge, -0.836, 0.820, -1.183, 0, 0, 0, 104 [SEP] 42, Spoon, 0.634, 0.912, -0.430, 0, 0, 0, 45 [SEP] 43, Mug, 2.156, 0.906, -0.769, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step to the left and look up to face the microwave. | STEP 10: Warm the tomato slice in the microwave and then remove it. | STEP 11: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 12: Place the tomato slice on the right side of the kitchen table. | END


Input: Put the dog statuette on the small table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.5, 0, 270, 0,  [SEP] 1, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 30 [SEP] 2, Watch, 1.807, 0.870, 0.431, 0, 90, 0, 36 [SEP] 3, KeyChain, -0.970, 0.202, -0.185, 0, 270, 0, 28 [SEP] 4, KeyChain, -0.077, 0.323, -1.917, 0, 180, 0, 32 [SEP] 5, RemoteControl, 1.766, 0.872, 0.326, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.453, 0.361, -0.120, 0, 270, 0, 27 [SEP] 8, Watch, -1.012, 0.552, -0.106, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.537, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.411, 0.551, -0.623, 0, 270, 0, 30 [SEP] 12, RemoteControl, 1.206, 0.325, -0.742, 0, 0, 0, 38 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, -0.561, 0.562, -0.192, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk around to the far side of the coffee table, facing toward the sofa | STEP 2: Pick up the dog statuette from the coffee table | STEP 3: Turn left and walk up to the small table left of the arm chair | STEP 4: Put the dog statuette on the table | END


Input: Put a chilled tomato in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Potato, 2.777, 1.053, -0.840, 0, 0, 0, 102 [SEP] 3, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 82 [SEP] 4, ButterKnife, 0.053, 0.765, -0.596, 0, 0, 0, 104 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 6, Spoon, -0.103, 0.912, 1.468, 0, 0, 0, 58 [SEP] 7, Fork, 1.558, 0.771, -0.498, 0, 90, 0, 77 [SEP] 8, Spatula, 0.888, 0.926, -0.345, 0, 0, 0, 47 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 104 [SEP] 10, Cup, 2.591, 1.016, -0.578, 0, 0, 0, 102 [SEP] 11, Egg, -0.007, 0.949, 1.553, 0, 0, 0, 58 [SEP] 12, Knife, -0.766, 0.853, -1.257, 0, 90, 0, 106 [SEP] 13, SoapBottle, 2.479, 0.120, 1.077, 0, 0, 0, 51 [SEP] 14, Tomato, -2.048, 0.455, 1.459, 0, 270, 0, 100 [SEP] 15, SaltShaker, 1.955, 0.908, 1.468, 0, 0, 0, 82 [SEP] 16, SaltShaker, -0.007, 0.908, 1.383, 0, 0, 0, 58 [SEP] 17, PepperShaker, -0.911, 0.817, -1.411, 0, 90, 0, 106 [SEP] 18, PepperShaker, 0.654, 2.150, 1.506, 0, 0, 0, 56 [SEP] 19, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 82 [SEP] 20, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 82 [SEP] 21, Mug, -1.056, 0.815, -1.360, 0, 90, 0, 106 [SEP] 22, Mug, 2.962, 1.014, -0.840, 0, 0, 0, 102 [SEP] 23, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 105 [SEP] 24, SoapBottle, 1.835, 1.660, -0.811, 0, 180, 0, 84 [SEP] 25, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, -0.983, 0.821, -1.257, 0, 90, 0, 106 [SEP] 27, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 82 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, -0.055, 0.949, 1.044, 0, 0, 0, 58 [SEP] 30, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 47 [SEP] 31, Tomato, -0.682, 0.852, -1.473, 0, 0, 0, 106 [SEP] 32, Cup, 2.838, 1.286, -0.709, 0, 0, 0, 102 [SEP] 33, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 47 [SEP] 34, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 104 [SEP] 35, Pan, 1.688, 0.911, 1.468, 0, 0, 0, 82 [SEP] 36, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 58 [SEP] 37, SaltShaker, -0.294, 0.908, 1.468, 0, 0, 0, 58 [SEP] 38, Knife, -0.836, 0.853, -1.328, 0, 180, 0, 106 [SEP] 39, Potato, 2.777, 1.053, -0.447, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.164, 1.650, 1.546, 0, 0, 0, 73 [SEP] 41, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 47 [SEP] 42, Bowl, 2.838, 1.561, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, 2.173, 0.770, -0.498, 0, 180, 0, 60 [SEP] 44, Spoon, 2.156, 0.912, -0.345, 0, 0, 0, 47 [SEP] 45, Mug, -0.694, 0.815, -1.360, 0, 90, 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 right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin. | STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead. | STEP 4: Chill the tomato on the top shelf on the right side of the fridge. Take the tomato from the fridge. | STEP 5: Turn right, go forward, turn left at the sink, go to the sink. | STEP 6: Put the tomato in the sink. | END


Input: Put a warmed apple in the compost bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.75, 0, 270, 0,  [SEP] 1, Potato, 2.653, 1.598, -0.447, 0, 0, 0, 105 [SEP] 2, Potato, -0.911, 0.855, -1.257, 0, 90, 0, 109 [SEP] 3, DishSponge, -0.151, 0.911, 1.468, 0, 0, 0, 61 [SEP] 4, DishSponge, 1.804, 1.655, 1.468, 0, 0, 0, 62 [SEP] 5, ButterKnife, -0.839, 0.820, -1.206, 0, 90, 0, 109 [SEP] 6, Spoon, 1.869, 0.772, -0.422, 0, 180, 0, 64 [SEP] 7, Fork, 0.053, 0.766, -0.596, 0, 180, 0, 107 [SEP] 8, Spatula, 2.488, 0.926, 1.044, 0, 0, 0, 85 [SEP] 9, Spatula, 1.155, 0.926, 1.299, 0, 0, 0, 85 [SEP] 10, Cup, 1.945, 1.652, -0.811, 0, 180, 0, 87 [SEP] 11, Egg, 2.900, 0.764, -0.565, 0, 0, 0, 105 [SEP] 12, Egg, 0.193, 0.803, -0.651, 0, 0, 0, 107 [SEP] 13, Knife, 1.955, 0.944, 1.383, 0, 0, 0, 85 [SEP] 14, Knife, 0.888, 0.944, -0.684, 0, 270, 0, 50 [SEP] 15, SoapBottle, 1.597, 1.661, -0.810, 0, 180, 0, 72 [SEP] 16, Tomato, 0.193, 0.797, -0.541, 0, 0, 0, 107 [SEP] 17, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 103 [SEP] 18, Bowl, 0.888, 0.909, -0.430, 0, 0, 0, 50 [SEP] 19, SaltShaker, 1.955, 0.908, 1.044, 0, 0, 0, 85 [SEP] 20, SaltShaker, 0.065, 1.651, -0.810, 0, 180, 0, 90 [SEP] 21, PepperShaker, 1.155, 0.908, 1.468, 0, 0, 0, 85 [SEP] 22, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 85 [SEP] 23, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 105 [SEP] 24, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 85 [SEP] 25, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 109 [SEP] 26, Apple, -0.246, 0.980, 1.383, 0, 0, 0, 61 [SEP] 27, SoapBottle, 2.272, 0.120, -0.498, 0, 180, 0, 91 [SEP] 28, Plate, 2.838, 1.021, -0.709, 0, 0, 0, 105 [SEP] 29, Fork, -0.621, 0.821, -1.257, 0, 90, 0, 109 [SEP] 30, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 31, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 85 [SEP] 32, Egg, 1.422, 0.949, 1.299, 0, 0, 0, 85 [SEP] 33, Kettle, 2.513, 0.116, 1.117, 0, 0, 0, 54 [SEP] 34, Tomato, -0.990, 0.852, -1.400, 0, 0, 0, 109 [SEP] 35, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 107 [SEP] 36, Spatula, 1.955, 0.926, 1.214, 0, 0, 0, 85 [SEP] 37, Apple, -0.246, 0.980, 1.044, 0, 0, 0, 61 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 85 [SEP] 40, SaltShaker, 2.837, 0.110, 1.156, 0, 0, 0, 82 [SEP] 41, Knife, -0.103, 0.944, 1.383, 0, 0, 0, 61 [SEP] 42, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 85 [SEP] 43, PepperShaker, 2.138, 1.651, -0.835, 0, 180, 0, 71 [SEP] 44, ButterKnife, 1.422, 0.911, 1.129, 0, 0, 0, 85 [SEP] 45, Bowl, -0.734, 0.818, -1.400, 0, 0, 0, 109 [SEP] 46, DishSponge, 1.917, 1.655, 1.507, 0, 0, 0, 62 [SEP] 47, Spoon, 1.209, 0.773, 1.198, 0, 0, 0, 95 [SEP] 48, Mug, 2.208, 1.650, -0.725, 0, 180, 0, 71 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 111, NorthWall, , , , , , ,  [SEP] 112, EastWall, , , , , , ,  [SEP] 113, SouthWall, , , , , , ,  [SEP] 114, WestWall, , , , , , ,

Output: STEP 1: Go to the counter on the left of the stove. | STEP 2: Pick up the apple closest to the wall. | STEP 3: Take the apple to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Go left past the door on the right to the compost bin. | STEP 6: Put the hot apple in the compost bin. | END


Input: Slice both potatoes 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, 1.0, 0.931, -0.5, 0, 0, 0,  [SEP] 1, Potato, 1.701, 1.096, 0.522, 0, 0, 0, 44 [SEP] 2, Potato, -1.047, 1.769, -1.269, 0, 270, 0, 56 [SEP] 3, ButterKnife, -0.603, 1.046, -1.397, 0, 0, 0, 42 [SEP] 4, Pot, 0.960, 1.566, -1.463, 0, 270, 0, 46 [SEP] 5, Fork, 0.160, 1.043, 0.630, 0, 0, 0, 44 [SEP] 6, Spoon, 1.347, 1.044, 0.589, 0, 0, 0, 44 [SEP] 7, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 42 [SEP] 8, Egg, -0.346, 1.101, -1.720, 0, 0, 0, 42 [SEP] 9, Egg, 0.848, 1.108, 0.281, 0, 90, 0, 40 [SEP] 10, Plate, 1.588, 0.217, -1.553, 0, 0, 0, 52 [SEP] 11, Plate, -1.184, 2.041, -1.482, 0, 0, 0, 49 [SEP] 12, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 57 [SEP] 13, SaltShaker, 1.588, 0.199, -1.262, 0, 0, 0, 52 [SEP] 14, Mug, -1.419, 1.484, 1.974, 0, 90, 0, 57 [SEP] 15, Apple, -1.126, 1.007, 2.153, 0, 90, 0, 57 [SEP] 16, SoapBottle, 1.854, 0.123, 2.386, 0, 270, 0, 58 [SEP] 17, Apple, -1.250, 1.991, 2.242, 0, 90, 0, 57 [SEP] 18, Potato, 0.065, 1.096, 0.199, 0, 0, 0, 44 [SEP] 19, Fork, 1.015, 1.043, 0.720, 0, 0, 0, 44 [SEP] 20, Kettle, 1.158, 0.200, -1.484, 0, 0, 0, 53 [SEP] 21, Pan, 1.589, 1.019, -1.484, 0, 180, 0, 48 [SEP] 22, Tomato, -1.103, 1.279, 2.242, 0, 90, 0, 57 [SEP] 23, SaltShaker, 1.155, 1.041, -1.397, 0, 0, 0, 42 [SEP] 24, Egg, -1.064, 1.018, 2.242, 0, 90, 0, 57 [SEP] 25, Cup, -0.548, 1.565, -1.470, 0, 0, 0, 47 [SEP] 26, Spatula, -0.346, 1.061, -1.397, 0, 0, 0, 42 [SEP] 27, Knife, 1.514, 1.069, 0.807, 0, 0, 0, 44 [SEP] 28, Lettuce, 0.682, 1.103, 0.676, 0, 0, 0, 44 [SEP] 29, ButterKnife, 1.701, 1.043, 0.738, 0, 0, 0, 44 [SEP] 30, PepperShaker, -0.699, 1.560, -1.693, 0, 0, 0, 47 [SEP] 31, DishSponge, -1.183, 0.202, -1.338, 0, 0, 0, 50 [SEP] 32, Plate, 0.890, 0.212, -1.412, 0, 0, 0, 53 [SEP] 33, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 44 [SEP] 34, Spoon, 1.181, 1.044, 0.676, 0, 0, 0, 44 [SEP] 35, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 45 [SEP] 36, Mug, -0.491, 0.198, -1.625, 0, 0, 0, 51 [SEP] 37, Bowl, -0.670, 0.202, -1.553, 0, 0, 0, 51 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink  | STEP 12: Put the knife in the sink | STEP 13: Turn left  towards the counter | STEP 14: Grab the potato from the counter | STEP 15: Walk towards the sink | STEP 16: Put the potato in the sink | STEP 17: Grab the knife from the sink | STEP 18: Slice the potato in the sink | END


Input: Move two pencils from a wastebasket to a table in a bedroom. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -3.0, 0, 90, 0,  [SEP] 1, CD, -0.249, 0.799, -4.029, 0, 0, 0, 34 [SEP] 2, CD, -3.637, 0.045, -3.790, 0, 0, 0, 42 [SEP] 3, Pencil, -1.878, 0.065, -3.920, 0, 9.990, 0, 23 [SEP] 4, AlarmClock, -3.834, 0.979, -3.673, 0, 0, 0, 37 [SEP] 5, AlarmClock, -3.687, 0.981, -3.472, 0, 0, 0, 37 [SEP] 6, Book, -0.862, 0.804, -4.029, 0, 0, 0, 34 [SEP] 7, CellPhone, -2.559, 0.620, -0.643, 0, 0, 0, 19 [SEP] 8, Laptop, -2.981, 0.618, -0.931, 0, 0, 0, 19 [SEP] 9, CreditCard, -3.582, 0.614, -4.255, 0, 0, 0, 43 [SEP] 10, AlarmClock, -3.7, 0.973, -3.093, 0, 56.085, 0, 37 [SEP] 11, KeyChain, -0.240, 0.543, -3.694, 0, 0, 0, 28 [SEP] 12, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 19 [SEP] 13, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 14, Pencil, -1.874, 0.066, -3.897, 0, 9.990, 0, 23 [SEP] 15, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 19 [SEP] 16, CD, -1.066, 0.799, -4.137, 0, 0, 0, 34 [SEP] 17, Pen, -0.453, 0.805, -4.246, 0, 0, 0, 34 [SEP] 18, Mug, -3.687, 0.977, -4.276, 0, 0, 0, 37 [SEP] 19, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 20, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 21, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 22, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 23, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 24, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 25, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 26, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 27, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 28, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 30, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 31, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 32, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 34, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 35, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 36, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 37, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 38, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge. | STEP 5: Go back to the wastebasket at the end of the table. | STEP 6: Take another pencil out of the wastebasket. | STEP 7: Carry the pencil to the front of the table. | STEP 8: Put the pencil on the table, touching the back center of the other pencil, and pointing toward the wall. | END


Input: get the pencil from the trash can then put it on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.75, 0, 0, 0,  [SEP] 1, Mug, -1.066, 0.801, -4.246, 0, 0, 0, 40 [SEP] 2, CD, -1.831, 0.063, -3.929, 0, 279.990, 0, 29 [SEP] 3, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 40 [SEP] 4, CellPhone, -0.453, 0.803, -4.029, 0, 0, 0, 40 [SEP] 5, Pen, -3.834, 0.986, -3.673, 0, 0, 0, 43 [SEP] 6, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 29 [SEP] 7, Book, -1.270, 0.804, -4.246, 0, 0, 0, 40 [SEP] 8, Laptop, -2.770, 0.618, -1.506, 0, 0, 0, 25 [SEP] 9, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 25 [SEP] 10, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 43 [SEP] 12, Book, -0.249, 0.804, -4.029, 0, 0, 0, 40 [SEP] 13, CellPhone, -3.638, 0.225, -3.278, 0, 0, 0, 45 [SEP] 14, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 43 [SEP] 15, CreditCard, -0.862, 0.803, -3.920, 0, 0, 0, 40 [SEP] 16, AlarmClock, -3.539, 0.979, -3.874, 0, 0, 0, 43 [SEP] 17, KeyChain, -1.066, 0.800, -3.703, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -0.685, 0.546, -3.731, 0, 0, 0, 34 [SEP] 21, Pillow, -2.770, 0.722, -0.931, 0, 0, 0, 25 [SEP] 22, CD, -0.507, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -3.613, 0.986, -3.673, 0, 0, 0, 43 [SEP] 24, Mug, -0.862, 0.801, -4.029, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: walk over to the trash can under the table | STEP 2: take the pencil out of the trash can | STEP 3: take the pencil to the dresser | STEP 4: set the pencil on the dresser | END


Input: Put the pan with knife 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, 0.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, -0.053, 1.654, 1.394, 0, 0, 0, 70 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 3, Spoon, 1.155, 0.912, 1.214, 0, 0, 0, 79 [SEP] 4, Spoon, -0.694, 0.822, -1.308, 0, 90, 0, 103 [SEP] 5, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 44 [SEP] 6, Fork, 1.831, 0.771, 1.198, 0, 270, 0, 77 [SEP] 7, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 79 [SEP] 8, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 79 [SEP] 9, Cup, 2.838, 1.016, -0.512, 0, 0, 0, 99 [SEP] 10, Cup, -1.056, 0.818, -1.155, 0, 90, 0, 103 [SEP] 11, Egg, 2.591, 0.762, -0.535, 0, 0, 0, 99 [SEP] 12, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 44 [SEP] 13, SoapBottle, 1.488, 0.120, 1.193, 0, 0, 0, 73 [SEP] 14, Bowl, 2.173, 1.653, -0.762, 0, 180, 0, 65 [SEP] 15, Bowl, 2.838, 1.561, -0.775, 0, 0, 0, 99 [SEP] 16, SaltShaker, 0.337, 2.153, 1.467, 0, 0, 0, 78 [SEP] 17, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 79 [SEP] 18, PepperShaker, 1.902, 0.908, -0.430, 0, 0, 0, 44 [SEP] 19, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 55 [SEP] 20, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 79 [SEP] 21, SoapBottle, -1.056, 0.826, -1.360, 0, 90, 0, 103 [SEP] 22, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 79 [SEP] 23, Fork, 2.930, 0.771, 1.122, 0, 90, 0, 88 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 0.518, 1.822, 1.455, 0, 180, 0, 102 [SEP] 27, Kettle, 1.522, 0.116, -0.458, 0, 180, 0, 52 [SEP] 28, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 97 [SEP] 29, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 102 [SEP] 30, Spatula, -0.911, 0.835, -1.411, 0, 180, 0, 103 [SEP] 31, Apple, -0.103, 0.980, 1.553, 0, 0, 0, 55 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 99 [SEP] 34, SaltShaker, -0.621, 0.817, -1.206, 0, 90, 0, 103 [SEP] 35, Knife, -0.785, 0.853, -1.473, 0, 0, 0, 103 [SEP] 36, Potato, -0.785, 0.855, -1.255, 0, 0, 0, 103 [SEP] 37, PepperShaker, 0.581, 1.650, -0.658, 0, 180, 0, 83 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 1.917, 1.653, 1.507, 0, 0, 0, 56 [SEP] 40, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 79 [SEP] 41, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 103 [SEP] 42, Mug, 1.097, 1.649, -0.849, 0, 180, 0, 46 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife  | STEP 6: Turn left then head to the sink | STEP 7: Put the pan with knife in the sink | END


Input: place a pan with a knife on 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, 0.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, -0.053, 1.654, 1.394, 0, 0, 0, 70 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 3, Spoon, 1.155, 0.912, 1.214, 0, 0, 0, 79 [SEP] 4, Spoon, -0.694, 0.822, -1.308, 0, 90, 0, 103 [SEP] 5, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 44 [SEP] 6, Fork, 1.831, 0.771, 1.198, 0, 270, 0, 77 [SEP] 7, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 79 [SEP] 8, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 79 [SEP] 9, Cup, 2.838, 1.016, -0.512, 0, 0, 0, 99 [SEP] 10, Cup, -1.056, 0.818, -1.155, 0, 90, 0, 103 [SEP] 11, Egg, 2.591, 0.762, -0.535, 0, 0, 0, 99 [SEP] 12, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 44 [SEP] 13, SoapBottle, 1.488, 0.120, 1.193, 0, 0, 0, 73 [SEP] 14, Bowl, 2.173, 1.653, -0.762, 0, 180, 0, 65 [SEP] 15, Bowl, 2.838, 1.561, -0.775, 0, 0, 0, 99 [SEP] 16, SaltShaker, 0.337, 2.153, 1.467, 0, 0, 0, 78 [SEP] 17, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 79 [SEP] 18, PepperShaker, 1.902, 0.908, -0.430, 0, 0, 0, 44 [SEP] 19, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 55 [SEP] 20, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 79 [SEP] 21, SoapBottle, -1.056, 0.826, -1.360, 0, 90, 0, 103 [SEP] 22, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 79 [SEP] 23, Fork, 2.930, 0.771, 1.122, 0, 90, 0, 88 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 0.518, 1.822, 1.455, 0, 180, 0, 102 [SEP] 27, Kettle, 1.522, 0.116, -0.458, 0, 180, 0, 52 [SEP] 28, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 97 [SEP] 29, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 102 [SEP] 30, Spatula, -0.911, 0.835, -1.411, 0, 180, 0, 103 [SEP] 31, Apple, -0.103, 0.980, 1.553, 0, 0, 0, 55 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 99 [SEP] 34, SaltShaker, -0.621, 0.817, -1.206, 0, 90, 0, 103 [SEP] 35, Knife, -0.785, 0.853, -1.473, 0, 0, 0, 103 [SEP] 36, Potato, -0.785, 0.855, -1.255, 0, 0, 0, 103 [SEP] 37, PepperShaker, 0.581, 1.650, -0.658, 0, 180, 0, 83 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 1.917, 1.653, 1.507, 0, 0, 0, 56 [SEP] 40, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 79 [SEP] 41, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 103 [SEP] 42, Mug, 1.097, 1.649, -0.849, 0, 180, 0, 46 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn left and head to the gas | STEP 4: drop the knife on the pan on the gas | STEP 5: pick up the pan from the gas | STEP 6: turn around and head to the sink | STEP 7: place the pan in the sink | END


Input: Microwave a tomato, place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, -0.25, 0, 180, 0,  [SEP] 1, Potato, -0.260, 1.100, -1.720, 0, 0, 0, 47 [SEP] 2, Potato, -1.423, 1.766, 2.063, 0, 90, 0, 62 [SEP] 3, DishSponge, 1.512, 1.019, -1.630, 0, 0, 0, 53 [SEP] 4, DishSponge, 1.854, 0.122, 2.386, 0, 270, 0, 63 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 47 [SEP] 6, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 46 [SEP] 7, Pot, -1.261, 2.029, -1.555, 0, 270, 0, 54 [SEP] 8, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 47 [SEP] 9, Fork, -0.517, 1.047, -1.397, 0, 0, 0, 47 [SEP] 10, Spoon, -0.689, 1.048, -1.181, 0, 0, 0, 47 [SEP] 11, Egg, -1.250, 2.002, 2.242, 0, 90, 0, 62 [SEP] 12, Tomato, -1.366, 1.279, 2.153, 0, 90, 0, 62 [SEP] 13, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 62 [SEP] 14, Bowl, -1.095, 0.962, 2.242, 0, 90, 0, 62 [SEP] 15, SaltShaker, -0.398, 1.560, -1.693, 0, 0, 0, 52 [SEP] 16, SaltShaker, -0.030, 1.038, 0.630, 0, 0, 0, 49 [SEP] 17, PepperShaker, -1.416, 2.023, -1.264, 0, 0, 0, 54 [SEP] 18, Mug, -1.126, 0.959, 1.885, 0, 90, 0, 62 [SEP] 19, Mug, -1.261, 2.023, -1.337, 0, 0, 0, 54 [SEP] 20, Apple, -1.145, 1.759, -1.300, 0, 0, 0, 61 [SEP] 21, SoapBottle, -0.312, 0.204, -1.625, 0, 0, 0, 56 [SEP] 22, Apple, 0.980, 1.097, 0.080, 0, 90, 0, 45 [SEP] 23, Potato, -1.264, 1.542, 2.153, 0, 90, 0, 62 [SEP] 24, Fork, 1.072, 1.047, -1.181, 0, 0, 0, 47 [SEP] 25, Kettle, 0.960, 1.566, -1.463, 0, 0, 0, 51 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, 0.848, 1.105, 0.331, 0, 90, 0, 45 [SEP] 28, SaltShaker, 1.347, 1.038, 0.763, 0, 0, 0, 49 [SEP] 29, Egg, 1.015, 1.097, 0.763, 0, 0, 0, 49 [SEP] 30, Cup, -1.312, 1.713, 1.885, 0, 90, 0, 62 [SEP] 31, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 47 [SEP] 32, Knife, 0.805, 1.079, 0.281, 0, 270, 0, 45 [SEP] 33, Lettuce, 1.181, 1.103, 0.720, 0, 0, 0, 49 [SEP] 34, ButterKnife, -0.689, 1.046, -1.289, 0, 0, 0, 47 [SEP] 35, PepperShaker, -0.949, 0.197, -1.482, 0, 0, 0, 55 [SEP] 36, DishSponge, 0.801, 0.199, -1.484, 0, 0, 0, 58 [SEP] 37, Plate, 1.820, 1.032, -1.264, 0, 0, 0, 53 [SEP] 38, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 41, Mug, -1.047, 1.711, -1.300, 0, 90, 0, 61 [SEP] 42, Bowl, 1.589, 1.018, -1.337, 0, 0, 0, 53 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left, then walk to the wall and turn left again to face the oven. | STEP 4: Place the tomato in the microwave, turn it on, then take it out when it's done. | STEP 5: Turn left and face the counter on the right. | STEP 6: Place the tomato on the counter. | END


Input: Put the heated glass up in the third cabinet.  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, 2.715, 1.323, -0.840, 0, 0, 0, 96 [SEP] 2, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 96 [SEP] 3, ButterKnife, -0.983, 0.820, -1.257, 0, 90, 0, 100 [SEP] 4, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 41 [SEP] 5, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 98 [SEP] 6, Spatula, 0.054, 0.926, -0.302, 0, 180, 0, 41 [SEP] 7, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 98 [SEP] 8, Cup, 0.193, 0.763, -0.762, 0, 0, 0, 98 [SEP] 9, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 98 [SEP] 10, Egg, 2.653, 0.764, -0.473, 0, 0, 0, 96 [SEP] 11, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 76 [SEP] 12, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 13, SaltShaker, 1.281, 1.650, -0.811, 0, 180, 0, 63 [SEP] 14, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 100 [SEP] 15, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 76 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 17, Mug, 1.155, 0.906, 1.553, 0, 0, 0, 76 [SEP] 18, SoapBottle, 1.254, 1.661, 1.390, 0, 0, 0, 68 [SEP] 19, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 75 [SEP] 20, Fork, 1.208, 0.772, -0.498, 0, 90, 0, 60 [SEP] 21, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 56 [SEP] 22, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 41 [SEP] 23, Egg, 2.221, 0.949, 1.299, 0, 0, 0, 76 [SEP] 24, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 25, Tomato, 2.488, 0.942, 1.468, 0, 0, 0, 76 [SEP] 26, Cup, 2.838, 0.723, -0.535, 0, 0, 0, 96 [SEP] 27, Spatula, -0.839, 0.835, -1.155, 0, 180, 0, 100 [SEP] 28, Apple, 3.260, 0.909, -0.514, 0, 0, 0, 96 [SEP] 29, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 52 [SEP] 31, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 100 [SEP] 32, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 100 [SEP] 33, Potato, 2.653, 1.053, -0.578, 0, 0, 0, 96 [SEP] 34, PepperShaker, 1.767, 1.651, 1.585, 0, 0, 0, 53 [SEP] 35, ButterKnife, 1.955, 0.911, 1.214, 0, 0, 0, 76 [SEP] 36, Bowl, 1.487, 1.652, 1.432, 0, 0, 0, 64 [SEP] 37, DishSponge, -1.991, 0.423, 1.375, 0, 270, 0, 94 [SEP] 38, Spoon, -0.621, 0.822, -1.206, 0, 270, 0, 100 [SEP] 39, Mug, 1.525, 0.109, 1.119, 0, 0, 0, 70 [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: Move to the sink.  | STEP 2: Pick up the glass in the left of the sink.  | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave for a few seconds.  | STEP 5: Bring the glass back towards the sink.  | STEP 6: Open the third cabinet up on the left and put the glass in there.  | END


Input: Put a cleaned 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, 2.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Potato, -0.198, 0.946, 1.468, 0, 0, 0, 56 [SEP] 2, Potato, 2.653, 1.323, -0.644, 0, 0, 0, 100 [SEP] 3, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 104 [SEP] 4, Kettle, 2.513, 0.116, 1.117, 0, 0, 0, 49 [SEP] 5, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 80 [SEP] 6, ButterKnife, 2.156, 0.911, -0.430, 0, 0, 0, 45 [SEP] 7, Spoon, 1.155, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 102 [SEP] 9, Fork, -0.983, 0.821, -1.308, 0, 90, 0, 104 [SEP] 10, Fork, -0.227, 0.771, 1.198, 0, 270, 0, 50 [SEP] 11, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 80 [SEP] 12, Cup, 1.955, 0.909, 1.553, 0, 0, 0, 80 [SEP] 13, Egg, -0.983, 0.858, -1.411, 0, 90, 0, 104 [SEP] 14, Egg, -0.682, 0.858, -1.255, 0, 0, 0, 104 [SEP] 15, SoapBottle, 2.837, 0.120, 1.156, 0, 0, 0, 77 [SEP] 16, SoapBottle, 0.888, 0.917, -0.430, 0, 0, 0, 45 [SEP] 17, Tomato, 0.634, 0.942, -0.6, 0, 0, 0, 45 [SEP] 18, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 80 [SEP] 19, SaltShaker, 0.548, 1.650, -0.849, 0, 180, 0, 84 [SEP] 20, Mug, 0.466, 1.779, 1.455, 0, 180, 0, 103 [SEP] 21, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 104 [SEP] 22, SoapBottle, 2.156, 0.917, -0.854, 0, 0, 0, 45 [SEP] 23, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 72 [SEP] 24, Fork, 1.457, 0.772, -0.498, 0, 90, 0, 75 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 80 [SEP] 27, Egg, -1.933, 0.461, 1.417, 0, 270, 0, 98 [SEP] 28, Kettle, 2.488, 0.912, 1.129, 0, 0, 0, 80 [SEP] 29, Tomato, -0.151, 0.942, 1.214, 0, 0, 0, 56 [SEP] 30, Cup, -0.246, 0.909, 1.044, 0, 0, 0, 56 [SEP] 31, Spatula, -0.055, 0.926, 1.299, 0, 90, 0, 56 [SEP] 32, Apple, 2.777, 1.632, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 34, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 100 [SEP] 35, SaltShaker, -0.766, 0.817, -1.206, 0, 90, 0, 104 [SEP] 36, Knife, -0.785, 0.853, -1.183, 0, 0, 0, 104 [SEP] 37, Potato, 2.715, 1.598, -0.512, 0, 0, 0, 100 [SEP] 38, PepperShaker, 1.634, 1.650, 1.546, 0, 0, 0, 68 [SEP] 39, ButterKnife, 1.155, 0.911, 1.129, 0, 0, 0, 80 [SEP] 40, Bowl, 2.804, 1.652, 1.470, 0, 0, 0, 46 [SEP] 41, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 42, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 102 [SEP] 43, Mug, 2.754, 0.906, 1.044, 0, 0, 0, 80 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn left, go to the window, turn left, go to the small round table. | STEP 2: Pick up the knife on the table.  | STEP 3: Turn around, go to the sink. | STEP 4: Wash the knife in the sink with water.  | STEP 5: Bring the cleaned knife back to the table on the right. | STEP 6: Put the knife on the table. | END


Input: Look at a watch under 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, -0.75, 0.901, 6.75, 0, 0, 0,  [SEP] 1, Bowl, -5.592, 0.535, 6.647, 0, 45, 0, 58 [SEP] 2, Newspaper, -3.557, 1.278, 7.171, 0, 90, 0, 56 [SEP] 3, Newspaper, -2.283, 0.532, 3.752, 0, 270, 0, 57 [SEP] 4, Watch, -0.738, 0.793, 2.377, 0, 270, 0, 42 [SEP] 5, KeyChain, -2.172, 0.534, 4.169, 0, 90, 0, 57 [SEP] 6, RemoteControl, -5.745, 0.536, 6.569, 0, 135, 0, 58 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.368, 0.534, 6.871, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.431, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.845, 0.793, 2.052, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -5.885, 0.453, 3.954, 0, 0, 0, 47 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.951, 0.881, 4.349, 0, 0, 0, 50 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 40 [SEP] 24, Watch, -5.951, 0.880, 4.547, 0, 0, 0, 54 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.411, 1.289, 7.171, 0, 270, 0, 56 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the end of the couch then turn left. | STEP 2: Pick up the watch from the round table. | STEP 3: Take a side step to the right. | STEP 4: Turn the lamp on. | END


Input: Put the newspaper on the shelf.  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, 5.5, 0, 180, 0,  [SEP] 1, Bowl, -3.462, 0.881, 7.173, 0, 90, 0, 48 [SEP] 2, Bowl, -5.293, 0.535, 6.796, 0, 45, 0, 58 [SEP] 3, KeyChain, -2.385, 0.534, 4.044, 0, 0, 0, 57 [SEP] 4, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 5, CreditCard, -0.738, 0.793, 2.252, 0, 270, 0, 42 [SEP] 6, RemoteControl, -0.868, 0.369, 4.828, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.352, 0.534, 4.189, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.431, 3.915, 0, 0, 0, 40 [SEP] 12, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -3.067, 0.453, 7.145, 0, 90, 0, 49 [SEP] 15, CreditCard, -5.899, 0.146, 4.942, 0, 0, 0, 47 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.367, 3.915, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.985, 0.881, 4.745, 0, 0, 0, 50 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.535, 0.796, 6.357, 0, 270, 0, 41 [SEP] 24, Watch, -2.700, 0.533, 4.480, 0, 270, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -2.598, 0.535, 4.169, 0, 180, 0, 57 [SEP] 27, Statue, -5.573, 0.543, 6.516, 0, 45, 0, 58 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Turn to your left and go to the couch, then turn right, between the coffee table and the couch, and turn to your right at the center of the couch. | STEP 2: Pick up the newspaper between the pillow and the laptop, on the couch.  | STEP 3: Turn to your left and go past the coffee table, then go to the wooden shelf across the room.  | STEP 4: Place the newspaper on the bottom shelf.  | END


Input: Move a newspaper to a shelf 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, 5.5, 0, 180, 0,  [SEP] 1, Bowl, -3.462, 0.881, 7.173, 0, 90, 0, 48 [SEP] 2, Bowl, -5.293, 0.535, 6.796, 0, 45, 0, 58 [SEP] 3, KeyChain, -2.385, 0.534, 4.044, 0, 0, 0, 57 [SEP] 4, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 5, CreditCard, -0.738, 0.793, 2.252, 0, 270, 0, 42 [SEP] 6, RemoteControl, -0.868, 0.369, 4.828, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.352, 0.534, 4.189, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.431, 3.915, 0, 0, 0, 40 [SEP] 12, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -3.067, 0.453, 7.145, 0, 90, 0, 49 [SEP] 15, CreditCard, -5.899, 0.146, 4.942, 0, 0, 0, 47 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.367, 3.915, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.985, 0.881, 4.745, 0, 0, 0, 50 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.535, 0.796, 6.357, 0, 270, 0, 41 [SEP] 24, Watch, -2.700, 0.533, 4.480, 0, 270, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -2.598, 0.535, 4.169, 0, 180, 0, 57 [SEP] 27, Statue, -5.573, 0.543, 6.516, 0, 45, 0, 58 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Go to the sofa | STEP 2: Pick up a newspaper from the sofa | STEP 3: Go to the shelves | STEP 4: Put the newspaper on a shelf | END


Input: Place a remote on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Newspaper, -0.711, 0.292, -1.844, 0, 0, 0, 31 [SEP] 2, CreditCard, -0.411, 0.551, -0.106, 0, 270, 0, 29 [SEP] 3, RemoteControl, -0.922, 0.326, -1.990, 0, 0, 0, 31 [SEP] 4, RemoteControl, -0.711, 0.334, -1.771, 0, 0, 0, 31 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.5, 0.295, -1.844, 0, 0, 0, 31 [SEP] 7, Watch, 1.807, 0.871, 0.326, 0, 90, 0, 35 [SEP] 8, Newspaper, -0.260, 0.550, -0.365, 0, 270, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.970, 0.198, -0.544, 0, 90, 0, 30 [SEP] 11, RemoteControl, -0.711, 0.040, -0.185, 0, 270, 0, 25 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the end of the couch. | STEP 2: Pick up the leftmost remote. | STEP 3: Turn left and walk to the chair. | STEP 4: Put the remote on the chair near the front left corner. | END


Input: Place a remote on top of the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Newspaper, -0.711, 0.292, -1.844, 0, 0, 0, 31 [SEP] 2, CreditCard, -0.411, 0.551, -0.106, 0, 270, 0, 29 [SEP] 3, RemoteControl, -0.922, 0.326, -1.990, 0, 0, 0, 31 [SEP] 4, RemoteControl, -0.711, 0.334, -1.771, 0, 0, 0, 31 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.5, 0.295, -1.844, 0, 0, 0, 31 [SEP] 7, Watch, 1.807, 0.871, 0.326, 0, 90, 0, 35 [SEP] 8, Newspaper, -0.260, 0.550, -0.365, 0, 270, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.970, 0.198, -0.544, 0, 90, 0, 30 [SEP] 11, RemoteControl, -0.711, 0.040, -0.185, 0, 270, 0, 25 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Move to the right side of the large brown sofa | STEP 2: Pick up the remote on top of the sofa to the left of the other remote | STEP 3: Turn and move to the small brown chair right of the box | STEP 4: Place the remote on top of the small brown chair | END


Input: Move a book to a dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.949, 1.0, 0, 90, 0,  [SEP] 1, CD, 1.666, 0.984, -1.950, 0, 270, 0, 41 [SEP] 2, CellPhone, 1.666, 0.985, -1.687, 0, 270, 0, 41 [SEP] 3, CellPhone, 3.377, 0.723, 1.307, 0, 180, 0, 66 [SEP] 4, Pen, 2.519, 0.993, -2.125, 0, 270, 0, 41 [SEP] 5, Pencil, -0.253, 0.788, 3.143, 0, 180, 0, 48 [SEP] 6, Pencil, 1.382, 0.989, -1.774, 0, 270, 0, 41 [SEP] 7, CreditCard, 3.087, 0.985, -2.212, 0, 270, 0, 41 [SEP] 8, KeyChain, 3.222, 0.725, 1.488, 0, 180, 0, 66 [SEP] 9, KeyChain, 2.596, 0.887, -1.726, 0, 90, 0, 41 [SEP] 10, Book, -0.904, 0.785, -0.128, 0, 0, 0, 62 [SEP] 11, AlarmClock, -0.772, 0.785, 0.081, 0, 0, 0, 62 [SEP] 12, AlarmClock, 2.519, 0.986, -1.949, 0, 270, 0, 41 [SEP] 13, Book, 1.723, 0.610, 0.790, 0, 0, 0, 26 [SEP] 14, KeyChain, -0.776, 0.586, 0.436, 0, 0, 0, 56 [SEP] 15, CreditCard, -0.069, 1.107, 3.198, 0, 180, 0, 49 [SEP] 16, Pen, 2.519, 0.990, -1.774, 0, 270, 0, 41 [SEP] 17, Pencil, -0.068, 0.788, 3.115, 0, 180, 0, 48 [SEP] 18, Laptop, 1.950, 0.986, -1.950, 0, 270, 0, 41 [SEP] 19, Vase, 1.454, 0.185, -1.950, 0, 270, 0, 38 [SEP] 20, AlarmClock, -1.037, 0.785, -0.548, 0, 0, 0, 62 [SEP] 21, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 26 [SEP] 22, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 26 [SEP] 23, CellPhone, 1.382, 0.985, -2.037, 0, 270, 0, 41 [SEP] 24, CD, 0.116, 0.783, 3.143, 0, 180, 0, 48 [SEP] 25, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 48 [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 the bed | STEP 2: Pick up a book from the bed | STEP 3: Go to the dresser | STEP 4: Place the book in the dresser | END


Input: move newspaper from couch to shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 5.5, 0, 270, 0,  [SEP] 1, Bowl, -3.462, 0.148, 7.070, 0, 90, 0, 53 [SEP] 2, Bowl, -5.899, 0.148, 4.349, 0, 0, 0, 49 [SEP] 3, Newspaper, -2.283, 0.532, 3.752, 0, 270, 0, 59 [SEP] 4, Newspaper, -0.947, 0.440, 3.915, 0, 0, 0, 42 [SEP] 5, KeyChain, -0.710, 0.367, 3.915, 0, 0, 0, 42 [SEP] 6, KeyChain, -0.738, 0.794, 5.726, 0, 270, 0, 43 [SEP] 7, RemoteControl, -6.036, 0.455, 4.745, 0, 0, 0, 54 [SEP] 8, Laptop, -0.868, 0.437, 3.002, 0, 0, 0, 42 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.586, 0.794, 5.726, 0, 270, 0, 43 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 42 [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, -5.909, 0.871, 4.924, 0, 0, 0, 52 [SEP] 17, CreditCard, -5.950, 0.146, 4.745, 0, 0, 0, 49 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.710, 0.416, 4.219, 0, 180, 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, -5.592, 0.535, 6.647, 0, 45, 0, 60 [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, -0.868, 0.369, 3.306, 0, 0, 0, 42 [SEP] 26, Watch, -3.067, 0.146, 7.070, 0, 90, 0, 53 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.349, 0.535, 6.740, 0, 45, 0, 60 [SEP] 29, Statue, -2.411, 1.289, 7.235, 0, 270, 0, 58 [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 around, walk forward one step, turn right, walk to the end of the couch, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn right, take a step, turn right, walk past coffee table, turn right, turn left, walk to shelves | STEP 4: put newspaper on the bottom shelf | END


Input: Place two laptop computers on a bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -0.75, 0, 270, 0,  [SEP] 1, Mug, -3.466, 0.979, -3.271, 0, 0, 0, 40 [SEP] 2, Mug, -0.685, 0.541, -3.694, 0, 0, 0, 31 [SEP] 3, CellPhone, -3.466, 0.979, -4.075, 0, 0, 0, 40 [SEP] 4, Pen, -3.694, 0.424, -4.070, 0, 0, 0, 43 [SEP] 5, Pencil, -0.657, 0.807, -4.246, 0, 0, 0, 37 [SEP] 6, KeyChain, -0.657, 0.800, -4.137, 0, 0, 0, 37 [SEP] 7, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 37 [SEP] 8, AlarmClock, -3.539, 0.979, -3.874, 0, 0, 0, 40 [SEP] 9, Book, -3.539, 0.981, -3.472, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.580, 0.809, -3.465, 0, 0, 0, 47 [SEP] 11, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 37 [SEP] 12, CreditCard, -3.806, 0.225, -3.371, 0, 0, 0, 42 [SEP] 13, AlarmClock, -0.507, 0.542, -3.713, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.453, 0.800, -4.354, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -3.834, 0.984, -3.472, 0, 0, 0, 40 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -3.582, 0.614, -4.348, 0, 0, 0, 46 [SEP] 20, Pen, -3.539, 0.986, -3.070, 0, 0, 0, 40 [SEP] 21, Mug, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right. | STEP 4: Put the laptop on the middle of the end of the bed. | STEP 5: Turn right and walk to the white table on the right. | STEP 6: Close the lid of the laptop computer and pick it up. | STEP 7: Turn right and walk to the end of the bed on the right. | STEP 8: Put the laptop to the left of the other laptop on the bed. | END


Input: Pick up the keys and put them down on the brown chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Watch, -0.323, 0.040, -0.217, 0, 270, 0, Floor|+00.00| [SEP] 2, Watch, -0.323, 0.358, -0.512, 0, 90, 0, 29 [SEP] 3, CreditCard, -0.260, 0.551, -0.623, 0, 270, 0, 30 [SEP] 4, RemoteControl, -0.561, 0.553, -0.192, 0, 270, 0, 30 [SEP] 5, RemoteControl, -1.163, 0.553, -0.623, 0, 270, 0, 30 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.808, 0.871, 0.008, 0, 90, 0, 36 [SEP] 8, Watch, 1.807, 0.870, 0.643, 0, 90, 0, 36 [SEP] 9, Newspaper, 1.724, 0.868, 0.220, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.561, 0.551, -0.106, 0, 270, 0, 30 [SEP] 12, RemoteControl, 1.364, 0.279, -0.665, 0, 0, 0, 38 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.260, 0.562, -0.537, 0, 0, 0, 30 [SEP] 15, Statue, 1.682, 0.880, 0.325, 0, 90, 0, 36 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the wooden desk in the corner. | STEP 2: Pick up the keys on the wooden desk. | STEP 3: Walk to the brown chair to the right of the desk. | STEP 4: Put the keys down on the brown chair. | END


Input: Putting a clean fork on the round table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 180, 0,  [SEP] 1, DishSponge, 2.868, 0.771, 1.236, 0, 0, 0, 92 [SEP] 2, DishSponge, -0.201, 1.654, 1.546, 0, 0, 0, 74 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 4, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 105 [SEP] 5, Spoon, 2.543, 0.773, 1.122, 0, 0, 0, 64 [SEP] 6, Fork, 1.955, 0.912, 1.129, 0, 0, 0, 83 [SEP] 7, Fork, -0.734, 0.821, -1.400, 0, 90, 0, 107 [SEP] 8, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 105 [SEP] 9, Spatula, -0.983, 0.835, -1.360, 0, 180, 0, 107 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 11, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 103 [SEP] 12, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 107 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 105 [SEP] 14, SoapBottle, 0.888, 0.917, -0.345, 0, 0, 0, 48 [SEP] 15, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 107 [SEP] 16, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 83 [SEP] 17, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 103 [SEP] 18, Bowl, 1.917, 1.653, 1.429, 0, 0, 0, 60 [SEP] 19, PepperShaker, 1.955, 0.908, 1.468, 0, 0, 0, 83 [SEP] 20, PepperShaker, -0.887, 0.817, -1.255, 0, 0, 0, 107 [SEP] 21, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 83 [SEP] 22, Lettuce, -0.151, 0.992, 1.129, 0, 0, 0, 59 [SEP] 23, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 48 [SEP] 24, Mug, 2.188, 0.109, 1.156, 0, 0, 0, 84 [SEP] 25, SoapBottle, -0.151, 0.917, 1.383, 0, 0, 0, 59 [SEP] 26, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 83 [SEP] 27, Fork, 1.456, 0.771, 1.122, 0, 90, 0, 66 [SEP] 28, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 63 [SEP] 29, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 48 [SEP] 30, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 83 [SEP] 31, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 32, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 101 [SEP] 33, Cup, 2.562, 1.653, 1.546, 0, 0, 0, 73 [SEP] 34, Spatula, -0.007, 0.926, 1.044, 0, 90, 0, 59 [SEP] 35, Apple, 2.715, 1.632, -0.775, 0, 0, 0, 103 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 83 [SEP] 38, SaltShaker, 0.634, 0.908, -0.769, 0, 0, 0, 48 [SEP] 39, Knife, -0.055, 0.944, 1.129, 0, 90, 0, 59 [SEP] 40, Potato, 2.838, 0.761, -0.473, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.939, 0.817, -1.473, 0, 0, 0, 107 [SEP] 42, ButterKnife, -0.017, 0.765, -0.707, 0, 270, 0, 105 [SEP] 43, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 83 [SEP] 44, DishSponge, 0.193, 0.765, -0.596, 0, 0, 0, 105 [SEP] 45, Spoon, -0.682, 0.822, -1.400, 0, 90, 0, 107 [SEP] 46, Mug, 2.715, 1.014, -0.644, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Go to the round table | STEP 2: Grab the fork off of the table | STEP 3: Turn around and go to the sink | STEP 4: Wash the fork in the sink and then take it out | STEP 5: Turn right and go to the round table | STEP 6: Put the fork on the table | END