Input: Place a washed piece of lettuce on the table next to the orange. 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, 90, 0,  [SEP] 1, Kettle, 0.231, 2.158, 1.467, 0, 0, 0, 76 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 4, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 101 [SEP] 5, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 42 [SEP] 6, Spatula, -0.682, 0.835, -1.328, 0, 90, 0, 101 [SEP] 7, Cup, 0.862, 1.653, -0.810, 0, 180, 0, 52 [SEP] 8, Cup, 2.838, 1.561, -0.578, 0, 0, 0, 97 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 95 [SEP] 10, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 100 [SEP] 11, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 12, SoapBottle, 2.118, 0.120, 1.193, 0, 0, 0, 78 [SEP] 13, SaltShaker, 1.896, 0.111, 1.037, 0, 0, 0, 62 [SEP] 14, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 15, PepperShaker, 1.102, 0.111, 1.117, 0, 0, 0, 71 [SEP] 16, PepperShaker, 1.488, 0.110, 1.156, 0, 0, 0, 71 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 19, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 81 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 101 [SEP] 22, Pot, 2.221, 0.915, 1.468, 0, 0, 0, 77 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 101 [SEP] 25, Kettle, 1.210, 0.115, -0.421, 0, 180, 0, 50 [SEP] 26, Tomato, 2.591, 1.594, -0.644, 0, 0, 0, 97 [SEP] 27, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 97 [SEP] 28, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 77 [SEP] 29, Apple, 2.900, 0.795, -0.535, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 53 [SEP] 32, SaltShaker, 2.156, 0.908, -0.769, 0, 0, 0, 42 [SEP] 33, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 77 [SEP] 34, Potato, 2.591, 1.323, -0.709, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.043, 0.908, -0.302, 0, 0, 0, 42 [SEP] 36, ButterKnife, -1.056, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 1.842, 1.653, 1.429, 0, 0, 0, 54 [SEP] 38, DishSponge, 0.634, 0.911, -0.769, 0, 0, 0, 42 [SEP] 39, Spoon, 1.955, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.591, 0.720, -0.565, 0, 90, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window. | STEP 8: Take a piece of lettuce | STEP 9: Turn around and go to the sink | STEP 10: Washed the piece of lettuce in the sink. | STEP 11: Turn right an go to the chair next to the window. | STEP 12: Place the piece of lettuce on the table to the right of the orange. | END


Input: To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the 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, 90, 0,  [SEP] 1, Kettle, 0.231, 2.158, 1.467, 0, 0, 0, 76 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 4, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 101 [SEP] 5, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 42 [SEP] 6, Spatula, -0.682, 0.835, -1.328, 0, 90, 0, 101 [SEP] 7, Cup, 0.862, 1.653, -0.810, 0, 180, 0, 52 [SEP] 8, Cup, 2.838, 1.561, -0.578, 0, 0, 0, 97 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 95 [SEP] 10, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 100 [SEP] 11, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 12, SoapBottle, 2.118, 0.120, 1.193, 0, 0, 0, 78 [SEP] 13, SaltShaker, 1.896, 0.111, 1.037, 0, 0, 0, 62 [SEP] 14, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 15, PepperShaker, 1.102, 0.111, 1.117, 0, 0, 0, 71 [SEP] 16, PepperShaker, 1.488, 0.110, 1.156, 0, 0, 0, 71 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 19, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 81 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 101 [SEP] 22, Pot, 2.221, 0.915, 1.468, 0, 0, 0, 77 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 101 [SEP] 25, Kettle, 1.210, 0.115, -0.421, 0, 180, 0, 50 [SEP] 26, Tomato, 2.591, 1.594, -0.644, 0, 0, 0, 97 [SEP] 27, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 97 [SEP] 28, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 77 [SEP] 29, Apple, 2.900, 0.795, -0.535, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 53 [SEP] 32, SaltShaker, 2.156, 0.908, -0.769, 0, 0, 0, 42 [SEP] 33, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 77 [SEP] 34, Potato, 2.591, 1.323, -0.709, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.043, 0.908, -0.302, 0, 0, 0, 42 [SEP] 36, ButterKnife, -1.056, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 1.842, 1.653, 1.429, 0, 0, 0, 54 [SEP] 38, DishSponge, 0.634, 0.911, -0.769, 0, 0, 0, 42 [SEP] 39, Spoon, 1.955, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.591, 0.720, -0.565, 0, 90, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table. | STEP 9: Turn around and walk around the corner to face the sink. | STEP 10: Place the slice of vegetable in the sink, wash it, then pick it back up. | STEP 11: Walk around the right side of the sink to face the kitchen table. | STEP 12: Place the slice of vegetable on the front of the kitchen table. | END


Input: Examine a grey box next to 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, -1.25, 0.909, -1.5, 0, 180, 0,  [SEP] 1, Mug, -1.474, 0.798, -3.811, 0, 0, 0, 37 [SEP] 2, CellPhone, -3.402, 0.620, -1.218, 0, 0, 0, 22 [SEP] 3, CellPhone, -3.466, 0.981, -3.874, 0, 0, 0, 40 [SEP] 4, Pencil, -3.687, 0.984, -3.874, 0, 0, 0, 40 [SEP] 5, Book, -2.981, 0.620, -0.931, 0, 0, 0, 22 [SEP] 6, Laptop, -2.770, 0.618, -2.080, 0, 0, 0, 22 [SEP] 7, AlarmClock, -3.539, 0.979, -3.673, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -3.760, 0.980, -3.472, 0, 0, 0, 40 [SEP] 10, CellPhone, -0.862, 0.803, -4.137, 0, 0, 0, 37 [SEP] 11, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 31 [SEP] 13, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 31 [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, -3.693, 0.812, -3.790, 0, 0, 0, 38 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.453, 0.799, -4.029, 0, 0, 0, 37 [SEP] 20, Pen, -3.539, 0.985, -3.673, 0, 0, 0, 40 [SEP] 21, Mug, -3.466, 0.977, -3.472, 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: Walk towards the desk and turn right towards the dresser. | STEP 2: Pick up the grey box on the dresser. | STEP 3: Turn around and walk towards the lamp on the desk. | STEP 4: Turn on the lamp. | END


Input: Put a cleaned spoon on top of a spatula on a counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.5, 0, 180, 0,  [SEP] 1, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 60 [SEP] 2, Potato, -1.103, 1.281, 2.331, 0, 90, 0, 64 [SEP] 3, Potato, -1.381, 1.542, 1.885, 0, 90, 0, 64 [SEP] 4, ButterKnife, 0.065, 1.043, 0.307, 0, 0, 0, 51 [SEP] 5, Kettle, 1.817, 0.205, -1.553, 0, 0, 0, 59 [SEP] 6, Kettle, 1.155, 1.047, -1.397, 0, 0, 0, 49 [SEP] 7, Pot, -0.398, 1.566, -1.693, 0, 90, 0, 54 [SEP] 8, Pot, 1.512, 0.206, -1.335, 0, 270, 0, 59 [SEP] 9, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 49 [SEP] 10, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 49 [SEP] 11, Egg, -1.145, 1.770, -1.238, 0, 0, 0, 63 [SEP] 12, Egg, -1.431, 1.282, 1.796, 0, 90, 0, 64 [SEP] 13, Plate, 1.015, 1.056, 0.676, 0, 0, 0, 51 [SEP] 14, SoapBottle, 1.701, 1.044, 0.738, 0, 0, 0, 51 [SEP] 15, Bowl, -1.261, 0.201, -1.265, 0, 0, 0, 57 [SEP] 16, Bowl, 1.701, 1.042, 0.091, 0, 0, 0, 51 [SEP] 17, SaltShaker, 1.435, 1.014, -1.557, 0, 0, 0, 55 [SEP] 18, SaltShaker, -1.416, 0.197, -1.338, 0, 0, 0, 57 [SEP] 19, PepperShaker, 1.238, 1.041, -1.828, 0, 90, 0, 49 [SEP] 20, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 49 [SEP] 21, Mug, 1.263, 1.560, -1.689, 0, 0, 0, 53 [SEP] 22, Apple, -1.103, 1.271, 2.153, 0, 90, 0, 64 [SEP] 23, SoapBottle, 1.968, 1.044, 0.738, 0, 0, 0, 51 [SEP] 24, Apple, -1.031, 0.750, 1.885, 0, 90, 0, 64 [SEP] 25, Potato, 0.740, 1.100, -1.289, 0, 0, 0, 49 [SEP] 26, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 49 [SEP] 27, Kettle, -0.312, 0.204, -1.409, 0, 0, 0, 58 [SEP] 28, Pan, -1.339, 2.027, -1.337, 0, 270, 0, 56 [SEP] 29, Tomato, -0.775, 1.097, -1.828, 0, 0, 0, 49 [SEP] 30, SaltShaker, -1.105, 0.197, -1.193, 0, 0, 0, 57 [SEP] 31, Egg, 0.682, 1.097, 0.720, 0, 0, 0, 51 [SEP] 32, Cup, -1.106, 2.028, -1.482, 0, 0, 0, 56 [SEP] 33, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 49 [SEP] 34, Knife, 0.100, 1.072, -1.118, 0, 180, 0, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, -0.401, 0.198, -1.625, 0, 0, 0, 58 [SEP] 38, DishSponge, -0.260, 1.046, -1.612, 0, 0, 0, 49 [SEP] 39, Plate, 1.036, 1.577, -1.614, 0, 0, 0, 53 [SEP] 40, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 0.446, 1.044, 0.738, 0, 0, 0, 51 [SEP] 42, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 52 [SEP] 43, Mug, 1.347, 1.038, 0.632, 0, 0, 0, 51 [SEP] 44, Bowl, -1.235, 1.227, 1.974, 0, 90, 0, 64 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the right to the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn left, walk to the end of the counter, then turn left towards the bread on the other counter. | STEP 6: Put the spoon on that counter, on top of the spatula that is touching the bread. | END


Input: Grab the grey bowl on the corner table, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 2.75, 0, 270, 0,  [SEP] 1, Newspaper, -5.592, 0.532, 6.647, 0, 45, 0, 61 [SEP] 2, Watch, -0.738, 0.793, 1.751, 0, 270, 0, 45 [SEP] 3, Watch, -2.598, 0.533, 3.856, 0, 0, 0, 60 [SEP] 4, KeyChain, -0.738, 0.794, 1.626, 0, 270, 0, 45 [SEP] 5, KeyChain, -3.462, 0.147, 7.276, 0, 90, 0, 54 [SEP] 6, CreditCard, -0.947, 0.441, 3.306, 0, 0, 0, 43 [SEP] 7, CreditCard, -2.492, 0.533, 3.607, 0, 270, 0, 60 [SEP] 8, RemoteControl, -5.998, 0.455, 4.745, 0, 0, 0, 55 [SEP] 9, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 43 [SEP] 10, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 54 [SEP] 11, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 59 [SEP] 12, Vase, -0.326, 0.794, 5.877, 0, 0, 0, 44 [SEP] 13, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 55 [SEP] 14, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 43 [SEP] 15, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 60 [SEP] 16, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 17, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 53 [SEP] 18, CreditCard, -6.036, 0.452, 4.942, 0, 0, 0, 50 [SEP] 19, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 57 [SEP] 20, KeyChain, -5.237, 0.534, 6.852, 0, 45, 0, 61 [SEP] 21, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 55 [SEP] 22, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 55 [SEP] 23, Bowl, -0.535, 0.795, 5.600, 0, 270, 0, 44 [SEP] 24, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 43 [SEP] 25, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 57 [SEP] 26, RemoteControl, -0.789, 0.369, 3.306, 0, 0, 0, 43 [SEP] 27, Watch, -2.474, 0.146, 7.070, 0, 90, 0, 54 [SEP] 28, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 59 [SEP] 29, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 57 [SEP] 30, Statue, -3.328, 1.289, 7.235, 0, 270, 0, 59 [SEP] 31, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 59 [SEP] 32, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 33, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 34, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 35, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 36, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 37, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 38, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 39, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 40, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 41, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 42, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 43, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 44, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 45, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 46, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 47, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 48, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 49, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 50, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 51, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 54, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 56, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 57, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 58, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 59, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 60, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 61, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,

Output: STEP 1: Turn right walk to the shelf, turn right walk to the corner table | STEP 2: Grab the grey bowl on the table | STEP 3: Turn left and walk until corner table is at the center of the view | STEP 4: Turn on the lamp on the table | END


Input: Rinse the washcloth in the sink and put it back in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.903, 0.5, 0, 90, 0,  [SEP] 1, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 30 [SEP] 2, Cloth, -1.308, 1.777, 2.127, 0, 0, 0, 29 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 30 [SEP] 4, SoapBar, 0.206, 0.043, 0.384, 0, 0, 0, 30 [SEP] 5, Candle, -0.817, 1.814, 2.217, 0, 0, 0, 31 [SEP] 6, SprayBottle, -2.080, 1.048, -0.766, 0, 180, 0, 36 [SEP] 7, SoapBottle, -0.653, 0.291, 2.187, 0, 0, 0, 27 [SEP] 8, SoapBottle, -1.471, 1.072, 2.127, 0, 0, 0, 31 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 10, Candle, -2.212, 1.088, -0.674, 0, 0, 0, 36 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, 0.453, 0.043, 0.611, 0, 0, 0, 30 [SEP] 14, ToiletPaper, -2.343, 1.043, -0.736, 0, 0, 0, 36 [SEP] 15, SoapBottle, -2.015, 1.049, -0.705, 0, 0, 0, 36 [SEP] 16, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 31 [SEP] 17, Cloth, -1.144, 1.074, 2.157, 0, 0, 0, 31 [SEP] 18, ToiletPaper, -0.319, 0.606, 0.636, 0, 0, 0, 23 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.687, 0.082, -0.690, 0, 270, 0, 34 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Walk to the tub. | STEP 2: Take the washcloth out of the tub. | STEP 3: Turn right and go to the sink. | STEP 4: Put the washcloth in the sink, wash it and pick it back up. | STEP 5: Go back to the tub. | STEP 6: Put the washcloth back in the tub. | END


Input: Put a slice of chilled potato inside the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 2, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 83 [SEP] 3, Potato, -0.911, 0.855, -1.206, 0, 90, 0, 107 [SEP] 4, Potato, -0.157, 0.800, -0.707, 0, 90, 0, 105 [SEP] 5, DishSponge, 1.688, 0.911, 1.468, 0, 0, 0, 83 [SEP] 6, DishSponge, 2.754, 0.911, 1.299, 0, 0, 0, 83 [SEP] 7, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 48 [SEP] 8, Pot, 1.422, 0.915, 1.129, 0, 0, 0, 83 [SEP] 9, Spoon, 1.955, 0.912, 1.299, 0, 270, 0, 83 [SEP] 10, Spoon, 2.418, 0.773, 1.160, 0, 90, 0, 64 [SEP] 11, Fork, 1.141, 0.912, -0.684, 0, 90, 0, 48 [SEP] 12, Fork, -0.055, 0.912, 1.299, 0, 90, 0, 59 [SEP] 13, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 48 [SEP] 14, Egg, -2.048, 0.461, 1.332, 0, 270, 0, 101 [SEP] 15, Egg, -0.198, 0.949, 1.044, 0, 0, 0, 59 [SEP] 16, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 107 [SEP] 17, SoapBottle, -1.056, 0.826, -1.257, 0, 90, 0, 107 [SEP] 18, Bowl, 1.955, 0.909, 1.468, 0, 0, 0, 83 [SEP] 19, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 83 [SEP] 20, Lettuce, 2.488, 0.992, 1.129, 0, 0, 0, 83 [SEP] 21, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 103 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 48 [SEP] 23, Apple, 2.221, 0.980, 1.468, 0, 0, 0, 83 [SEP] 24, Apple, 2.715, 0.794, -0.473, 0, 0, 0, 103 [SEP] 25, SoapBottle, 0.548, 1.660, -0.849, 0, 180, 0, 87 [SEP] 26, Plate, 2.838, 1.566, -0.644, 0, 0, 0, 103 [SEP] 27, Fork, -0.682, 0.821, -1.328, 0, 90, 0, 107 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 48 [SEP] 30, Egg, 2.838, 0.762, -0.442, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, 2.777, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 2.156, 0.909, -0.345, 0, 0, 0, 48 [SEP] 34, Spatula, 1.155, 0.926, 1.214, 0, 0, 0, 83 [SEP] 35, Apple, 2.715, 1.087, -0.709, 0, 0, 0, 103 [SEP] 36, Pan, 2.488, 0.911, 1.383, 0, 90, 0, 83 [SEP] 37, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 59 [SEP] 38, SaltShaker, 0.152, 0.908, -0.330, 0, 0, 0, 48 [SEP] 39, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 83 [SEP] 40, Potato, 2.221, 0.946, 1.214, 0, 0, 0, 83 [SEP] 41, PepperShaker, -0.766, 0.817, -1.308, 0, 90, 0, 107 [SEP] 42, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 83 [SEP] 43, Bowl, 0.518, 1.782, 1.455, 0, 180, 0, 106 [SEP] 44, DishSponge, 0.634, 0.911, -0.6, 0, 0, 0, 48 [SEP] 45, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 105 [SEP] 46, Mug, 2.156, 0.906, -0.769, 0, 0, 0, 48 [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: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato.  | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato. | STEP 7: Take a slice of potato. | STEP 8: Turn around and go to the refrigerator on the left. | STEP 9: Chill the slice of potato inside the refrigerator and take it out.  | STEP 10: Turn around and go to the microwave above the stove.  | STEP 11: Place the slice of potato inside the microwave.  | END


Input: Put a chilled slice of lettuce 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, -1.25, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Cup, 2.777, 0.724, -0.473, 0, 0, 0, 88 [SEP] 2, Cup, 2.962, 1.561, -0.840, 0, 0, 0, 88 [SEP] 3, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 68 [SEP] 4, SoapBottle, -0.197, 0.120, 1.117, 0, 0, 0, 61 [SEP] 5, SoapBottle, 1.450, 1.660, 1.470, 0, 0, 0, 56 [SEP] 6, Tomato, -0.990, 0.852, -1.328, 0, 0, 0, 92 [SEP] 7, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 68 [SEP] 8, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 88 [SEP] 9, Apple, 1.422, 0.980, 1.468, 0, 0, 0, 68 [SEP] 10, SoapBottle, 1.792, 0.120, 1.236, 0, 0, 0, 53 [SEP] 11, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 67 [SEP] 12, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 92 [SEP] 13, Pot, 0.678, 0.964, 1.345, 0, 0, 0, 71 [SEP] 14, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 68 [SEP] 15, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 92 [SEP] 16, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 33 [SEP] 17, Tomato, -2.048, 0.455, 1.290, 0, 270, 0, 86 [SEP] 18, Cup, 1.597, 1.652, 1.394, 0, 0, 0, 45 [SEP] 19, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 92 [SEP] 20, Apple, 2.900, 0.794, -0.535, 0, 0, 0, 88 [SEP] 21, Pan, -0.198, 0.911, 1.383, 0, 0, 0, 44 [SEP] 22, Lettuce, 2.156, 0.992, -0.430, 0, 0, 0, 33 [SEP] 23, SaltShaker, -0.785, 0.817, -1.400, 0, 0, 0, 92 [SEP] 24, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 68 [SEP] 25, Potato, 2.754, 0.946, 1.044, 0, 0, 0, 68 [SEP] 26, PepperShaker, 1.522, 0.111, -0.538, 0, 180, 0, 50 [SEP] 27, ButterKnife, -0.017, 0.765, -0.651, 0, 0, 0, 90 [SEP] 28, Bowl, 2.900, 1.017, -0.644, 0, 0, 0, 88 [SEP] 29, DishSponge, -1.991, 0.423, 1.417, 0, 270, 0, 86 [SEP] 30, Spoon, 0.193, 0.766, -0.541, 0, 270, 0, 90 [SEP] 31, Mug, 0.518, 1.779, 1.423, 0, 180, 0, 91 [SEP] 32, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 33, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 34, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 35, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 36, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 37, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 38, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 39, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 40, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 41, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 42, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 44, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 45, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 47, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 49, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 52, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 53, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 55, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 56, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 68, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 69, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 71, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 72, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 75, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 76, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 77, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 80, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 81, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 82, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 83, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 84, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 85, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 86, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 87, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 88, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 89, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 90, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 91, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 92, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 93, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 94, NorthWall, , , , , , ,  [SEP] 95, EastWall, , , , , , ,  [SEP] 96, SouthWall, , , , , , ,  [SEP] 97, WestWall, , , , , , ,

Output: STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up. | STEP 11: Go back to the counter with the bread on it. | STEP 12: Put the slice of lettuce on the counter to the right of the knife. | END


Input: To move two bars of soap to the tub.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 1.25, 0, 90, 0,  [SEP] 1, TissueBox, -1.471, 1.070, 2.157, 0, 0, 0, 29 [SEP] 2, TissueBox, -0.817, 0.289, 2.127, 0, 0, 0, 25 [SEP] 3, Cloth, 0.453, 0.048, -0.071, 0, 0, 0, 28 [SEP] 4, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 29 [SEP] 5, SoapBar, -2.146, 1.046, -0.736, 0, 0, 0, 34 [SEP] 6, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 34 [SEP] 7, SprayBottle, -2.277, 1.048, -0.736, 0, 0, 0, 34 [SEP] 8, Candle, -2.277, 1.088, -0.827, 0, 0, 0, 34 [SEP] 9, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 31 [SEP] 10, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 11, SoapBar, -2.015, 1.046, -0.674, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -1.308, 1.066, 2.187, 0, 0, 0, 29 [SEP] 13, SoapBottle, -1.635, 0.291, 2.217, 0, 0, 0, 25 [SEP] 14, TissueBox, -0.653, 1.773, 2.127, 0, 0, 0, 27 [SEP] 15, Cloth, 0.206, 0.048, 0.839, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 24 [SEP] 17, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 19, SprayBottle, -0.980, 1.774, 2.127, 0, 0, 0, 27 [SEP] 20, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 21, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 22, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 23, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 24, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 26, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 28, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 31, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 32, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 33, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 34, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 35, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 36, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 37, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 38, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Turn right and face the back of the toilet.  | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you.  | STEP 3: Walk to the tub across the room.  | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left.  | STEP 5: Walk back over to the toilet and face the back of the toilet.  | STEP 6: Pick up the bar of soap in the upper left corner.  | STEP 7: Walk back over to the tub.  | STEP 8: Place the bar of soap to the right of the first bar of soap.  | END


Input: Put a heated tomato on the counter to the right of the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.75, 0, 0, 0,  [SEP] 1, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 51 [SEP] 2, Kettle, 0.890, 0.200, -1.339, 0, 0, 0, 61 [SEP] 3, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 53 [SEP] 4, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 52 [SEP] 5, Spoon, 0.980, 1.054, 0.231, 0, 90, 0, 48 [SEP] 6, Egg, -1.169, 1.282, 2.063, 0, 90, 0, 65 [SEP] 7, Egg, 1.155, 1.101, -1.397, 0, 0, 0, 50 [SEP] 8, Cup, -0.774, 1.565, -1.767, 0, 0, 0, 55 [SEP] 9, Plate, -0.689, 1.059, -1.397, 0, 0, 0, 50 [SEP] 10, Knife, 0.657, 1.072, -1.118, 0, 0, 0, 50 [SEP] 11, Knife, -0.038, 1.072, -1.107, 0, 0, 0, 50 [SEP] 12, Tomato, 0.823, 1.097, -1.181, 0, 0, 0, 50 [SEP] 13, Tomato, 1.854, 0.173, 2.414, 0, 270, 0, 66 [SEP] 14, Tomato, -1.423, 1.764, 2.242, 0, 90, 0, 65 [SEP] 15, Bowl, 0.890, 0.198, -1.556, 0, 0, 0, 61 [SEP] 16, SaltShaker, 1.523, 1.038, 0.199, 0, 0, 0, 52 [SEP] 17, SaltShaker, 1.238, 1.041, -1.397, 0, 0, 0, 50 [SEP] 18, PepperShaker, -0.952, 2.023, -1.409, 0, 0, 0, 57 [SEP] 19, PepperShaker, 1.158, 0.194, -1.412, 0, 0, 0, 61 [SEP] 20, Bread, -0.030, 1.117, 0.415, 0, 0, 0, 52 [SEP] 21, Mug, -0.670, 0.198, -1.625, 0, 0, 0, 59 [SEP] 22, Apple, 0.936, 1.098, 0.331, 0, 90, 0, 48 [SEP] 23, Apple, -0.346, 1.090, -1.828, 0, 0, 0, 50 [SEP] 24, SoapBottle, -0.949, 0.203, -1.482, 0, 0, 0, 58 [SEP] 25, Apple, 1.271, 0.936, 0.158, 0, 90, 0, 47 [SEP] 26, Potato, -0.260, 1.100, -1.612, 0, 0, 0, 50 [SEP] 27, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 52 [SEP] 28, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 49 [SEP] 29, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 50 [SEP] 30, Tomato, -1.419, 1.540, 2.242, 0, 90, 0, 65 [SEP] 31, SaltShaker, 1.436, 0.199, -1.335, 0, 0, 0, 60 [SEP] 32, Egg, 1.612, 1.097, 0.738, 0, 0, 0, 52 [SEP] 33, Cup, 1.666, 1.020, -1.337, 0, 0, 0, 56 [SEP] 34, Spatula, 0.761, 1.070, 0.281, 0, 270, 0, 48 [SEP] 35, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 52 [SEP] 36, Lettuce, -1.169, 1.287, 2.242, 0, 90, 0, 65 [SEP] 37, ButterKnife, 1.347, 1.043, 0.720, 0, 0, 0, 52 [SEP] 38, PepperShaker, -1.339, 2.023, -1.555, 0, 0, 0, 57 [SEP] 39, DishSponge, -0.760, 0.203, -1.409, 0, 0, 0, 59 [SEP] 40, Plate, -0.473, 1.577, -1.470, 0, 0, 0, 55 [SEP] 41, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, 0.682, 1.044, 0.632, 0, 0, 0, 52 [SEP] 43, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 62 [SEP] 44, Mug, 0.712, 0.194, -1.339, 0, 0, 0, 61 [SEP] 45, Bowl, -1.342, 1.488, 1.885, 0, 90, 0, 65 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the tomato from the counter.  | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the tomato to the counter right of the stove. | STEP 6: Put the tomato on the counter to the right of the stove.  | END


Input: Chill or cool down mug followed by drinking it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.931, 1.75, 0, 0, 0,  [SEP] 1, Potato, 1.968, 1.096, 0.738, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.952, 2.027, -1.191, 0, 0, 0, 54 [SEP] 3, ButterKnife, 1.347, 1.043, 0.589, 0, 0, 0, 49 [SEP] 4, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 5, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 48 [SEP] 6, Spoon, 0.682, 1.044, 0.676, 0, 0, 0, 49 [SEP] 7, Egg, 0.542, 1.097, 0.091, 0, 0, 0, 49 [SEP] 8, Egg, 0.160, 1.097, 0.415, 0, 0, 0, 49 [SEP] 9, Cup, 1.894, 0.205, -1.408, 0, 0, 0, 57 [SEP] 10, Cup, -1.145, 1.716, -1.300, 0, 0, 0, 61 [SEP] 11, Plate, 0.979, 0.212, -1.412, 0, 0, 0, 58 [SEP] 12, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 49 [SEP] 13, SoapBottle, -0.548, 1.565, -1.470, 0, 0, 0, 52 [SEP] 14, Bowl, 1.588, 0.203, -1.262, 0, 0, 0, 57 [SEP] 15, Lettuce, 1.181, 1.103, 0.720, 0, 90, 0, 49 [SEP] 16, Bread, -0.030, 1.117, 0.522, 0, 0, 0, 49 [SEP] 17, Mug, 1.015, 1.038, 0.720, 0, 0, 0, 49 [SEP] 18, Mug, 0.160, 1.038, 0.738, 0, 90, 0, 49 [SEP] 19, Apple, 1.882, 0.166, 2.358, 0, 270, 0, 63 [SEP] 20, Apple, 0.065, 1.086, 0.738, 0, 0, 0, 49 [SEP] 21, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 45 [SEP] 22, Apple, 1.151, 0.936, 0.267, 0, 90, 0, 44 [SEP] 23, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 49 [SEP] 24, Fork, 0.542, 1.043, 0.415, 0, 90, 0, 49 [SEP] 25, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 46 [SEP] 26, Pan, -0.398, 1.564, -1.693, 0, 90, 0, 52 [SEP] 27, Tomato, 0.160, 1.094, 0.307, 0, 0, 0, 49 [SEP] 28, SaltShaker, 1.188, 1.560, -1.839, 0, 0, 0, 51 [SEP] 29, Egg, 1.523, 1.097, 0.738, 0, 0, 0, 49 [SEP] 30, Cup, 1.523, 1.043, 0.522, 0, 0, 0, 49 [SEP] 31, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 47 [SEP] 32, Knife, 0.848, 1.069, 0.807, 0, 180, 0, 49 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 49 [SEP] 35, PepperShaker, -1.339, 2.023, -1.555, 0, 0, 0, 54 [SEP] 36, DishSponge, 1.247, 0.199, -1.412, 0, 0, 0, 58 [SEP] 37, Plate, -1.106, 2.041, -1.409, 0, 0, 0, 54 [SEP] 38, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.516, 1.044, 0.720, 0, 0, 0, 49 [SEP] 40, Pot, -1.183, 0.204, -1.265, 0, 0, 0, 55 [SEP] 41, Mug, 1.666, 1.014, -1.337, 0, 0, 0, 53 [SEP] 42, Bowl, 1.743, 1.018, -1.557, 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 walk to the corner of the desk | STEP 2: Pick up the white coffee mug on the desk | STEP 3: Turn around and open the refrigerator | STEP 4: Place the mug in the refrigerator, chill and then remove it | STEP 5: Turn around and take a drink from the mug | STEP 6: Place the mug back on the desk | END


Input: Take the white watering can, turn on the lamp by the door SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0,  [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,

Output: STEP 1: Turn around, head to the black shelf | STEP 2: Take the white watering can from the bottom shelf | STEP 3: Turn around, head through the living room to the door | STEP 4: Turn on the lamp next to the door | END


Input: Examine a tea pot by the light of a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0,  [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,

Output: STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn to the right and take a few steps and turn to the right and go to the chair and turn to the left and go to the end table | STEP 4: turn on the lamp on the end table | END


Input: Look at the watering can by the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0,  [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,

Output: STEP 1: Turn around and go to the black shelf. | STEP 2: Pick up the watering can from the shelf. | STEP 3: Turn around and go to the end table by the couch. | STEP 4: Turn on the lamp. | END


Input: Inspect the kettle with the lamp on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0,  [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,

Output: STEP 1: Move to the shelf to the left of the couch. | STEP 2: Pick up the kettle from the shelf. | STEP 3: Move to the end table to the right of the couch. | STEP 4: Turn on the lamp on the end table. | END


Input: Turn on a lamp while carrying a tea pot SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0,  [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,

Output: STEP 1: Move across the room to the brown side table with shelves | STEP 2: Pick up the white tea pot on the bottom shelf of the side table | STEP 3: Carry the white tea pot over to the round wood table that has a lamp on top of it | STEP 4: Turn on the lamp | END


Input: Put a cooked slice of potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Pan, 2.754, 0.911, 1.129, 0, 0, 0, 84 [SEP] 2, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 108 [SEP] 3, DishSponge, 1.955, 0.911, 1.383, 0, 0, 0, 84 [SEP] 4, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 84 [SEP] 5, Kettle, -0.086, 0.116, 1.196, 0, 0, 0, 77 [SEP] 6, ButterKnife, 2.221, 0.911, 1.468, 0, 0, 0, 84 [SEP] 7, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 8, Fork, 2.155, 0.772, 1.198, 0, 270, 0, 80 [SEP] 9, Spatula, 2.488, 0.926, 1.044, 0, 0, 0, 84 [SEP] 10, Cup, 2.777, 1.561, -0.578, 0, 0, 0, 104 [SEP] 11, Cup, 2.900, 1.561, -0.644, 0, 0, 0, 104 [SEP] 12, Egg, -0.990, 0.858, -1.038, 0, 0, 0, 108 [SEP] 13, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 108 [SEP] 14, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 108 [SEP] 15, Tomato, 2.591, 1.320, -0.644, 0, 0, 0, 104 [SEP] 16, Tomato, 1.141, 0.942, -0.6, 0, 0, 0, 49 [SEP] 17, SaltShaker, 0.888, 0.908, -0.684, 0, 0, 0, 49 [SEP] 18, SaltShaker, -0.911, 0.817, -1.308, 0, 90, 0, 108 [SEP] 19, PepperShaker, 1.955, 0.908, 1.299, 0, 0, 0, 84 [SEP] 20, PepperShaker, 1.563, 0.110, 1.193, 0, 0, 0, 78 [SEP] 21, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 84 [SEP] 22, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 104 [SEP] 23, Mug, -0.939, 0.815, -1.400, 0, 0, 0, 108 [SEP] 24, Apple, 2.777, 0.794, -0.473, 0, 0, 0, 104 [SEP] 25, Apple, -2.019, 0.492, 1.375, 0, 270, 0, 102 [SEP] 26, SoapBottle, -0.198, 0.917, 1.044, 0, 0, 0, 60 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, 2.574, 0.772, 1.122, 0, 90, 0, 65 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, -0.246, 0.969, 1.299, 0, 0, 0, 60 [SEP] 31, Egg, 2.488, 0.949, 1.553, 0, 0, 0, 84 [SEP] 32, Kettle, 2.488, 0.912, 1.299, 0, 0, 0, 84 [SEP] 33, Tomato, 2.962, 0.756, -0.442, 0, 0, 0, 104 [SEP] 34, Cup, 2.770, 1.652, 1.394, 0, 0, 0, 50 [SEP] 35, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 49 [SEP] 36, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 84 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.918, 1.345, -0.612, 15.903, 3.671, 14.806, 104 [SEP] 39, SaltShaker, -0.238, 1.650, 1.394, 0, 0, 0, 75 [SEP] 40, Knife, -0.694, 0.853, -1.308, 0, 90, 0, 108 [SEP] 41, Potato, -1.056, 0.855, -1.155, 0, 90, 0, 108 [SEP] 42, PepperShaker, 1.862, 0.111, 1.077, 0, 0, 0, 69 [SEP] 43, ButterKnife, 0.193, 0.765, -0.707, 0, 180, 0, 106 [SEP] 44, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 84 [SEP] 45, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 106 [SEP] 46, Spoon, 1.155, 0.912, 1.468, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table.  | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table. | STEP 8: Pick up a slice of potato. | STEP 9: Turn around and go back to the stove. | STEP 10: Put the slice of potato in the microwave, cook it and pick it back up. | STEP 11: Turn around and go to the sink. | STEP 12: Put the slice of potato in the sink. | END


Input: Check some of the dressers for their contents. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 0.75, 0, 270, 0,  [SEP] 1, Vase, 2.803, 0.993, -1.862, 0, 270, 0, 36 [SEP] 2, Pencil, 1.666, 0.989, -1.774, 0, 270, 0, 36 [SEP] 3, Pencil, -0.253, 0.788, 3.115, 0, 180, 0, 43 [SEP] 4, KeyChain, -0.350, 1.109, 3.088, 0, 180, 0, 44 [SEP] 5, KeyChain, -0.163, 1.109, 3.115, 0, 180, 0, 44 [SEP] 6, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 36 [SEP] 7, AlarmClock, 1.950, 0.986, -1.950, 0, 270, 0, 36 [SEP] 8, Book, 2.235, 0.988, -2.125, 0, 270, 0, 36 [SEP] 9, KeyChain, 3.222, 0.725, 1.443, 0, 180, 0, 61 [SEP] 10, CreditCard, -0.776, 0.174, 0.212, 0, 0, 0, 50 [SEP] 11, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 43 [SEP] 12, Pencil, 3.087, 0.989, -2.037, 0, 270, 0, 36 [SEP] 13, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 21 [SEP] 14, Vase, 3.132, 0.189, -1.778, 0, 270, 0, 35 [SEP] 15, AlarmClock, -0.970, 0.786, -0.548, 0, 0, 0, 57 [SEP] 16, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 21 [SEP] 17, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 21 [SEP] 18, CellPhone, 2.545, 0.610, 0.790, 0, 0, 0, 21 [SEP] 19, CD, -0.776, 0.379, -0.794, 0, 0, 0, 56 [SEP] 20, Vase, 2.370, 0.184, -1.950, 0, 270, 0, 38 [SEP] 21, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 22, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 23, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 25, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 26, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 27, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 28, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 29, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 30, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 31, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 32, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 37, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 40, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 41, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 44, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 45, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 46, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 57, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 60, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 61, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 62, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 63, NorthWall, , , , , , ,  [SEP] 64, EastWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, WestWall, , , , , , ,

Output: STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. | STEP 4: Open the bottom drawer. | STEP 5: Close the drawer. | STEP 6: Turn all the way around. | STEP 7: Open the drawer again. | STEP 8: Close the drawer. | END


Input: put the yellow pencil inside the drawer at the right. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 0.75, 0, 270, 0,  [SEP] 1, Vase, 2.803, 0.993, -1.862, 0, 270, 0, 36 [SEP] 2, Pencil, 1.666, 0.989, -1.774, 0, 270, 0, 36 [SEP] 3, Pencil, -0.253, 0.788, 3.115, 0, 180, 0, 43 [SEP] 4, KeyChain, -0.350, 1.109, 3.088, 0, 180, 0, 44 [SEP] 5, KeyChain, -0.163, 1.109, 3.115, 0, 180, 0, 44 [SEP] 6, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 36 [SEP] 7, AlarmClock, 1.950, 0.986, -1.950, 0, 270, 0, 36 [SEP] 8, Book, 2.235, 0.988, -2.125, 0, 270, 0, 36 [SEP] 9, KeyChain, 3.222, 0.725, 1.443, 0, 180, 0, 61 [SEP] 10, CreditCard, -0.776, 0.174, 0.212, 0, 0, 0, 50 [SEP] 11, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 43 [SEP] 12, Pencil, 3.087, 0.989, -2.037, 0, 270, 0, 36 [SEP] 13, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 21 [SEP] 14, Vase, 3.132, 0.189, -1.778, 0, 270, 0, 35 [SEP] 15, AlarmClock, -0.970, 0.786, -0.548, 0, 0, 0, 57 [SEP] 16, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 21 [SEP] 17, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 21 [SEP] 18, CellPhone, 2.545, 0.610, 0.790, 0, 0, 0, 21 [SEP] 19, CD, -0.776, 0.379, -0.794, 0, 0, 0, 56 [SEP] 20, Vase, 2.370, 0.184, -1.950, 0, 270, 0, 38 [SEP] 21, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 22, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 23, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 24, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 25, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 26, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 27, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 28, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 29, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 30, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 31, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 32, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 37, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 40, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 41, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 43, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 44, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 45, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 46, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 47, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 57, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 60, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 61, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 62, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 63, NorthWall, , , , , , ,  [SEP] 64, EastWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, WestWall, , , , , , ,

Output: STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser. | STEP 4: open the drawer and put the pencil in it. | STEP 5: walk closer to the dresser | STEP 6: pick up the yellow pencil at the top shelf | STEP 7: walk at the side of the dresser | STEP 8: open the drawer and put the pencil in it. | END


Input: grab the book from the dresser, turn on the lamp 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, -2.5, 0.909, -3.75, 0, 90, 0,  [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: turn around to the dresser | STEP 2: grab the book on the dresser | STEP 3: turn around to the white table | STEP 4: turn on the lamp on the table | END


Input: Examine a book by the light of a table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 90, 0,  [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: turn to the right twice and step up to the dresser | STEP 2: pick up the book from the dresser | STEP 3: turn to the left and go to the wall and turn to the left and go to table | STEP 4: turn on the lamp on the table | END


Input: Inspect the book with the light on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 90, 0,  [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Move to the dresser behind you. | STEP 2: Pick up the book from the dresser. | STEP 3: Move to the end of the desk behind you. | STEP 4: Turn on the lamp at the end of the desk. | END