Input: Put a cooked tomato in the recycling bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Fork, 1.967, 0.772, -0.498, 0, 90, 0, 58 [SEP] 3, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 79 [SEP] 4, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 44 [SEP] 5, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 78 [SEP] 6, Cup, -0.939, 0.818, -1.473, 0, 0, 0, 103 [SEP] 7, Cup, 2.767, 0.112, 1.231, 0, 0, 0, 76 [SEP] 8, Egg, 3.421, 0.878, -0.485, 0, 0, 0, 99 [SEP] 9, SoapBottle, 2.221, 0.917, 1.214, 0, 0, 0, 79 [SEP] 10, SoapBottle, 1.688, 0.917, 1.129, 0, 0, 0, 79 [SEP] 11, Tomato, 2.900, 1.050, -0.578, 0, 0, 0, 99 [SEP] 12, Tomato, 2.221, 0.942, 1.468, 0, 0, 0, 79 [SEP] 13, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 55 [SEP] 14, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 103 [SEP] 15, SaltShaker, 0.918, 2.150, 1.468, 0, 0, 0, 78 [SEP] 16, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 79 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 79 [SEP] 19, Apple, 2.715, 1.357, -0.775, 0, 0, 0, 99 [SEP] 20, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 97 [SEP] 21, SoapBottle, 0.862, 1.661, -0.771, 0, 180, 0, 54 [SEP] 22, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 44 [SEP] 23, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 44 [SEP] 26, Egg, -0.621, 0.858, -1.360, 0, 90, 0, 103 [SEP] 27, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 28, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 97 [SEP] 29, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 103 [SEP] 30, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 103 [SEP] 31, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 99 [SEP] 32, Pan, 1.171, 1.654, -0.772, 0, 180, 0, 46 [SEP] 33, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 79 [SEP] 34, SaltShaker, 1.061, 0.110, -0.383, 0, 180, 0, 52 [SEP] 35, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 101 [SEP] 36, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 103 [SEP] 37, PepperShaker, 0.601, 2.150, 1.390, 0, 0, 0, 53 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 2.900, 1.561, -0.644, 0, 0, 0, 99 [SEP] 40, DishSponge, 1.484, 1.655, -0.849, 0, 180, 0, 66 [SEP] 41, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 88 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn to your right and walk to the blue recycling bin across the room. | STEP 2: Pick up the tomato that is closest to you from inside the recycling bin. | STEP 3: Turn to your right and walk to the microwave that is above the stove  | STEP 4: Open the microwave door, put the tomato inside, close the microwave door, turn the microwave on, open the door when the microwave turns off, remove the tomato and close the microwave door. | STEP 5: Turn to your left and walk to the blue recycling bin across the room.  | STEP 6: Put the cooked tomato in the recycling bin to the left of the other vegetable. | END


Input: Place a clean slice of lettuce on the round grey table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn around and face the sink in front of you. | STEP 10: Wash the lettuce in the sink in front of you and take it out. | STEP 11: Turn right then face the round grey table on your left. | STEP 12: Place the lettuce slice on the grey table in front of you. | END


Input: place a rinsed off slice of lettuce down 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, -0.5, 0.900, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce | STEP 8: grab a slice of lettuce | STEP 9: turn around and walk to the sink behind you | STEP 10: rinse the lettuce off in the sink | STEP 11: turn right and walk to the middle of the hallway, then turn left and walk to the table at the end of the room | STEP 12: place the lettuce down on the table | END


Input: Put a washed slice of lettuce on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go forward to the sink. | STEP 10: Wash the lettuce in the sink, take the lettuce from the sink. | STEP 11: Turn right, go forward, turn left at the round table, go forward to the table. | STEP 12: Put the lettuce in front of the apple on the table. | END


Input: TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Walk around the right side of the counter and walk forward to face the kitchen table. | STEP 12: Place the slice of lettuce on the kitchen table. | END


Input: Put the heated tomato in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 2.715, 1.018, -0.709, 0, 0, 0, 101 [SEP] 2, Kettle, -0.151, 0.912, 1.383, 0, 0, 0, 57 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 4, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 5, ButterKnife, -0.198, 0.911, 1.214, 0, 0, 0, 57 [SEP] 6, Spoon, 2.743, 0.772, 1.160, 0, 90, 0, 90 [SEP] 7, Fork, 1.141, 0.912, -0.769, 0, 90, 0, 46 [SEP] 8, Fork, 0.888, 0.901, -0.599, 0, 0, 0, 46 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 103 [SEP] 10, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 80 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 81 [SEP] 12, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 13, Cup, 0.193, 0.763, -0.596, 0, 0, 0, 103 [SEP] 14, Knife, -0.983, 0.853, -1.257, 0, 90, 0, 105 [SEP] 15, Knife, 1.155, 0.944, 1.214, 0, 0, 0, 81 [SEP] 16, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 105 [SEP] 17, Tomato, -1.933, 0.455, 1.459, 0, 270, 0, 99 [SEP] 18, Bowl, 2.208, 1.653, -0.762, 0, 180, 0, 67 [SEP] 19, Bowl, 2.715, 1.286, -0.709, 0, 0, 0, 101 [SEP] 20, Mug, 0.634, 0.906, -0.515, 0, 0, 0, 46 [SEP] 21, Mug, 0.103, 1.650, -0.732, 0, 180, 0, 86 [SEP] 22, Apple, 0.415, 1.853, 1.488, 0, 180, 0, 104 [SEP] 23, SoapBottle, -0.164, 1.660, 1.394, 0, 0, 0, 72 [SEP] 24, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 81 [SEP] 25, Fork, 2.488, 0.912, 1.383, 0, 0, 0, 81 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.028, 0.953, -0.520, 0, 0, 0, 46 [SEP] 28, Egg, 1.688, 0.949, 1.214, 0, 0, 0, 81 [SEP] 29, Kettle, 1.179, 1.656, 1.468, 0, 0, 0, 73 [SEP] 30, Tomato, 1.955, 0.942, 1.468, 0, 0, 0, 81 [SEP] 31, Cup, 1.155, 0.909, 1.468, 0, 0, 0, 81 [SEP] 32, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 33, Apple, -2.019, 0.492, 1.332, 0, 270, 0, 99 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 2.920, 1.344, -0.612, 16.300, 3.283, 13.457, 101 [SEP] 36, SaltShaker, -0.043, 0.908, -0.330, 0, 0, 0, 46 [SEP] 37, Knife, 2.754, 0.944, 1.044, 0, 0, 0, 81 [SEP] 38, Potato, 1.155, 0.946, 1.299, 0, 0, 0, 81 [SEP] 39, PepperShaker, 1.102, 0.111, 1.276, 0, 0, 0, 75 [SEP] 40, ButterKnife, 1.422, 0.911, 1.468, 0, 0, 0, 81 [SEP] 41, Bowl, 2.838, 1.561, -0.578, 0, 0, 0, 101 [SEP] 42, DishSponge, 1.141, 0.771, 1.083, 0, 0, 0, 91 [SEP] 43, Spoon, 1.836, 0.773, -0.422, 0, 180, 0, 60 [SEP] 44, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 105 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn right head toward the end of the counter on your right  | STEP 2: Pick up the tomato on the counter | STEP 3: Turn left then head to the microwave on your right side | STEP 4: Open the microwave put in and out the tomato then close the microwave | STEP 5: Turn right head to the fridge | STEP 6: Open the fridge put in the tomato then close the fridge | END


Input: Put a full and empty roll of toilet paper in the right cabinet under the left sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 0, 0,  [SEP] 1, TissueBox, -1.547, 0.994, 2.178, 0, 0, 0, 28 [SEP] 2, Cloth, -1.547, 0.994, 3.159, 0, 180, 0, 28 [SEP] 3, Cloth, -1.382, 0.068, 3.743, 0, 0, 0, 29 [SEP] 4, SoapBar, -1.340, 1.018, 3.535, 0, 90, 0, 41 [SEP] 5, SprayBottle, -1.481, 0.995, 3.903, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.561, 0.068, 2.857, 0, 0, 0, 27 [SEP] 7, SoapBottle, -1.350, 0.993, 2.239, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, 0.313, 0.047, 3.893, 0, 0, 0, 31 [SEP] 11, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.560, 0.067, 3.126, 0, 0, 0, 27 [SEP] 14, TissueBox, -1.560, 0.068, 2.391, 0, 0, 0, 23 [SEP] 15, SoapBottle, -1.284, 0.993, 3.873, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.329, 0.889, 1.618, 0, 0, 0, 34 [SEP] 17, SprayBottle, 0.286, 0.048, 3.838, 0, 0, 0, 31 [SEP] 18, Cloth, -1.481, 0.994, 2.923, 0, 0, 0, 28 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity. | STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink. | STEP 5: Turn around and head back to the toilet. | STEP 6: Take the toilet paper roll off the holder. | STEP 7: Turn around and head back to the left sink on the vanity. | STEP 8: Put the roll of toilet paper in the right cabinet under the left sink. | END


Input: Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Pan, 1.880, 1.655, 1.468, 0, 0, 0, 59 [SEP] 2, DishSponge, -0.175, 1.654, -0.734, 0, 180, 0, 89 [SEP] 3, ButterKnife, -0.887, 0.820, -1.255, 0, 0, 0, 106 [SEP] 4, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 82 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 6, Pot, 1.522, 0.118, -0.458, 0, 180, 0, 88 [SEP] 7, Spoon, -0.839, 0.822, -1.257, 0, 270, 0, 106 [SEP] 8, Fork, 2.418, 0.772, 1.198, 0, 270, 0, 63 [SEP] 9, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 87 [SEP] 10, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 82 [SEP] 11, Cup, 0.759, 2.151, 1.429, 0, 0, 0, 56 [SEP] 12, Cup, -0.087, 0.763, -0.541, 0, 0, 0, 104 [SEP] 13, Knife, 0.123, 0.798, -0.596, 0, 270, 0, 104 [SEP] 14, Tomato, 2.777, 1.320, -0.578, 0, 0, 0, 102 [SEP] 15, SaltShaker, 1.955, 0.908, 1.129, 0, 0, 0, 82 [SEP] 16, SaltShaker, -0.012, 0.111, 1.276, 0, 0, 0, 75 [SEP] 17, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 106 [SEP] 18, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 106 [SEP] 19, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 58 [SEP] 20, Mug, 2.524, 1.650, 1.390, 0, 0, 0, 48 [SEP] 21, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 47 [SEP] 22, Apple, 2.777, 0.794, -0.504, 0, 0, 0, 102 [SEP] 23, Apple, -0.694, 0.889, -1.206, 0, 90, 0, 106 [SEP] 24, SoapBottle, -0.103, 0.917, 1.129, 0, 0, 0, 58 [SEP] 25, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 81 [SEP] 26, Fork, 2.221, 0.912, 1.129, 0, 0, 0, 82 [SEP] 27, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 47 [SEP] 29, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 100 [SEP] 30, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 47 [SEP] 31, Tomato, -2.048, 0.455, 1.375, 0, 270, 0, 100 [SEP] 32, Cup, 0.518, 1.782, 1.488, 0, 180, 0, 105 [SEP] 33, Spatula, 2.156, 0.926, -0.769, 0, 0, 0, 47 [SEP] 34, Apple, 2.653, 1.632, -0.644, 0, 0, 0, 102 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 82 [SEP] 37, SaltShaker, 2.258, 0.110, 1.268, 0, 0, 0, 83 [SEP] 38, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 82 [SEP] 39, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 106 [SEP] 40, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 106 [SEP] 41, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 106 [SEP] 42, Bowl, 2.223, 0.112, 1.119, 0, 0, 0, 83 [SEP] 43, DishSponge, 2.837, 0.771, 1.236, 0, 0, 0, 91 [SEP] 44, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 104 [SEP] 45, Mug, -0.103, 0.906, 1.468, 0, 270, 0, 58 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Go across the room to the dining table | STEP 2: Pick up the potato from the table. | STEP 3: Take the potato to the sink, behind you. | STEP 4: Set the potato in the sink. Turn the water on in the sink. Turn off the water. | STEP 5: Pick up the potato, carry it to the refrigerator on the other side of the kitchen.  | STEP 6: Open the door of the refrigerator. Then close the doors of the refrigerator. Set the potato on the shelf above the Apple. | END


Input: Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.5, 0, 180, 0,  [SEP] 1, Bowl, -2.87, 0.881, 7.208, 0, 90, 0, 48 [SEP] 2, Bowl, -0.326, 0.795, 2.103, 0, 0, 0, 42 [SEP] 3, KeyChain, -2.352, 0.534, 4.335, 0, 270, 0, 57 [SEP] 4, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 5, RemoteControl, -0.947, 0.444, 4.524, 0, 0, 0, 40 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -6.053, 0.147, 4.745, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.433, 0.792, 2.252, 0, 270, 0, 42 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.789, 0.432, 3.002, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.868, 0.433, 3.611, 0, 180, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.636, 0.795, 5.600, 0, 270, 0, 41 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 40 [SEP] 24, Watch, -5.985, 0.880, 4.745, 0, 0, 0, 54 [SEP] 25, Statue, -2.277, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 56 [SEP] 27, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf | STEP 3: Turn right, and turn right, walk to the side table by the sofa | STEP 4: Put the watch in the blue bowl on the table | STEP 5: Take the blue bowl on the table | STEP 6: Turn around, walk to the tv cabinet in the corner | STEP 7: Put the blue bowl on the TV cabinet | END


Input: place a bowl with a watch in it on top of the desk the TV is on SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.5, 0, 180, 0,  [SEP] 1, Bowl, -2.87, 0.881, 7.208, 0, 90, 0, 48 [SEP] 2, Bowl, -0.326, 0.795, 2.103, 0, 0, 0, 42 [SEP] 3, KeyChain, -2.352, 0.534, 4.335, 0, 270, 0, 57 [SEP] 4, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 5, RemoteControl, -0.947, 0.444, 4.524, 0, 0, 0, 40 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -6.053, 0.147, 4.745, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.433, 0.792, 2.252, 0, 270, 0, 42 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.789, 0.432, 3.002, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.868, 0.433, 3.611, 0, 180, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.636, 0.795, 5.600, 0, 270, 0, 41 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 40 [SEP] 24, Watch, -5.985, 0.880, 4.745, 0, 0, 0, 54 [SEP] 25, Statue, -2.277, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 56 [SEP] 27, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet | STEP 3: turn around and walk over to the oval table to the left of the couch | STEP 4: place the watch in the bowl on the table | STEP 5: pick up the bowl off of the table | STEP 6: turn around and walk forwards to the TV in the corner of the room | STEP 7: place the bowl on top of the desk the TV is on | END


Input:
take the watch from the coffee table, put it 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, 1.5, 0.900, -1.25, 0, 0, 0,  [SEP] 1, KeyChain, 1.849, 0.872, 0.326, 0, 90, 0, 33 [SEP] 2, RemoteControl, 1.522, 0.316, -0.435, 0, 90, 0, 35 [SEP] 3, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 35 [SEP] 4, KeyChain, -0.970, 0.359, -0.577, 0, 90, 0, 26 [SEP] 5, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 27 [SEP] 6, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 27 [SEP] 7, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 29 [SEP] 8, CreditCard, -0.711, 0.332, -1.771, 0, 0, 0, 29 [SEP] 9, RemoteControl, -0.712, 0.040, -0.544, 0, 90, 0, 22 [SEP] 10, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 27 [SEP] 11, Statue, 1.682, 0.880, 0.114, 0, 90, 0, 33 [SEP] 12, Statue, -0.260, 0.562, -0.365, 0, 270, 0, 27 [SEP] 13, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 14, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 15, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 16, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 17, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 18, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 19, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 20, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 22, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 27, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 28, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 29, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 30, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 31, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 32, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 33, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 34, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 35, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: turn left, head across the room to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: turn left, head to the desk | STEP 4: put the watch on the desk | END


Input: take the watch from the coffee table and place it 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, 1.5, 0.900, -1.25, 0, 0, 0,  [SEP] 1, KeyChain, 1.849, 0.872, 0.326, 0, 90, 0, 33 [SEP] 2, RemoteControl, 1.522, 0.316, -0.435, 0, 90, 0, 35 [SEP] 3, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 35 [SEP] 4, KeyChain, -0.970, 0.359, -0.577, 0, 90, 0, 26 [SEP] 5, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 27 [SEP] 6, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 27 [SEP] 7, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 29 [SEP] 8, CreditCard, -0.711, 0.332, -1.771, 0, 0, 0, 29 [SEP] 9, RemoteControl, -0.712, 0.040, -0.544, 0, 90, 0, 22 [SEP] 10, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 27 [SEP] 11, Statue, 1.682, 0.880, 0.114, 0, 90, 0, 33 [SEP] 12, Statue, -0.260, 0.562, -0.365, 0, 270, 0, 27 [SEP] 13, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 14, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 15, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 16, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 17, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 18, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 19, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 20, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 22, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 27, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 28, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 29, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 30, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 31, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 32, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 33, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 34, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 35, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: walk over to the coffee table | STEP 2: pick up the watch from the table | STEP 3: take the watch over to the desk | STEP 4: put the watch on top of the desk | END


Input: Place the box with the credit card on the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Watch, -0.323, 0.358, -0.120, 0, 270, 0, 28 [SEP] 2, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 31 [SEP] 3, Newspaper, 1.826, 0.758, 0.134, 0, 90, 0, 38 [SEP] 4, Newspaper, 1.724, 0.868, 0.537, 0, 90, 0, 37 [SEP] 5, KeyChain, 1.443, 0.310, -0.512, 0, 0, 0, 39 [SEP] 6, CreditCard, -0.411, 0.551, -0.278, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.891, 0.871, 0.114, 0, 90, 0, 37 [SEP] 9, Watch, -0.970, 0.360, -0.120, 0, 270, 0, 40 [SEP] 10, Newspaper, -0.711, 0.292, -1.917, 0, 0, 0, 33 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, 1.443, 0.277, -0.818, 0, 0, 0, 39 [SEP] 13, RemoteControl, -0.453, 0.199, -0.185, 0, 270, 0, 41 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.192, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 40, , , , , , , ,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa. | STEP 4: Place the box on the sofa. | STEP 5: Turn around and face the table. | STEP 6: Pick up the credit card next to the plant on the table. | STEP 7: Turn around and face the box on the sofa. | STEP 8: Place the credit card inside the box. | END


Input: Move a credit card to a box on the sofa.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Watch, -0.323, 0.358, -0.120, 0, 270, 0, 28 [SEP] 2, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 31 [SEP] 3, Newspaper, 1.826, 0.758, 0.134, 0, 90, 0, 38 [SEP] 4, Newspaper, 1.724, 0.868, 0.537, 0, 90, 0, 37 [SEP] 5, KeyChain, 1.443, 0.310, -0.512, 0, 0, 0, 39 [SEP] 6, CreditCard, -0.411, 0.551, -0.278, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.891, 0.871, 0.114, 0, 90, 0, 37 [SEP] 9, Watch, -0.970, 0.360, -0.120, 0, 270, 0, 40 [SEP] 10, Newspaper, -0.711, 0.292, -1.917, 0, 0, 0, 33 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, 1.443, 0.277, -0.818, 0, 0, 0, 39 [SEP] 13, RemoteControl, -0.453, 0.199, -0.185, 0, 270, 0, 41 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.192, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 40, , , , , , , ,  [SEP] 41, , , , , , , ,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk.  | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table.  | STEP 4: Place the box on the sofa, centered between the two rightmost cushions.  | STEP 5: Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it.  | STEP 6: Pick up the credit card from the coffee table.  | STEP 7: Carry the credit card to the sofa, so you're facing the box you previously placed there.  | STEP 8: Place the credit card in the box and close the top of the box shut. | END


Input: place a cold potato slice 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, -0.5, 0.900, 0.25, 0, 90, 0,  [SEP] 1, DishSponge, -0.159, 0.771, 1.122, 0, 0, 0, 45 [SEP] 2, DishSponge, -0.983, 0.820, -1.411, 0, 90, 0, 99 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 5, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 97 [SEP] 6, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 40 [SEP] 7, Fork, 2.488, 0.912, 1.214, 0, 0, 0, 75 [SEP] 8, Spatula, -0.055, 0.926, 1.129, 0, 0, 0, 51 [SEP] 9, Cup, -0.836, 0.818, -1.400, 0, 0, 0, 99 [SEP] 10, Knife, 0.888, 0.944, -0.430, 0, 0, 0, 40 [SEP] 11, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 40 [SEP] 12, Bowl, 2.900, 1.286, -0.644, 0, 0, 0, 95 [SEP] 13, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 51 [SEP] 14, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 95 [SEP] 15, Mug, 2.838, 1.558, -0.512, 0, 0, 0, 95 [SEP] 16, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 99 [SEP] 17, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 75 [SEP] 18, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 75 [SEP] 19, Fork, 2.930, 0.771, 1.198, 0, 270, 0, 84 [SEP] 20, Pot, 1.688, 0.915, 1.129, 0, 0, 0, 75 [SEP] 21, Bread, 1.955, 0.969, 1.214, 0, 0, 0, 75 [SEP] 22, Egg, -2.019, 0.461, 1.290, 0, 270, 0, 93 [SEP] 23, Kettle, 0.178, 1.656, -0.810, 0, 180, 0, 80 [SEP] 24, Tomato, -0.151, 0.942, 1.553, 0, 0, 0, 51 [SEP] 25, Cup, -0.103, 0.909, 1.383, 0, 0, 0, 51 [SEP] 26, Spatula, 0.888, 0.926, -0.6, 0, 180, 0, 40 [SEP] 27, Apple, 2.653, 1.087, -0.512, 0, 0, 0, 95 [SEP] 28, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 43 [SEP] 29, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.240, 0.908, -0.316, 0, 0, 0, 40 [SEP] 31, Knife, 1.141, 0.944, -0.769, 0, 0, 0, 40 [SEP] 32, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 99 [SEP] 33, PepperShaker, 1.422, 0.908, 1.044, 0, 0, 0, 75 [SEP] 34, ButterKnife, 2.156, 0.911, -0.684, 0, 0, 0, 40 [SEP] 35, Bowl, 2.900, 1.561, -0.709, 0, 0, 0, 95 [SEP] 36, DishSponge, -0.055, 0.911, 1.299, 0, 0, 0, 51 [SEP] 37, Spoon, -0.734, 0.822, -1.400, 0, 270, 0, 99 [SEP] 38, Mug, 0.415, 1.779, 1.423, 0, 180, 0, 98 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table | STEP 8: pick up a potato slice | STEP 9: turn left and head for the fridge | STEP 10: place the potato to cool for some time and take it out | STEP 11: turn right towards the microwave | STEP 12: place the potato inside the microwave | END


Input: Put the glass from the table into the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 83 [SEP] 2, Kettle, 1.917, 1.656, 1.468, 0, 0, 0, 72 [SEP] 3, Kettle, 2.754, 0.912, 1.383, 0, 0, 0, 83 [SEP] 4, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 83 [SEP] 5, Spoon, -0.734, 0.822, -1.328, 0, 0, 0, 107 [SEP] 6, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 107 [SEP] 7, Fork, 2.249, 0.771, 1.198, 0, 270, 0, 79 [SEP] 8, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 83 [SEP] 9, Cup, 2.444, 0.112, 1.196, 0, 0, 0, 52 [SEP] 10, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 105 [SEP] 11, Knife, 1.688, 0.944, 1.044, 0, 0, 0, 83 [SEP] 12, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 48 [SEP] 13, SoapBottle, 2.479, 0.120, 1.077, 0, 0, 0, 52 [SEP] 14, Tomato, 2.777, 0.758, -0.473, 0, 0, 0, 103 [SEP] 15, Bowl, 1.955, 0.909, 1.299, 0, 0, 0, 83 [SEP] 16, SaltShaker, 2.562, 1.651, 1.468, 0, 0, 0, 73 [SEP] 17, SaltShaker, 0.759, 2.150, 1.352, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.488, 0.908, 1.299, 0, 0, 0, 83 [SEP] 19, PepperShaker, 1.216, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 48 [SEP] 21, Lettuce, 1.902, 0.992, -0.430, 0, 0, 0, 48 [SEP] 22, Mug, 2.198, 0.110, -0.498, 0, 180, 0, 89 [SEP] 23, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 105 [SEP] 24, Apple, -2.019, 0.492, 1.332, 0, 270, 0, 101 [SEP] 25, SoapBottle, -0.103, 0.917, 1.299, 0, 0, 0, 59 [SEP] 26, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 88 [SEP] 27, Fork, 0.888, 0.912, -0.6, 0, 0, 0, 48 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.155, 0.969, 1.383, 0, 0, 0, 83 [SEP] 30, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 106 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 83 [SEP] 33, Cup, -0.621, 0.818, -1.308, 0, 90, 0, 107 [SEP] 34, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 83 [SEP] 35, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 107 [SEP] 36, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 51 [SEP] 37, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 103 [SEP] 38, SaltShaker, 1.155, 0.908, 1.129, 0, 0, 0, 83 [SEP] 39, Knife, 0.123, 0.798, -0.651, 0, 180, 0, 105 [SEP] 40, Potato, 2.838, 1.053, -0.512, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.198, 0.908, 1.129, 0, 0, 0, 59 [SEP] 42, ButterKnife, 2.754, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.838, 1.286, -0.775, 0, 0, 0, 103 [SEP] 44, DishSponge, -0.682, 0.820, -1.038, 0, 0, 0, 107 [SEP] 45, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 105 [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: Walk forward then left to the table. | STEP 2: Pick up the glass from the table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the glass in the sink. | END


Input: Put a mug with pen on the shelf under the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.0, 0, 180, 0,  [SEP] 1, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 41 [SEP] 2, CD, -3.613, 0.980, -3.271, 0, 0, 0, 41 [SEP] 3, CD, -3.908, 0.980, -3.874, 0, 0, 0, 41 [SEP] 4, CellPhone, -3.760, 0.979, -3.271, 0, 0, 0, 41 [SEP] 5, Pencil, -0.862, 0.803, -3.920, 0, 0, 0, 38 [SEP] 6, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 41 [SEP] 7, KeyChain, -3.637, 0.810, -3.184, 0, 0, 0, 48 [SEP] 8, Book, -2.348, 0.620, -0.931, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 38 [SEP] 10, Book, -2.559, 0.620, -2.080, 0, 0, 0, 23 [SEP] 11, CellPhone, -3.834, 0.981, -4.075, 0, 0, 0, 41 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.806, 0.808, -4.164, 0, 0, 0, 39 [SEP] 14, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 38 [SEP] 15, KeyChain, -3.687, 0.982, -3.874, 0, 0, 0, 41 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 27 [SEP] 19, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.980, -3.070, 0, 0, 0, 41 [SEP] 21, Pen, -3.834, 0.985, -3.070, 0, 0, 0, 41 [SEP] 22, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Move to the dresser.  | STEP 2: Pick up the mug with pen.  | STEP 3: Bring the mug with pen to the long white table.  | STEP 4: Put the mug with pen on the shelf under the table.  | END


Input: Move the cup with the pen from the dress to under the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.0, 0, 180, 0,  [SEP] 1, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 41 [SEP] 2, CD, -3.613, 0.980, -3.271, 0, 0, 0, 41 [SEP] 3, CD, -3.908, 0.980, -3.874, 0, 0, 0, 41 [SEP] 4, CellPhone, -3.760, 0.979, -3.271, 0, 0, 0, 41 [SEP] 5, Pencil, -0.862, 0.803, -3.920, 0, 0, 0, 38 [SEP] 6, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 41 [SEP] 7, KeyChain, -3.637, 0.810, -3.184, 0, 0, 0, 48 [SEP] 8, Book, -2.348, 0.620, -0.931, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 38 [SEP] 10, Book, -2.559, 0.620, -2.080, 0, 0, 0, 23 [SEP] 11, CellPhone, -3.834, 0.981, -4.075, 0, 0, 0, 41 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.806, 0.808, -4.164, 0, 0, 0, 39 [SEP] 14, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 38 [SEP] 15, KeyChain, -3.687, 0.982, -3.874, 0, 0, 0, 41 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 27 [SEP] 19, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.980, -3.070, 0, 0, 0, 41 [SEP] 21, Pen, -3.834, 0.985, -3.070, 0, 0, 0, 41 [SEP] 22, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Walk straight, turn right, walk to the dresser | STEP 2: Grab the cup with the pen | STEP 3: Turn around, walk to the white table | STEP 4: Put the cup and the pen below the table, on the brown drawers | END


Input: Look at the coffee cup in the lamp light. 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, -3.25, 0, 90, 0,  [SEP] 1, Mug, -3.760, 0.979, -4.276, 0, 0, 0, 43 [SEP] 2, Mug, -3.760, 0.979, -3.874, 0, 0, 0, 43 [SEP] 3, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 40 [SEP] 4, CellPhone, -2.559, 0.620, -1.218, 0, 0, 0, 25 [SEP] 5, Pen, -3.687, 0.985, -4.075, 0, 0, 0, 43 [SEP] 6, Pencil, -0.329, 0.546, -3.676, 0, 0, 0, 34 [SEP] 7, KeyChain, -3.637, 0.046, -3.091, 0, 0, 0, 42 [SEP] 8, KeyChain, -3.613, 0.982, -3.673, 0, 0, 0, 43 [SEP] 9, Book, -2.770, 0.620, -1.506, 0, 0, 0, 25 [SEP] 10, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 25 [SEP] 11, AlarmClock, -3.687, 0.981, -3.472, 0, 0, 0, 43 [SEP] 12, Book, -3.638, 0.227, -3.371, 0, 0, 0, 45 [SEP] 13, CellPhone, -3.637, 0.808, -3.371, 0, 0, 0, 50 [SEP] 14, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 25 [SEP] 15, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 40 [SEP] 17, KeyChain, -0.657, 0.804, -4.354, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.861, 0.065, -3.825, 0, 9.990, 0, 29 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -3.806, 0.809, -3.558, 0, 0, 0, 50 [SEP] 23, Pen, -1.270, 0.805, -4.246, 0, 0, 0, 40 [SEP] 24, Mug, -1.066, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser.  | STEP 2: Pick up the coffee cup on the dresser.  | STEP 3: Turn around and walk to the table.  | STEP 4: Turn on the lamp.  | END


Input: Pick up a cup and turn on a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.25, 0, 90, 0,  [SEP] 1, Mug, -3.760, 0.979, -4.276, 0, 0, 0, 43 [SEP] 2, Mug, -3.760, 0.979, -3.874, 0, 0, 0, 43 [SEP] 3, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 40 [SEP] 4, CellPhone, -2.559, 0.620, -1.218, 0, 0, 0, 25 [SEP] 5, Pen, -3.687, 0.985, -4.075, 0, 0, 0, 43 [SEP] 6, Pencil, -0.329, 0.546, -3.676, 0, 0, 0, 34 [SEP] 7, KeyChain, -3.637, 0.046, -3.091, 0, 0, 0, 42 [SEP] 8, KeyChain, -3.613, 0.982, -3.673, 0, 0, 0, 43 [SEP] 9, Book, -2.770, 0.620, -1.506, 0, 0, 0, 25 [SEP] 10, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 25 [SEP] 11, AlarmClock, -3.687, 0.981, -3.472, 0, 0, 0, 43 [SEP] 12, Book, -3.638, 0.227, -3.371, 0, 0, 0, 45 [SEP] 13, CellPhone, -3.637, 0.808, -3.371, 0, 0, 0, 50 [SEP] 14, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 25 [SEP] 15, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 40 [SEP] 17, KeyChain, -0.657, 0.804, -4.354, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.861, 0.065, -3.825, 0, 9.990, 0, 29 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -3.806, 0.809, -3.558, 0, 0, 0, 50 [SEP] 23, Pen, -1.270, 0.805, -4.246, 0, 0, 0, 40 [SEP] 24, Mug, -1.066, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the brown dresser. | STEP 2: Pick the cup up from the dresser. | STEP 3: Turn around and face the white table with the lamp. | STEP 4: Turn the lamp on the table on. | END


Input: Pick up the apple and heat it up inside the microwave and after it is done  place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.931, -0.5, 0, 180, 0,  [SEP] 1, Potato, 0.761, 1.108, 0.281, 0, 90, 0, 45 [SEP] 2, Potato, -0.260, 1.100, -1.828, 0, 0, 0, 47 [SEP] 3, DishSponge, -1.416, 0.202, -1.265, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 49 [SEP] 5, ButterKnife, 1.347, 1.043, 0.589, 0, 0, 0, 49 [SEP] 6, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 46 [SEP] 7, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 8, Fork, 1.612, 1.043, 0.415, 0, 180, 0, 49 [SEP] 9, Spoon, 1.514, 1.044, 0.545, 0, 0, 0, 49 [SEP] 10, Spatula, 1.181, 1.058, 0.720, 0, 0, 0, 49 [SEP] 11, Cup, -1.095, 0.964, 2.242, 0, 90, 0, 62 [SEP] 12, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 47 [SEP] 13, Knife, 0.518, 1.072, -1.097, 0, 180, 0, 47 [SEP] 14, Tomato, 1.523, 1.094, 0.307, 0, 0, 0, 49 [SEP] 15, SoapBottle, -0.346, 1.047, -1.397, 0, 270, 0, 47 [SEP] 16, Bowl, -0.699, 1.563, -1.693, 0, 0, 0, 52 [SEP] 17, Bowl, -1.105, 0.201, -1.265, 0, 0, 0, 55 [SEP] 18, SaltShaker, 0.890, 0.194, -1.484, 0, 0, 0, 58 [SEP] 19, SaltShaker, 1.665, 0.199, -1.262, 0, 0, 0, 57 [SEP] 20, Apple, -1.194, 1.759, -1.300, 0, 0, 0, 61 [SEP] 21, SoapBottle, -1.416, 0.203, -1.555, 0, 0, 0, 55 [SEP] 22, Apple, -1.096, 1.759, -1.362, 0, 0, 0, 61 [SEP] 23, Potato, -0.689, 1.100, -1.505, 0, 0, 0, 47 [SEP] 24, Fork, -0.775, 1.047, -1.828, 0, 90, 0, 47 [SEP] 25, Kettle, 0.823, 1.047, -1.289, 0, 0, 0, 47 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.051, 0.758, 1.796, 0, 90, 0, 62 [SEP] 28, SaltShaker, -0.670, 0.198, -1.193, 0, 0, 0, 56 [SEP] 29, Egg, -1.038, 1.282, 1.885, 0, 90, 0, 62 [SEP] 30, Cup, -1.423, 1.713, 2.063, 0, 90, 0, 62 [SEP] 31, Spatula, 0.160, 1.058, 0.630, 0, 0, 0, 49 [SEP] 32, Knife, 0.379, 1.072, -1.086, 0, 0, 0, 47 [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, 1.347, 1.038, 0.720, 0, 0, 0, 49 [SEP] 36, DishSponge, -1.183, 0.202, -1.410, 0, 0, 0, 55 [SEP] 37, Plate, -1.184, 2.041, -1.555, 0, 0, 0, 54 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.936, 1.054, 0.281, 0, 90, 0, 45 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -0.548, 1.560, -1.767, 0, 180, 0, 52 [SEP] 42, Bowl, -1.381, 1.488, 1.885, 0, 90, 0, 62 [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 right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter | STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it | STEP 4: place the apple inside of it and heat it up | STEP 5: turn left and move forward and then turn right and towards the counter | STEP 6: place the apple on  the counter  | END