Input: Put a knife and two slices of bread in a garbage can.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, 4.0, 0, 270, 0,  [SEP] 1, Pan, -0.401, 1.070, 3.726, 0, 180, 0, 106 [SEP] 2, Pencil, -4.095, 0.745, 4.735, 0, 90, 0, 80 [SEP] 3, Pencil, -3.712, 0.068, 6.292, 0, 270, 0, 99 [SEP] 4, Fork, -3.979, 0.924, 2.965, 0, 90, 0, 73 [SEP] 5, Fork, -2.109, 0.924, 1.875, 0, 270, 0, 55 [SEP] 6, Spoon, -4.377, 0.924, 1.648, 0, 0, 0, 73 [SEP] 7, Spatula, -1.777, 0.938, 1.8, 0, 0, 0, 55 [SEP] 8, Plate, -0.259, 1.581, 3.228, 0, 270, 0, 106 [SEP] 9, Plate, -0.181, 0.925, 4.944, 0, 0, 0, 58 [SEP] 10, Knife, -0.334, 0.954, 5.273, 0, 0, 0, 58 [SEP] 11, Knife, -1.777, 0.953, 1.648, 0, 90, 0, 55 [SEP] 12, SoapBottle, -4.242, 0.923, 2.300, 0, 0, 0, 73 [SEP] 13, SoapBottle, -1.829, 1.452, 1.703, 0, 180, 0, 92 [SEP] 14, Bowl, -0.454, 1.067, 3.231, 0, 270, 0, 106 [SEP] 15, PepperShaker, -0.503, 0.742, 4.849, 0, 270, 0, 63 [SEP] 16, PepperShaker, -4.123, 0.080, 3.220, 0, 0, 0, 86 [SEP] 17, Lettuce, -4.196, 0.886, 3.285, 0, 270, 0, 105 [SEP] 18, Bread, -0.565, 1.004, 5.603, 0, 0, 0, 58 [SEP] 19, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 55 [SEP] 20, Mug, -0.301, 1.680, 3.975, 0, 270, 0, 106 [SEP] 21, Apple, -3.639, 0.122, 6.416, 0, 270, 0, 99 [SEP] 22, Apple, -0.411, 0.978, 4.944, 0, 0, 0, 58 [SEP] 23, Egg, -0.181, 0.960, 5.932, 0, 0, 0, 58 [SEP] 24, Apple, -3.748, 0.122, 6.416, 0, 270, 0, 99 [SEP] 25, Knife, -4.184, 0.953, 4.640, 0, 270, 0, 73 [SEP] 26, Potato, -0.242, 1.104, 3.231, 0, 270, 0, 106 [SEP] 27, Fork, -4.159, 0.791, 3.472, 0, 0, 0, 105 [SEP] 28, Bowl, -0.301, 1.577, 3.470, 0, 270, 0, 106 [SEP] 29, Plate, -4.184, 0.924, 4.122, 0, 90, 0, 73 [SEP] 30, Lettuce, -4.312, 1.018, 2.766, 0, 0, 0, 73 [SEP] 31, Bread, -0.401, 1.150, 3.479, 0, 270, 0, 106 [SEP] 32, Tomato, -0.411, 0.982, 5.603, 0, 0, 0, 58 [SEP] 33, WineBottle, -1.860, 0.924, 1.573, 0, 0, 0, 55 [SEP] 34, Spatula, -1.943, 0.938, 2.026, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -1.943, 1.027, 1.875, 0, 0, 0, 55 [SEP] 36, Cup, -3.613, 0.922, 5.182, 0, 90, 0, 73 [SEP] 37, Pencil, -3.798, 0.746, 1.985, 0, 0, 0, 50 [SEP] 38, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 70 [SEP] 39, Pot, -4.335, 0.924, 5.159, 0, 180, 0, 73 [SEP] 40, SaltShaker, -3.925, 1.455, 5.511, 0, 90, 0, 77 [SEP] 41, SoapBottle, -4.244, 0.077, 4.813, 0, 90, 0, 66 [SEP] 42, PepperShaker, -0.104, 0.921, 5.932, 0, 0, 0, 58 [SEP] 43, ButterKnife, -4.204, 0.923, 1.799, 0, 0, 0, 73 [SEP] 44, DishSponge, -1.860, 0.923, 1.951, 0, 0, 0, 55 [SEP] 45, Spoon, -4.159, 0.792, 3.222, 0, 270, 0, 105 [SEP] 46, Mug, -3.525, 1.448, 1.573, 0, 0, 0, 47 [SEP] 47, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 48, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 49, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 50, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 51, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 52, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 53, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 54, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 55, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 56, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 57, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 58, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 59, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 60, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 61, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 62, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 63, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 64, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 65, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 66, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 67, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 68, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 69, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 70, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 71, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 72, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 73, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 74, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 75, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 76, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 77, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 78, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 79, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 80, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 81, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 82, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 83, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 84, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 85, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 86, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 87, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 88, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 89, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 90, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 91, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 92, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 93, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 94, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 95, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 96, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 97, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 98, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 99, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 100, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 101, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 102, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 103, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 104, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 105, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 106, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn to the left, go forward to the counter on the right where the yellow handled knife is.  | STEP 2: Pick up the knife from the counter. | STEP 3: Use the knife to cut the bread into slices.  | STEP 4: Turn to the right, go forward to the counter on the right where the bread and tomato are.  | STEP 5: Use the knife to cut the bread into slices.  | STEP 6: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 7: Put the knife in to the garbage can. | STEP 8: Turn around, go forward, go to the right, go forward, hang a left and go to the counter where the bread and tomato are.  | STEP 9: Pick up a slice of bread from the counter.  | STEP 10: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 11: Put the bread in to the garbage can.  | STEP 12: Turn around, go forward to the counter, turn to the right, go forward to the counter on the right where the bread is.  | STEP 13: Pick up a slice of bread from the counter.  | STEP 14: Turn to the right, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 15: Put the bread in to the garbage can.  | END


Input: Put a bottle that has been in the refrigerator on the counter above the dishwasher. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 3.25, 0, 270, 0,  [SEP] 1, Pan, -1.263, 1.287, 1.197, 0, 0, 0, 87 [SEP] 2, SprayBottle, -0.211, 0.116, -0.490, 0, 0, 0, 62 [SEP] 3, SprayBottle, -1.135, 0.911, -0.817, 0, 0, 0, 73 [SEP] 4, CellPhone, 1.200, 0.884, 2.477, 0, 0, 0, 99 [SEP] 5, WineBottle, -1.290, 0.749, 2.459, 0, 0, 0, 48 [SEP] 6, WineBottle, -1.475, 0.750, 2.273, 0, 0, 0, 48 [SEP] 7, WineBottle, -1.383, 0.749, 2.459, 0, 0, 0, 48 [SEP] 8, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 94 [SEP] 9, Fork, 1.200, 0.886, 2.261, 0, 0, 0, 99 [SEP] 10, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 80 [SEP] 11, Egg, 1.357, 0.120, 1.377, 0, 0, 0, 88 [SEP] 12, Egg, -0.144, 0.793, -0.494, 0, 0, 0, 94 [SEP] 13, Knife, -1.105, 0.771, 2.830, 0, 0, 0, 48 [SEP] 14, Tomato, -1.378, 0.800, 1.197, 0, 90, 0, 87 [SEP] 15, Tomato, -1.149, 1.686, 1.086, 0, 90, 0, 87 [SEP] 16, Bread, 1.128, 0.974, -0.144, 0, 0, 0, 67 [SEP] 17, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 48 [SEP] 18, Lettuce, 1.034, 0.957, 2.261, 0, 0, 0, 99 [SEP] 19, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 86 [SEP] 20, Apple, 1.444, 0.971, -0.144, 0, 0, 0, 67 [SEP] 21, Apple, -1.149, 1.481, 0.883, 0, 90, 0, 87 [SEP] 22, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 67 [SEP] 23, Glassbottle, -0.020, 0.759, -0.533, 0, 0, 0, 94 [SEP] 24, Fork, -0.968, 0.912, -0.430, 0, 180, 0, 73 [SEP] 25, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 48 [SEP] 26, Tomato, 1.117, 0.936, 2.800, 0, 0, 0, 99 [SEP] 27, Plate, 1.444, 0.912, 0.422, 0, 0, 0, 67 [SEP] 28, CellPhone, -0.813, 0.909, -0.907, 0, 0, 0, 73 [SEP] 29, Lettuce, -0.919, 0.820, 1.902, 0, 0, 0, 48 [SEP] 30, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 31, SoapBottle, 1.207, 0.912, 0.706, 0, 0, 0, 67 [SEP] 32, WineBottle, 1.301, 0.087, 1.503, 0, 0, 0, 88 [SEP] 33, Spatula, -1.286, 0.927, -0.477, 0, 180, 0, 73 [SEP] 34, Bowl, -1.433, 0.910, -0.669, 0, 0, 0, 73 [SEP] 35, Apple, 1.470, 0.146, 1.409, 0, 0, 0, 88 [SEP] 36, Cup, -1.296, 1.014, -0.109, 0, 90, 0, 93 [SEP] 37, Knife, 1.367, 0.908, 2.477, 0, 90, 0, 99 [SEP] 38, Egg, -1.361, 1.049, 0.046, 0, 90, 0, 93 [SEP] 39, SaltShaker, 1.200, 0.882, 2.153, 0, 0, 0, 99 [SEP] 40, PepperShaker, 1.358, 1.656, 0.016, 0, 0, 0, 49 [SEP] 41, Potato, -0.020, 0.803, -0.691, 0, 0, 0, 94 [SEP] 42, ButterKnife, 1.034, 0.886, 2.800, 0, 0, 0, 99 [SEP] 43, DishSponge, -1.475, 0.749, 1.902, 0, 0, 0, 48 [SEP] 44, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 45, Spoon, 1.042, 0.777, -0.014, 0, 90, 0, 68 [SEP] 46, SprayBottle, 1.131, 0.115, 0.694, 0, 0, 0, 59 [SEP] 47, Mug, 1.034, 0.881, 2.477, 0, 270, 0, 99 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the red trash can. | STEP 2: Take the bottle from the trash can. | STEP 3: Turn around and go to the refrigerator. | STEP 4: Open the refrigerator, put the bottle in the top refrigerator shelf, close the refrigerator. Open the refrigerator, take the bottle from the refrigerator. | STEP 5: Turn left, go to the dishwasher. | STEP 6: Put the bottle on the counter above the dishwasher. | END


Input: Rinse a head of lettuce in the sink to put back on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.869, -3.25, 0, 90, 0,  [SEP] 1, Potato, -2.054, 0.832, -3.673, 0, 0, 0, 59 [SEP] 2, Potato, 0.785, 0.698, -2.190, 0, 270, 0, 57 [SEP] 3, DishSponge, -1.578, 0.699, -3.276, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.720, 0.760, -0.124, 0, 0, 0, 36 [SEP] 5, ButterKnife, 0.721, 0.664, 0.630, 0, 0, 0, 42 [SEP] 6, Spatula, 0.781, 0.680, 0.326, 0, 0, 0, 42 [SEP] 7, Spatula, -1.056, 0.915, 1.272, 0, 270, 0, 63 [SEP] 8, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 39 [SEP] 9, Plate, 0.676, 0.019, -0.119, 0, 0, 0, 47 [SEP] 10, Knife, 0.623, 0.783, -0.252, 0, 90, 0, 36 [SEP] 11, SoapBottle, -1.056, 0.899, 0.843, 0, 270, 0, 63 [SEP] 12, Lettuce, 0.149, 0.987, 1.101, 0, 270, 0, 63 [SEP] 13, Mug, 0.961, 0.660, 0.448, 0, 0, 0, 42 [SEP] 14, Apple, -1.578, 0.753, -3.698, 0, 0, 0, 64 [SEP] 15, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 46 [SEP] 16, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 73 [SEP] 17, Fork, -1.803, 0.702, -0.875, 0, 0, 0, 73 [SEP] 18, SoapBottle, -0.252, 0.899, 1.187, 0, 270, 0, 63 [SEP] 19, Apple, 0.841, 0.718, 0.448, 0, 0, 0, 42 [SEP] 20, Pan, 0.746, 0.464, -2.035, 0, 180, 0, 57 [SEP] 21, Egg, 0.708, 1.195, -1.880, 0, 270, 0, 57 [SEP] 22, Spatula, 0.866, 0.774, -0.252, 0, 90, 0, 36 [SEP] 23, Potato, -1.535, 0.733, -3.614, 0, 0, 0, 64 [SEP] 24, Cup, 1.024, 0.882, -0.176, 0, 0, 0, 37 [SEP] 25, SaltShaker, 0.877, 0.879, 0.029, 0, 0, 0, 37 [SEP] 26, PepperShaker, -1.620, 0.692, -3.614, 0, 0, 0, 64 [SEP] 27, ButterKnife, 0.781, 0.664, 0.448, 0, 0, 0, 42 [SEP] 28, DishSponge, 0.949, 1.463, 0.473, 0, 0, 0, 49 [SEP] 29, Bread, 0.149, 0.944, 0.843, 0, 270, 0, 63 [SEP] 30, Lettuce, -1.260, 0.138, -3.611, 0, 270, 0, 52 [SEP] 31, Tomato, 0.746, 0.713, -1.725, 0, 270, 0, 57 [SEP] 32, Spoon, 0.609, 0.872, -0.196, 0, 60.148, 0, 37 [SEP] 33, Knife, 0.817, 0.782, -0.252, 0, 90, 0, 36 [SEP] 34, Mug, -2.002, 0.794, -3.771, 0, 90, 0, 59 [SEP] 35, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 73 [SEP] 36, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 37, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 38, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 39, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 40, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 41, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 42, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 43, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 44, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 45, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 46, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 47, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 48, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 49, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 50, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 51, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 52, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 53, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 54, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 55, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 56, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 57, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 58, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 59, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 60, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 61, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 62, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 63, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 64, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 65, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 66, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 67, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 68, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 69, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 70, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 71, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 72, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 73, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 74, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn left, walking forward across the room towards the white table. | STEP 2: Pick up the head of lettuce from the table. | STEP 3: Make a right and walk towards the sink. | STEP 4: Rinse the head of lettuce in the sink, removing it afterwards. | STEP 5: Turn left, heading back to the white table. | STEP 6: Set the head of lettuce down on the white table next to the bottle of lotion. | END


Input: Place a rinsed fork on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Glassbottle, -0.344, 0.082, -2.201, 0, 0, 0, 48 [SEP] 2, Pencil, -2.324, 0.923, -0.963, 0, 0, 0, 68 [SEP] 3, Pencil, -0.690, 0.747, -3.527, 0, 90, 0, 42 [SEP] 4, Pen, -0.026, 0.918, -2.201, 0, 90, 0, 43 [SEP] 5, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 68 [SEP] 6, WineBottle, -0.499, 0.081, -3.299, 0, 0, 0, 49 [SEP] 7, Plate, -0.460, 0.083, -1.758, 0, 0, 0, 38 [SEP] 8, Egg, -1.881, 0.059, -3.763, 0, 0, 0, 59 [SEP] 9, Bread, -0.392, 1.443, -0.769, 0, 270, 0, 60 [SEP] 10, SaltShaker, -2.666, 0.919, -2.115, 0, 0, 0, 68 [SEP] 11, Mug, -2.210, 0.918, -1.654, 0, 0, 0, 68 [SEP] 12, Apple, -0.228, 1.764, -0.874, 0, 270, 0, 60 [SEP] 13, Apple, -1.257, 1.703, -3.804, 0, 0, 0, 56 [SEP] 14, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 68 [SEP] 15, Glassbottle, -0.385, 0.916, -3.909, 0, 0, 0, 43 [SEP] 16, Egg, -0.600, 0.948, -3.555, 0, 0, 0, 43 [SEP] 17, Pen, -0.222, 0.918, -3.771, 0, 0, 0, 43 [SEP] 18, Fork, -2.552, 0.924, -0.963, 0, 0, 0, 68 [SEP] 19, SoapBottle, -2.096, 0.922, -1.193, 0, 0, 0, 68 [SEP] 20, Pencil, -1.943, 0.027, -3.727, 0, 0, 0, 59 [SEP] 21, WineBottle, -0.685, 0.083, -3.662, 0, 0, 0, 47 [SEP] 22, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 43 [SEP] 23, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 43 [SEP] 24, Tomato, -2.552, 0.987, -2.115, 0, 0, 0, 68 [SEP] 25, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 41 [SEP] 26, Cup, -2.780, 0.922, -1.654, 0, 0, 0, 68 [SEP] 27, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 40 [SEP] 28, SaltShaker, -0.420, 0.743, -3.297, 0, 0, 0, 54 [SEP] 29, Potato, -2.324, 0.954, -2.345, 0, 0, 0, 68 [SEP] 30, PepperShaker, -0.343, 0.077, -3.330, 0, 0, 0, 49 [SEP] 31, ButterKnife, -0.365, 0.915, -2.764, 0, 90, 0, 43 [SEP] 32, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 68 [SEP] 33, Spoon, -0.350, 0.798, -2.008, 0, 270, 0, 61 [SEP] 34, Plate, -0.363, 1.533, -3.706, 0, 45, 0, 51 [SEP] 35, Knife, -0.600, 0.938, -3.839, 0, 90, 0, 43 [SEP] 36, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 57 [SEP] 37, Bowl, -2.754, 0.913, -1.174, 0, 18.855, 0, 68 [SEP] 38, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 39, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 40, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 41, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 42, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 43, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 44, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 45, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 46, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 47, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 48, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 49, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 50, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 51, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 52, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 53, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 54, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 55, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 56, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 57, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 58, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 59, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 60, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 61, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 62, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 63, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 64, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 65, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 66, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 67, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 68, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 69, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 70, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 71, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 72, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 73, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 74, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Walk to the green table ahead. | STEP 2: Pick up the silver fork to the right side of the table. | STEP 3: Turn left, hang a right at the fridge and walk to the sink on the left. | STEP 4: Put the fork in the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right to face the white stove. | STEP 6: Put the rinsed fork in front of the coffee maker on the counter to the left. | END


Input: Put the chilled pan on the back of the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.0, 0, 270, 0,  [SEP] 1, Potato, -0.047, 0.959, 0.762, 0, 0, 0, 84 [SEP] 2, ButterKnife, 0.066, 0.930, 1.448, 0, 0, 0, 84 [SEP] 3, ButterKnife, 1.850, 0.913, -2.002, 0, 0, 0, 67 [SEP] 4, WineBottle, 1.850, 0.914, -2.252, 0, 0, 0, 67 [SEP] 5, Spatula, 1.738, 0.928, -1.797, 0, 0, 0, 67 [SEP] 6, Spatula, 1.153, 0.928, -1.751, 0, 0, 0, 67 [SEP] 7, Spoon, -0.047, 0.931, 0.305, 0, 0, 0, 84 [SEP] 8, Egg, -1.036, 0.967, -2.260, 0, 0, 0, 67 [SEP] 9, Egg, -1.186, 1.069, -1.846, 0, 90, 0, 73 [SEP] 10, Plate, 1.572, 0.123, -1.266, 0, 270, 0, 61 [SEP] 11, Knife, 0.180, 0.953, 0.305, 0, 0, 0, 84 [SEP] 12, Knife, -0.113, 0.936, -1.762, 0, 0, 0, 67 [SEP] 13, Tomato, -0.064, 0.816, -1.936, 0, 0, 0, 79 [SEP] 14, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 67 [SEP] 15, SoapBottle, 0.408, 0.929, 0.534, 0, 0, 0, 84 [SEP] 16, SoapBottle, -1.254, 2.146, -0.910, 0, 90, 0, 51 [SEP] 17, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 93 [SEP] 18, Bowl, 1.919, 0.910, -1.212, 0, 0, 0, 67 [SEP] 19, SaltShaker, -0.346, 0.909, -1.713, 0, 0, 0, 67 [SEP] 20, PepperShaker, 0.522, 0.926, 0.534, 0, 0, 0, 84 [SEP] 21, Mug, -0.137, 0.759, -2.071, 0, 0, 0, 79 [SEP] 22, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 77 [SEP] 23, Apple, 1.872, 0.157, 0.083, 0, 0, 0, 68 [SEP] 24, Apple, -0.356, 0.835, -1.936, 0, 0, 0, 79 [SEP] 25, Apple, -0.772, 0.984, -2.167, 0, 0, 0, 67 [SEP] 26, Potato, 0.522, 0.956, 0.991, 0, 0, 0, 84 [SEP] 27, Bowl, -0.617, 0.108, -1.873, 0, 0, 0, 60 [SEP] 28, SoapBottle, -0.160, 0.925, 0.991, 0, 0, 0, 84 [SEP] 29, Fork, 1.738, 0.914, -1.446, 0, 0, 0, 67 [SEP] 30, Ladle, 0.481, 0.947, 1.420, 0, 0, 346.772, 84 [SEP] 31, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 84 [SEP] 32, Lettuce, 0.066, 1.008, 0.991, 0, 0, 0, 84 [SEP] 33, WineBottle, 0.180, 0.927, 1.220, 0, 0, 0, 84 [SEP] 34, Spatula, 0.294, 0.941, 0.991, 0, 0, 0, 84 [SEP] 35, Plate, 0.384, 1.662, -2.162, 0, 0, 0, 56 [SEP] 36, SaltShaker, 1.833, 1.653, -1.866, 0, 270, 0, 57 [SEP] 37, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 49 [SEP] 38, Cup, -0.941, 0.126, -1.538, 0, 90, 0, 62 [SEP] 39, PepperShaker, -0.897, 0.122, -1.426, 0, 90, 0, 60 [SEP] 40, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 48 [SEP] 41, ButterKnife, -0.791, 0.9, -2.186, 0, 164.999, 0, 67 [SEP] 42, Tomato, -0.283, 0.816, -2.071, 0, 0, 0, 79 [SEP] 43, DishSponge, 1.833, 1.657, -1.673, 0, 270, 0, 57 [SEP] 44, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 68 [SEP] 45, Spoon, 0.522, 0.931, 0.762, 0, 0, 0, 84 [SEP] 46, Knife, 0.180, 0.950, 0.534, 0, 0, 0, 84 [SEP] 47, Mug, 1.566, 0.875, 2.510, 0, 0, 0, 88 [SEP] 48, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 49, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 50, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 51, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 52, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 58, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 59, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 60, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 61, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 62, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 63, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 64, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 65, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 66, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 67, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 68, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 69, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 70, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 71, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 72, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 73, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 74, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 75, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 76, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 77, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 78, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 79, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 81, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 82, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 83, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 84, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 85, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 86, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 87, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 88, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 89, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 90, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 91, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 92, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 93, , , , , , , ,  [SEP] 94, NorthWall, , , , , , ,  [SEP] 95, EastWall, , , , , , ,  [SEP] 96, SouthWall, , , , , , ,  [SEP] 97, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the stove. | STEP 2: Pick up the round pan from the stove.  | STEP 3: Bring the pan to the fridge.  | STEP 4: Chill the pan in the fridge for 5 seconds.  | STEP 5: Bring the pan back to the stove.  | STEP 6: Put the pan down at the back right of the stove.  | END


Input: Place a cold pan on the stove top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.0, 0, 270, 0,  [SEP] 1, Potato, -0.047, 0.959, 0.762, 0, 0, 0, 84 [SEP] 2, ButterKnife, 0.066, 0.930, 1.448, 0, 0, 0, 84 [SEP] 3, ButterKnife, 1.850, 0.913, -2.002, 0, 0, 0, 67 [SEP] 4, WineBottle, 1.850, 0.914, -2.252, 0, 0, 0, 67 [SEP] 5, Spatula, 1.738, 0.928, -1.797, 0, 0, 0, 67 [SEP] 6, Spatula, 1.153, 0.928, -1.751, 0, 0, 0, 67 [SEP] 7, Spoon, -0.047, 0.931, 0.305, 0, 0, 0, 84 [SEP] 8, Egg, -1.036, 0.967, -2.260, 0, 0, 0, 67 [SEP] 9, Egg, -1.186, 1.069, -1.846, 0, 90, 0, 73 [SEP] 10, Plate, 1.572, 0.123, -1.266, 0, 270, 0, 61 [SEP] 11, Knife, 0.180, 0.953, 0.305, 0, 0, 0, 84 [SEP] 12, Knife, -0.113, 0.936, -1.762, 0, 0, 0, 67 [SEP] 13, Tomato, -0.064, 0.816, -1.936, 0, 0, 0, 79 [SEP] 14, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 67 [SEP] 15, SoapBottle, 0.408, 0.929, 0.534, 0, 0, 0, 84 [SEP] 16, SoapBottle, -1.254, 2.146, -0.910, 0, 90, 0, 51 [SEP] 17, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 93 [SEP] 18, Bowl, 1.919, 0.910, -1.212, 0, 0, 0, 67 [SEP] 19, SaltShaker, -0.346, 0.909, -1.713, 0, 0, 0, 67 [SEP] 20, PepperShaker, 0.522, 0.926, 0.534, 0, 0, 0, 84 [SEP] 21, Mug, -0.137, 0.759, -2.071, 0, 0, 0, 79 [SEP] 22, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 77 [SEP] 23, Apple, 1.872, 0.157, 0.083, 0, 0, 0, 68 [SEP] 24, Apple, -0.356, 0.835, -1.936, 0, 0, 0, 79 [SEP] 25, Apple, -0.772, 0.984, -2.167, 0, 0, 0, 67 [SEP] 26, Potato, 0.522, 0.956, 0.991, 0, 0, 0, 84 [SEP] 27, Bowl, -0.617, 0.108, -1.873, 0, 0, 0, 60 [SEP] 28, SoapBottle, -0.160, 0.925, 0.991, 0, 0, 0, 84 [SEP] 29, Fork, 1.738, 0.914, -1.446, 0, 0, 0, 67 [SEP] 30, Ladle, 0.481, 0.947, 1.420, 0, 0, 346.772, 84 [SEP] 31, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 84 [SEP] 32, Lettuce, 0.066, 1.008, 0.991, 0, 0, 0, 84 [SEP] 33, WineBottle, 0.180, 0.927, 1.220, 0, 0, 0, 84 [SEP] 34, Spatula, 0.294, 0.941, 0.991, 0, 0, 0, 84 [SEP] 35, Plate, 0.384, 1.662, -2.162, 0, 0, 0, 56 [SEP] 36, SaltShaker, 1.833, 1.653, -1.866, 0, 270, 0, 57 [SEP] 37, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 49 [SEP] 38, Cup, -0.941, 0.126, -1.538, 0, 90, 0, 62 [SEP] 39, PepperShaker, -0.897, 0.122, -1.426, 0, 90, 0, 60 [SEP] 40, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 48 [SEP] 41, ButterKnife, -0.791, 0.9, -2.186, 0, 164.999, 0, 67 [SEP] 42, Tomato, -0.283, 0.816, -2.071, 0, 0, 0, 79 [SEP] 43, DishSponge, 1.833, 1.657, -1.673, 0, 270, 0, 57 [SEP] 44, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 68 [SEP] 45, Spoon, 0.522, 0.931, 0.762, 0, 0, 0, 84 [SEP] 46, Knife, 0.180, 0.950, 0.534, 0, 0, 0, 84 [SEP] 47, Mug, 1.566, 0.875, 2.510, 0, 0, 0, 88 [SEP] 48, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 49, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 50, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 51, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 52, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 58, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 59, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 60, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 61, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 62, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 63, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 64, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 65, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 66, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 67, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 68, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 69, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 70, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 71, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 72, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 73, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 74, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 75, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 76, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 77, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 78, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 79, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 81, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 82, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 83, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 84, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 85, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 86, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 87, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 88, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 89, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 90, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 91, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 92, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 93, , , , , , , ,  [SEP] 94, NorthWall, , , , , , ,  [SEP] 95, EastWall, , , , , , ,  [SEP] 96, SouthWall, , , , , , ,  [SEP] 97, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the stove and turn left to face it. | STEP 2: Pick up the burner from the top left burner. | STEP 3: Turn right and make your way over to the fridge. | STEP 4: Open the fridge and put the pan on the bottom shelf and close the fridge letting the pan chill for a while before picking it back up and closing the fridge again. | STEP 5: Turn around and walk back to the stove. | STEP 6: Put the pan on the top right burner. | END


Input: Move a sponge to the wire shelf  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 3.25, 0, 0, 0,  [SEP] 1, SoapBar, -0.962, 0.042, 3.805, 0, 0, 0, 33 [SEP] 2, SoapBar, -3.376, 1.041, 1.801, 0, 0, 0, 38 [SEP] 3, SprayBottle, -2.293, 1.544, 3.818, 0, 0, 0, 32 [SEP] 4, DishSponge, 0.355, 1.048, 2.903, 0, 270, 0, 36 [SEP] 5, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 27 [SEP] 6, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 34 [SEP] 7, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 8, SoapBar, -0.867, 0.042, 3.86, 0, 0, 0, 33 [SEP] 9, ToiletPaper, -0.540, 0.627, 1.976, 0, 227.956, 0, 24 [SEP] 10, SoapBottle, -3.150, 0.866, 0.156, 0, 270, 0, 40 [SEP] 11, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 29 [SEP] 12, Cloth, 0.025, 0.053, 0.193, 0, 0, 0, 21 [SEP] 13, PaperTowelRoll, -0.771, 0.149, 3.914, 0, 0, 0, 33 [SEP] 14, Candle, -3.206, 0.864, 0.234, 0, 270, 0, 40 [SEP] 15, SprayBottle, 0.355, 1.048, 3.231, 0, 270, 0, 36 [SEP] 16, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 17, DishSponge, 0.385, 1.048, 3.034, 0, 270, 0, 36 [SEP] 18, Faucet, -0.141, 0.524, -0.211, 0, 0, 0,  [SEP] 19, Window, -1.507, 1.322, -0.364, 0, 0, 0,  [SEP] 20, Faucet, -3.401, 1.017, 1.531, 0, 90, 0,  [SEP] 21, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0,  [SEP] 22, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0,  [SEP] 23, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0,  [SEP] 24, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0,  [SEP] 25, Mirror, -3.447, 1.575, 1.516, 0, 0, 0,  [SEP] 26, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0,  [SEP] 27, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0,  [SEP] 28, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0,  [SEP] 29, Shelf, -2.587, 0.778, 3.909, 0, 0, 0,  [SEP] 30, Shelf, -2.587, 1.287, 3.941, 0, 0, 0,  [SEP] 31, Shelf, -2.587, 1.032, 3.941, 0, 0, 0,  [SEP] 32, Shelf, -2.587, 1.534, 3.909, 0, 0, 0,  [SEP] 33, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0,  [SEP] 34, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0,  [SEP] 35, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0,  [SEP] 36, Toilet, 0.063, 0.002, 3.096, 0, 0, 0,  [SEP] 37, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0,  [SEP] 38, Sink, -3.115, -0.013, 1.531, 0, 90, 0,  [SEP] 39, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0,  [SEP] 40, SideTable, -3.171, 0.002, 0.170, 0, 270, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Move to face the back of the toilet against the wall | STEP 2: Pick up the sponge on top of the toilet tank on the left | STEP 3: Carry the sponge over to the wire shelving rack in the corner of the room | STEP 4: Place the sponge on the second shelf from the top on the shelving unit | END


Input: Look at a pen in the light from the lamp. 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, 270, 0,  [SEP] 1, TissueBox, 1.183, 0.475, 0.512, 0, 180, 0, 35 [SEP] 2, TissueBox, 1.466, 0.479, 0.186, 0, 180, 0, 35 [SEP] 3, Pencil, 1.183, 0.480, 0.349, 0, 180, 0, 35 [SEP] 4, Pen, -0.606, 0.463, -0.691, 0, 0, 0, 41 [SEP] 5, Pen, 2.009, 0.070, -0.653, 0, 0, 0, 40 [SEP] 6, KeyChain, 3.827, 0.767, 1.151, 0, 180, 0, 45 [SEP] 7, KeyChain, 4.007, 0.878, 0.549, 0, 90, 0, 44 [SEP] 8, RemoteControl, 1.174, 0.337, 1.892, 0, 0, 0, 43 [SEP] 9, Box, 1.586, 0.582, 1.819, 0, 0, 0, 43 [SEP] 10, Laptop, -0.273, 0.321, 1.739, 0, 181.372, 0, 42 [SEP] 11, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 12, Newspaper, 2.033, 0.476, 0.186, 0, 180, 0, 35 [SEP] 13, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 35 [SEP] 14, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 40 [SEP] 15, TissueBox, 1.904, 0.067, -0.767, 0, 0, 0, 40 [SEP] 16, KeyChain, 3.827, 0.766, 0.578, 0, 90, 0, 45 [SEP] 17, Pen, 1.183, 0.483, 0.186, 0, 180, 0, 35 [SEP] 18, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0,  [SEP] 19, Pencil, 3.852, 0.769, 0.960, 0, 0, 0, 45 [SEP] 20, RemoteControl, 1.904, 0.454, -0.767, 0, 0, 0, 36 [SEP] 21, CreditCard, 1.466, 0.477, 0.676, 0, 180, 0, 35 [SEP] 22, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 25 [SEP] 23, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 41 [SEP] 24, Statue, 1.324, 0.487, 0.512, 0, 90, 0, 35 [SEP] 25, Sofa, 1.174, 0.0, 1.865, 0, 0, 0,  [SEP] 26, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0,  [SEP] 27, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0,  [SEP] 28, Television, 1.897, 1.281, -0.838, 0, 0, 0,  [SEP] 29, Painting, 4.070, 1.950, 0.848, 90, 270, 0,  [SEP] 30, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0,  [SEP] 31, Window, 0.023, 2.072, 2.484, 90, 180, 0,  [SEP] 32, Window, 1.570, 2.072, 2.484, 90, 180, 0,  [SEP] 33, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0,  [SEP] 34, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0,  [SEP] 35, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0,  [SEP] 36, Shelf, 1.905, 0.588, -0.730, 0, 0, 0,  [SEP] 37, TVStand, 1.904, -0.000, -0.770, 0, 0, 0,  [SEP] 38, Shelf, -0.289, 0.200, -0.732, 0, 0, 0,  [SEP] 39, TVStand, -0.290, -0.000, -0.772, 0, 0, 0,  [SEP] 40, Shelf, 1.905, 0.200, -0.730, 0, 0, 0,  [SEP] 41, Shelf, -0.289, 0.588, -0.732, 0, 0, 0,  [SEP] 42, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0,  [SEP] 43, Sofa, 1.193, 0.008, 1.865, 0, 180, 0,  [SEP] 44, SideTable, 3.946, 0.000, 0.865, 0, 270, 0,  [SEP] 45, Drawer, 3.882, 0.774, 0.864, 0, 270, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the TV stand to your right. | STEP 2: Pick up the blue pen on the bottom shelf. | STEP 3: Turn around and go to the lamp in the right corner. | STEP 4: Turn on the lamp. | END


Input: Pick up keys and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.916, 1.75, 0, 180, 0,  [SEP] 1, Statue, 3.160, 0.597, 0.298, 0, 270, 0, 44 [SEP] 2, KeyChain, 3.160, 0.590, 0.166, 0, 180, 0, 44 [SEP] 3, KeyChain, -0.046, 0.160, 1.891, 0, 0, 0, 68 [SEP] 4, KeyChain, -2.739, 0.563, 1.600, 0, 270, 0, 56 [SEP] 5, CreditCard, 3.103, 0.331, 1.497, 0, 180, 0, 43 [SEP] 6, CreditCard, 0.003, 0.663, 1.411, 0, 0, 0, 69 [SEP] 7, Box, -2.885, 0.754, 1.806, 0, 270, 0, 56 [SEP] 8, Box, -3.299, 0.782, -0.423, 0, 0, 0, 51 [SEP] 9, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 61 [SEP] 10, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 47 [SEP] 11, Statue, 0.158, 0.912, 2.431, 0, 0, 0, 61 [SEP] 12, CreditCard, -2.643, 0.358, -1.804, 0, 29.999, 0, 38 [SEP] 13, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 38 [SEP] 14, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0,  [SEP] 15, Newspaper, -0.170, 0.546, -2.291, 0, 0, 0, 39 [SEP] 16, Vase, -2.168, 1.195, -2.183, 0, 0, 0,  [SEP] 17, CellPhone, -0.113, 0.906, 1.217, 0, 0, 0, 61 [SEP] 18, RemoteControl, 3.160, 0.591, 1.334, 0, 270, 0, 42 [SEP] 19, Vase, -1.046, 1.195, -2.151, 0, 0, 0,  [SEP] 20, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 56 [SEP] 21, KeyChain, 3.043, 0.590, -0.706, 0, 180, 0, 47 [SEP] 22, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0,  [SEP] 23, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0,  [SEP] 24, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0,  [SEP] 25, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0,  [SEP] 26, Television, 0.069, 1.406, 1.698, 0, 270, 0,  [SEP] 27, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0,  [SEP] 28, Painting, -1.561, 1.408, -2.318, 90, 180, 0,  [SEP] 29, Painting, 3.367, 1.789, -0.949, 90, 270, 0,  [SEP] 30, Painting, -3.488, 1.386, -0.507, 90, 270, 0,  [SEP] 31, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0,  [SEP] 32, Window, 1.133, 1.218, -2.740, 90, 0, 0,  [SEP] 33, Window, -3.368, 1.180, -1.539, 90, 90, 0,  [SEP] 34, Window, 2.898, 1.218, -2.740, 90, 0, 0,  [SEP] 35, Window, 2.006, 1.218, -2.740, 90, 0, 0,  [SEP] 36, Window, -0.193, 1.157, -2.563, 90, 0, 0,  [SEP] 37, Window, -2.970, 1.157, -2.563, 90, 0, 0,  [SEP] 38, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0,  [SEP] 39, SideTable, -0.170, 0.027, -2.279, 0, 0, 0,  [SEP] 40, Drawer, -0.173, 0.465, -2.135, 0, 0, 0,  [SEP] 41, Drawer, 3.104, 0.167, 1.400, 0, 270, 0,  [SEP] 42, SideTable, 3.163, 0.032, 1.400, 0, 270, 0,  [SEP] 43, Drawer, 3.103, 0.418, 1.401, 0, 270, 0,  [SEP] 44, SideTable, 3.163, 0.032, 0.364, 0, 270, 0,  [SEP] 45, Drawer, -3.241, 0.418, -0.490, 0, 90, 0,  [SEP] 46, Drawer, 3.104, 0.167, -0.574, 0, 270, 0,  [SEP] 47, SideTable, 3.163, 0.032, -0.574, 0, 270, 0,  [SEP] 48, Drawer, 3.104, 0.167, 0.364, 0, 270, 0,  [SEP] 49, Drawer, 3.104, 0.419, -0.574, 0, 270, 0,  [SEP] 50, Drawer, -3.241, 0.167, -0.489, 0, 90, 0,  [SEP] 51, SideTable, -3.300, 0.032, -0.489, 0, 90, 0,  [SEP] 52, Drawer, 3.104, 0.419, 0.364, 0, 270, 0,  [SEP] 53, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0,  [SEP] 54, DogBed, 2.739, 0.032, 2.260, 0, 45, 0,  [SEP] 55, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0,  [SEP] 56, Sofa, -2.957, 0.032, 1.393, 0, 90, 0,  [SEP] 57, Drawer, -0.189, 0.232, 0.954, 0, 270, 0,  [SEP] 58, Drawer, -0.415, 0.854, 1.921, 0, 270, 0,  [SEP] 59, Drawer, -0.415, 0.351, 1.414, 0, 270, 0,  [SEP] 60, Drawer, -0.415, 0.603, 1.414, 0, 270, 0,  [SEP] 61, Dresser, -0.052, 0.028, 1.667, 0, 270, 0,  [SEP] 62, Drawer, -0.190, 0.484, 0.954, 0, 270, 0,  [SEP] 63, Drawer, -0.190, 0.736, 0.954, 0, 270, 0,  [SEP] 64, Drawer, -0.415, 0.603, 1.921, 0, 270, 0,  [SEP] 65, Drawer, -0.415, 0.603, 2.384, 0, 270, 0,  [SEP] 66, Drawer, -0.415, 0.351, 2.384, 0, 270, 0,  [SEP] 67, Drawer, -0.415, 0.854, 2.384, 0, 270, 0,  [SEP] 68, Drawer, -0.415, 0.351, 1.921, 0, 270, 0,  [SEP] 69, Drawer, -0.415, 0.854, 1.414, 0, 270, 0,  [SEP] 70, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0,  [SEP] 71, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Move forward and turn left to locate the small black table on the floor. | STEP 2: Pick up the keys from the top of the table. | STEP 3: Hold the keys and take a few steps to the right, to the lamp in the corner. | STEP 4: Hold the keys and turn on the lamp. | END


Input: Throwing two slices of bread into the trash SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 5.0, 0, 270, 0,  [SEP] 1, Potato, -0.401, 1.104, 3.479, 0, 270, 0, 103 [SEP] 2, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 85 [SEP] 3, Spatula, -4.184, 0.938, 3.863, 0, 90, 0, 70 [SEP] 4, Spatula, -0.334, 0.940, 5.603, 0, 0, 0, 55 [SEP] 5, Cup, -0.383, 1.334, 3.355, 0, 270, 0, 103 [SEP] 6, Cup, -0.383, 1.684, 3.854, 0, 270, 0, 103 [SEP] 7, Plate, -4.196, 0.791, 3.285, 0, 270, 0, 102 [SEP] 8, Plate, -0.342, 1.581, 3.228, 0, 270, 0, 103 [SEP] 9, Knife, -0.334, 0.954, 4.615, 0, 0, 0, 55 [SEP] 10, Knife, -3.852, 0.953, 5.182, 0, 90, 0, 70 [SEP] 11, SoapBottle, -1.855, 0.081, 1.892, 0, 0, 0, 86 [SEP] 12, Tomato, -0.258, 0.982, 4.944, 0, 0, 0, 55 [SEP] 13, SaltShaker, -0.473, 0.743, 4.460, 0, 270, 0, 60 [SEP] 14, SaltShaker, -0.532, 0.742, 6.722, 0, 270, 0, 90 [SEP] 15, PepperShaker, -3.859, 0.919, 1.799, 0, 0, 0, 70 [SEP] 16, PepperShaker, -0.258, 2.131, 6.070, 0, 180, 0, 69 [SEP] 17, Lettuce, -3.494, 1.018, 5.182, 0, 90, 0, 70 [SEP] 18, Bread, -0.488, 1.004, 4.944, 0, 0, 0, 55 [SEP] 19, Apple, -3.639, 0.122, 6.457, 0, 270, 0, 96 [SEP] 20, Egg, -4.159, 0.826, 3.097, 0, 270, 0, 102 [SEP] 21, Apple, -3.712, 0.122, 6.333, 0, 270, 0, 96 [SEP] 22, Knife, -1.943, 0.953, 1.951, 0, 0, 0, 52 [SEP] 23, Potato, -0.259, 1.369, 3.231, 0, 270, 0, 103 [SEP] 24, Fork, -4.033, 0.924, 4.122, 0, 90, 0, 70 [SEP] 25, Bowl, -4.26, 0.920, 4.381, 0, 90, 0, 70 [SEP] 26, Plate, -0.259, 1.336, 3.726, 0, 270, 0, 103 [SEP] 27, Lettuce, -1.777, 1.018, 1.8, 0, 0, 0, 52 [SEP] 28, Bread, -4.381, 1.003, 2.766, 0, 0, 0, 70 [SEP] 29, Tomato, -4.335, 0.980, 5.418, 0, 90, 0, 70 [SEP] 30, WineBottle, -2.026, 0.924, 1.573, 0, 0, 0, 52 [SEP] 31, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 55 [SEP] 32, PaperTowelRoll, -1.610, 1.027, 1.875, 0, 0, 0, 52 [SEP] 33, Cup, -3.613, 0.922, 5.566, 0, 90, 0, 70 [SEP] 34, Pencil, -0.258, 0.925, 5.603, 0, 0, 0, 55 [SEP] 35, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 58 [SEP] 36, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 67 [SEP] 37, SaltShaker, -4.312, 0.919, 2.416, 0, 0, 0, 70 [SEP] 38, SoapBottle, -3.474, 0.082, 5.229, 0, 90, 0, 88 [SEP] 39, PepperShaker, -3.251, 0.741, 1.986, 0, 0, 0, 76 [SEP] 40, ButterKnife, -4.411, 0.923, 4.640, 0, 270, 0, 70 [SEP] 41, DishSponge, -2.109, 0.923, 1.724, 0, 0, 0, 52 [SEP] 42, Spoon, -4.132, 0.755, 2.501, 0, 0, 0, 50 [SEP] 43, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 91 [SEP] 44, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 45, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 46, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 47, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 48, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 49, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 50, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 51, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 52, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 53, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 54, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 55, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 56, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 57, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 58, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 59, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 60, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 61, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 62, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 63, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 64, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 65, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 66, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 67, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 68, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 69, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 70, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 71, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 72, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 73, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 74, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 75, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 76, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 77, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 78, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 79, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 80, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 81, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 82, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 83, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 84, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 85, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 86, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 87, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 88, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 89, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 90, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 91, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 92, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 93, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 94, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 96, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 97, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 98, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 99, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 100, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 101, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 102, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 103, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Move around the counter keeping it on the right until you're in front of it | STEP 2: Pick up the knife on the counter | STEP 3: Turn around and move to the sink on the right | STEP 4: Slice the bread to the left of the sink | STEP 5: Turn around and move to the counter on the far left of the wall | STEP 6: Slice the second loaf of bread that is below the tomato | STEP 7: Turn left and move to the trash can in the small area ahead | STEP 8: Put the knife in the trash can | STEP 9: Turn around and turn right and move towards the counter with the sink | STEP 10: Pick up a slice of bread from the middle of the loaf to the left of the sink | STEP 11: Turn to the left and move to the wall before turning left into the small area with the trash can | STEP 12: Put the slice in the trash can | STEP 13: Turn around and return to the second loaf of bread that is below the tomato | STEP 14: Pick up a slice of bread from the middle of the loaf that sits below the tomato  | STEP 15: Turn around and go back to the small room with the trash can | STEP 16: Put the second slice of bread in the trash beneath the first one | END


Input: Move a coffee cup from the round table to the small table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -2.5, 0, 90, 0,  [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 64 [SEP] 2, Pan, -2.761, 0.892, -0.290, 0, 270, 0, 82 [SEP] 3, Potato, -0.321, 1.520, -0.762, 0, 270, 0, 75 [SEP] 4, DishSponge, -3.364, 0.894, -0.462, 0, 270, 0, 82 [SEP] 5, DishSponge, -0.524, 0.746, -1.375, 0, 0, 0, 49 [SEP] 6, Spoon, -1.694, 0.943, -3.829, 0, 0, 0, 45 [SEP] 7, Spoon, -3.565, 0.895, -0.548, 0, 270, 0, 82 [SEP] 8, Spatula, -3.329, 0.775, -3.421, 0, 109.125, 0, 81 [SEP] 9, Spatula, -0.078, 0.956, -1.494, 0, 0, 0, 63 [SEP] 10, Cup, -3.409, 0.760, -2.902, 0, 199.125, 0, 81 [SEP] 11, Cup, -0.315, 0.942, -1.494, 0, 0, 0, 63 [SEP] 12, Plate, -3.676, 0.774, -3.348, 0, 334.125, 0, 81 [SEP] 13, SoapBottle, -0.135, 1.500, -1.409, 0, 0, 0, 56 [SEP] 14, SoapBottle, -0.552, 0.939, -1.406, 0, 0, 0, 63 [SEP] 15, Tomato, -0.417, 1.337, -0.413, 0, 270, 0, 75 [SEP] 16, Tomato, -2.387, 0.150, -3.505, 0, 0, 0, 70 [SEP] 17, Bowl, -2.962, 0.892, -0.376, 0, 270, 0, 82 [SEP] 18, Bread, -0.473, 1.023, -2.729, 0, 0, 0, 45 [SEP] 19, Lettuce, -3.942, 0.781, -0.187, 0, 0, 0, 80 [SEP] 20, Lettuce, -3.314, 0.851, -3.241, 0, 244.125, 0, 81 [SEP] 21, SaltShaker, -1.154, 0.749, -3.505, 0, 0, 0, 51 [SEP] 22, Mug, -1.248, 0.937, -3.439, 0, 0, 0, 45 [SEP] 23, Mug, -0.509, 0.075, -2.793, 0, 0, 0, 58 [SEP] 24, SoapBottle, -0.168, 0.940, -2.906, 0, 0, 0, 45 [SEP] 25, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 46 [SEP] 26, Fork, -0.508, 0.814, -3.357, 0, 315, 0, 74 [SEP] 27, Cup, -0.234, 1.576, -2.043, 0, 270, 0, 77 [SEP] 28, Tomato, -0.359, 1.539, -0.297, 0, 270, 0, 75 [SEP] 29, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 64 [SEP] 30, Plate, -0.321, 1.502, -0.994, 0, 270, 0, 75 [SEP] 31, Bread, -1.248, 1.023, -3.673, 0, 0, 0, 45 [SEP] 32, Spatula, -0.818, 0.828, -3.510, 0, 225, 0, 74 [SEP] 33, Knife, -3.163, 0.920, -0.462, 0, 180, 0, 82 [SEP] 34, SaltShaker, -4.122, 0.686, -0.187, 0, 0, 0, 80 [SEP] 35, PepperShaker, -0.243, 0.938, -3.070, 0, 45, 0, 45 [SEP] 36, ButterKnife, -0.157, 0.941, -1.319, 0, 0, 0, 63 [SEP] 37, Apple, -0.376, 1.348, -0.994, 0, 270, 0, 75 [SEP] 38, DishSponge, -3.882, 0.690, -0.369, 0, 0, 0, 80 [SEP] 39, Potato, -4.182, 0.722, -0.491, 0, 0, 0, 80 [SEP] 40, Egg, -4.062, 0.732, -0.430, 0, 0, 0, 80 [SEP] 41, Spoon, -3.982, 0.761, -3.635, 0, 244.125, 0, 81 [SEP] 42, Lettuce, -2.359, 0.985, -0.290, 0, 270, 0, 82 [SEP] 43, Mug, -3.870, 0.755, -3.511, 0, 244.125, 0, 81 [SEP] 44, Bowl, -3.710, 0.758, -2.850, 0, 334.125, 0, 81 [SEP] 45, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 46, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 47, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 48, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 49, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 50, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 51, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 52, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 53, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 54, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 55, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 56, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 57, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 58, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 59, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 60, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 61, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 62, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 63, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 64, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 65, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 66, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 67, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 68, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 69, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 70, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 71, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 72, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 73, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 74, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 75, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 76, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 77, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 78, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 79, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 80, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 81, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 82, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 83, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 84, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, EastWall, , , , , , ,  [SEP] 87, SouthWall, , , , , , ,

Output: STEP 1: Turn and go to the counter by the refrigerator. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn and go to the round table. | STEP 4: Put the knife in the coffee cup on the round table. | STEP 5: Pick up the coffee cup on the round table.  | STEP 6: Turn and go to the small table in the corner. | STEP 7: Put the coffee cup on the small table. | END


Input: Put a heated slice of potato 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, -3.25, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 47 [SEP] 2, Book, -1.961, 0.908, -0.614, 0, 0, 0, 48 [SEP] 3, ButterKnife, 0.179, 0.928, -1.718, 0, 270, 0, 45 [SEP] 4, Kettle, -3.165, 0.875, 3.370, 0, 270, 0, 50 [SEP] 5, Kettle, -2.912, 0.875, 3.685, 0, 135, 0, 50 [SEP] 6, Spatula, 0.014, 0.943, -1.429, 0, 270, 0, 45 [SEP] 7, Fork, -2.490, 0.879, 3.147, 0, 270, 0, 50 [SEP] 8, Spoon, -1.649, 0.718, -0.788, 0, 0, 0, 63 [SEP] 9, Plate, -2.183, 0.916, -1.265, 0, 0, 0, 48 [SEP] 10, SoapBottle, 3.716, 0.881, 1.656, 0, 270, 0, 69 [SEP] 11, SoapBottle, -2.912, 0.879, 2.758, 0, 225, 0, 50 [SEP] 12, Lettuce, -1.738, 0.977, 0.363, 0, 0, 0, 48 [SEP] 13, Mug, -2.472, 0.873, 3.513, 0, 225, 0, 50 [SEP] 14, Mug, -0.149, 0.383, 1.967, 0, 180, 0, 73 [SEP] 15, Apple, 0.525, 0.967, -1.572, 0, 0, 0, 48 [SEP] 16, Book, -1.516, 0.908, 0.363, 0, 0, 0, 48 [SEP] 17, Fork, -2.726, 0.879, 3.393, 0, 135, 0, 50 [SEP] 18, Tomato, -2.436, 0.922, 2.884, 0, 0, 0, 50 [SEP] 19, Egg, -0.149, 0.414, 2.112, 0, 180, 0, 73 [SEP] 20, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 51 [SEP] 21, Vase, -1.738, 0.913, -1.265, 0, 0, 0, 48 [SEP] 22, Cup, -2.584, 0.873, 3.728, 0, 0, 0, 50 [SEP] 23, WineBottle, 0.700, 1.654, -1.749, 0, 0, 0, 59 [SEP] 24, Plate, -1.388, 1.661, -1.710, 0, 0, 0, 61 [SEP] 25, Spatula, 0.179, 0.943, -1.501, 0, 270, 0, 45 [SEP] 26, Potato, 0.069, 0.965, -1.501, 0, 270, 0, 45 [SEP] 27, Pot, -1.602, 0.901, -0.172, 0, 308.119, 0, 48 [SEP] 28, Knife, 1.760, 0.932, -1.437, 0, 90, 0, 68 [SEP] 29, SaltShaker, -1.583, 0.716, -1.073, 0, 0, 0, 63 [SEP] 30, PepperShaker, 1.631, 1.651, -1.709, 0, 0, 0, 58 [SEP] 31, Lettuce, -2.490, 0.943, 3.221, 0, 270, 0, 50 [SEP] 32, ButterKnife, -2.644, 0.874, 2.997, 0, 135, 0, 50 [SEP] 33, Bread, -1.516, 0.995, -1.265, 0, 0, 0, 48 [SEP] 34, Vase, -2.013, 0.120, -1.726, 0, 0, 0, 49 [SEP] 35, DishSponge, 0.663, 0.911, -1.572, 0, 0, 0, 48 [SEP] 36, Apple, -2.152, 0.933, 3.296, 0, 270, 0, 50 [SEP] 37, Pan, -0.149, 1.571, 2.040, 0, 180, 0, 73 [SEP] 38, Spoon, -1.269, 0.913, -1.471, 0, 0, 0, 48 [SEP] 39, SoapBottle, -2.088, 0.120, -1.580, 0, 0, 0, 49 [SEP] 40, Mug, -2.001, 1.652, -1.747, 0, 0, 0, 44 [SEP] 41, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 71 [SEP] 42, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 71 [SEP] 43, Bowl, 0.193, 1.570, 2.160, 0, 180, 0, 73 [SEP] 44, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 45, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 46, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 47, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 48, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 49, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 50, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 51, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 52, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 53, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 54, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 55, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 56, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 57, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 58, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 59, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 60, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 61, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 62, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 63, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 64, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 65, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 66, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 67, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 68, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 69, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 70, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 71, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 72, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 73, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 74, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 75, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 76, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 77, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 78, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 79, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 80, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 81, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 82, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 83, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 84, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 85, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 86, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 87, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 88, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 89, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 90, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 91, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 92, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Go around the counter to go to the front of the Sink.  | STEP 2: Pick up the gray knife on the counter. | STEP 3: Move over to the right. | STEP 4: Slice the potato on the counter. | STEP 5: Place the knife in the sink. | STEP 6: Pick up one slice of potato.  | STEP 7: Turn left and go to the microwave above the stove. | STEP 8: Microwave the slice of potato, and take it out. | STEP 9: Turn around and go to the table on the opposite side. | STEP 10: Place the potato slice on the table on the right of the tea kettle.  | END


Input: To cool a lettuce slice and place it on the counter to the left of the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 2.5, 0, 90, 0,  [SEP] 1, Potato, 0.061, 0.951, -1.263, 0, 90, 0, 47 [SEP] 2, Potato, 1.726, 0.951, -1.460, 0, 90, 0, 47 [SEP] 3, ButterKnife, 1.757, 0.910, 1.004, 0, 90, 0, 43 [SEP] 4, ButterKnife, 0.220, 0.910, 1.180, 0, 90, 0, 43 [SEP] 5, DishSponge, 1.757, 0.910, 1.269, 0, 90, 0, 43 [SEP] 6, DishSponge, 1.800, 0.069, 1.588, 0, 270, 0, 61 [SEP] 7, Pot, 1.807, 0.909, -0.320, 0, 180, 0, 45 [SEP] 8, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 62 [SEP] 9, Spatula, 1.796, 0.926, -1.802, 0, 90, 0, 47 [SEP] 10, Egg, -0.644, 0.785, -1.489, 0, 0, 0, 70 [SEP] 11, Egg, 1.101, 0.795, -1.654, 0, 0, 0, 62 [SEP] 12, Cup, 1.451, 0.908, 0.467, 0, 90, 0, 43 [SEP] 13, Cup, -0.692, 1.387, -1.594, 0, 0, 0, 70 [SEP] 14, Plate, 1.805, 1.647, -1.724, 0, 0, 0, 57 [SEP] 15, SoapBottle, 1.769, 1.652, -0.353, 0, 0, 0, 54 [SEP] 16, Tomato, 0.356, 0.975, -1.263, 0, 90, 0, 47 [SEP] 17, SaltShaker, 1.501, 0.905, 1.180, 0, 90, 0, 43 [SEP] 18, PepperShaker, 1.757, 0.905, 1.092, 0, 90, 0, 43 [SEP] 19, PepperShaker, 1.012, 0.906, -1.264, 0, 90, 0, 47 [SEP] 20, Mug, -0.887, 0.741, -1.559, 0, 180, 0, 70 [SEP] 21, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 53 [SEP] 22, SoapBottle, 1.877, 1.652, -0.449, 0, 0, 0, 54 [SEP] 23, Cup, -0.838, 0.458, -1.348, 0, 0, 0, 70 [SEP] 24, Egg, 1.77, 0.105, 1.731, 0, 270, 0, 61 [SEP] 25, Fork, 0.732, 0.911, 0.915, 0, 90, 0, 43 [SEP] 26, Ladle, 1.201, 0.926, 0.743, 3.373, 0, 346.986, 43 [SEP] 27, Apple, 1.239, 0.817, -1.544, 0, 0, 0, 62 [SEP] 28, SaltShaker, 1.935, 0.906, -1.288, 0, 90, 0, 47 [SEP] 29, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 43 [SEP] 30, Tomato, 1.684, 0.974, 0.570, 0, 90, 0, 43 [SEP] 31, Spatula, 0.732, 0.925, 1.004, 0, 180, 0, 43 [SEP] 32, Potato, -0.741, 0.786, -1.594, 0, 90, 0, 70 [SEP] 33, Knife, 1.501, 0.943, 0.915, 0, 90, 0, 43 [SEP] 34, ButterKnife, 0.989, 0.910, 0.827, 0, 90, 0, 43 [SEP] 35, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 43 [SEP] 36, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.892, 43 [SEP] 37, PepperShaker, 1.842, 2.132, 0.767, 0, 0, 0, 51 [SEP] 38, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 49 [SEP] 39, DishSponge, 1.586, 0.910, -1.374, 0, 90, 0, 47 [SEP] 40, Spoon, 1.839, 0.911, 0.467, 0, 90, 0, 43 [SEP] 41, Bowl, 0.220, 0.909, 0.827, 0, 90, 0, 43 [SEP] 42, Mug, 1.771, 1.010, -0.676, 0, 270, 0, 67 [SEP] 43, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 44, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 45, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 46, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 47, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 48, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 49, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 50, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 51, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 52, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 53, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 54, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 55, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 56, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 57, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 58, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 59, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 60, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 61, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 62, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 63, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 64, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 65, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 66, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 67, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 68, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 69, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 70, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 71, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 72, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 73, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk around to face the opposite side of the counter. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Step left to face the end of the counter. | STEP 4: Place the lettuce on the end of the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the lettuce on the counter into slices. | STEP 7: Place the knife on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around to face the fridge. | STEP 10: Cool the lettuce slice in the fridge and remove it. | STEP 11: Take a step to the left to face the counter. | STEP 12: Place the lettuce slice on the counter. | END


Input: Put a frozen slice of lettuce on the counter.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 2.5, 0, 90, 0,  [SEP] 1, Potato, 0.061, 0.951, -1.263, 0, 90, 0, 47 [SEP] 2, Potato, 1.726, 0.951, -1.460, 0, 90, 0, 47 [SEP] 3, ButterKnife, 1.757, 0.910, 1.004, 0, 90, 0, 43 [SEP] 4, ButterKnife, 0.220, 0.910, 1.180, 0, 90, 0, 43 [SEP] 5, DishSponge, 1.757, 0.910, 1.269, 0, 90, 0, 43 [SEP] 6, DishSponge, 1.800, 0.069, 1.588, 0, 270, 0, 61 [SEP] 7, Pot, 1.807, 0.909, -0.320, 0, 180, 0, 45 [SEP] 8, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 62 [SEP] 9, Spatula, 1.796, 0.926, -1.802, 0, 90, 0, 47 [SEP] 10, Egg, -0.644, 0.785, -1.489, 0, 0, 0, 70 [SEP] 11, Egg, 1.101, 0.795, -1.654, 0, 0, 0, 62 [SEP] 12, Cup, 1.451, 0.908, 0.467, 0, 90, 0, 43 [SEP] 13, Cup, -0.692, 1.387, -1.594, 0, 0, 0, 70 [SEP] 14, Plate, 1.805, 1.647, -1.724, 0, 0, 0, 57 [SEP] 15, SoapBottle, 1.769, 1.652, -0.353, 0, 0, 0, 54 [SEP] 16, Tomato, 0.356, 0.975, -1.263, 0, 90, 0, 47 [SEP] 17, SaltShaker, 1.501, 0.905, 1.180, 0, 90, 0, 43 [SEP] 18, PepperShaker, 1.757, 0.905, 1.092, 0, 90, 0, 43 [SEP] 19, PepperShaker, 1.012, 0.906, -1.264, 0, 90, 0, 47 [SEP] 20, Mug, -0.887, 0.741, -1.559, 0, 180, 0, 70 [SEP] 21, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 53 [SEP] 22, SoapBottle, 1.877, 1.652, -0.449, 0, 0, 0, 54 [SEP] 23, Cup, -0.838, 0.458, -1.348, 0, 0, 0, 70 [SEP] 24, Egg, 1.77, 0.105, 1.731, 0, 270, 0, 61 [SEP] 25, Fork, 0.732, 0.911, 0.915, 0, 90, 0, 43 [SEP] 26, Ladle, 1.201, 0.926, 0.743, 3.373, 0, 346.986, 43 [SEP] 27, Apple, 1.239, 0.817, -1.544, 0, 0, 0, 62 [SEP] 28, SaltShaker, 1.935, 0.906, -1.288, 0, 90, 0, 47 [SEP] 29, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 43 [SEP] 30, Tomato, 1.684, 0.974, 0.570, 0, 90, 0, 43 [SEP] 31, Spatula, 0.732, 0.925, 1.004, 0, 180, 0, 43 [SEP] 32, Potato, -0.741, 0.786, -1.594, 0, 90, 0, 70 [SEP] 33, Knife, 1.501, 0.943, 0.915, 0, 90, 0, 43 [SEP] 34, ButterKnife, 0.989, 0.910, 0.827, 0, 90, 0, 43 [SEP] 35, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 43 [SEP] 36, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.892, 43 [SEP] 37, PepperShaker, 1.842, 2.132, 0.767, 0, 0, 0, 51 [SEP] 38, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 49 [SEP] 39, DishSponge, 1.586, 0.910, -1.374, 0, 90, 0, 47 [SEP] 40, Spoon, 1.839, 0.911, 0.467, 0, 90, 0, 43 [SEP] 41, Bowl, 0.220, 0.909, 0.827, 0, 90, 0, 43 [SEP] 42, Mug, 1.771, 1.010, -0.676, 0, 270, 0, 67 [SEP] 43, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 44, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 45, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 46, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 47, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 48, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 49, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 50, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 51, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 52, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 53, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 54, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 55, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 56, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 57, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 58, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 59, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 60, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 61, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 62, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 63, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 64, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 65, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 66, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 67, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 68, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 69, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 70, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 71, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 72, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 73, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Turn around and go around the counter on the left to the other side.  | STEP 2: Pick up the lettuce on the counter.  | STEP 3: Move over to the right side of the counter.  | STEP 4: Place the lettuce back on the counter on the left of the fork and spatula.  | STEP 5: Pick up the gray knife from the counter.  | STEP 6: Cut the lettuce on the counter.  | STEP 7: Throw the knife back on the counter on top of the golden ladle.  | STEP 8: Pick up one slice of the lettuce from the counter. .  | STEP 9: Turn around and go to the front of the refrigerator. | STEP 10: Remove the lettuce after freezing it in the freezer.  | STEP 11: Turn left to go to the front of the counter with the coffee machine.  | STEP 12: Place the slice of the lettuce on the counter in front of the coffee machine. | END


Input: Put a vase and a lid on a small dresser. 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, 2.0, 0, 270, 0,  [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Cross the room to the window, then turn to the bookcase on the right. | STEP 2: Pick up the vase on the shelf. | STEP 3: Cross the room to the door, turn right, then turn to the dresser on the left. | STEP 4: Place the vase on the dresser. | STEP 5: Turn left, then left again at the door, then turn to the large dresser on the right. | STEP 6: Pick up the gold lid on the dresser. | STEP 7: Head toward the door, then turn right, then turn back to the small dresser on the left. | STEP 8: Place the lid to the right of the vase. | END


Input: Put two items from the shelf to the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0,  [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Move to the shelf across from the door to the right.  | STEP 2: Pick up a clear vase from the shelf. | STEP 3: Move to the end table to the right of the door. | STEP 4: Place the vase on the end table  | STEP 5: Move to the shelf across from the door to the right.  | STEP 6: Pick up a golden disc from the shelf. | STEP 7: Move to the end table to the right of the door. | STEP 8: Place the disk on the end table  | END


Input: Gather the earn with it's lid to put them on the night stand. 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, 2.0, 0, 270, 0,  [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk behind the couch to the far corner then turn right and approach book shelf. | STEP 2: Pick up the earn from the top shelf. | STEP 3: Walk to the right and go to the night stand. | STEP 4: Put the earn on top of the night stand. | STEP 5: Turn on the lamp then walk over to the dresser. | STEP 6: Pick up the lid for the candy dish from the dresser. | STEP 7: Walk back over to the night stand. | STEP 8: Place the lid on the night stand next to the earn. | END


Input: Put a gold disk and a vase on the end table at the foot of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0,  [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Move to the shelf to the right of the bed | STEP 2: Pick up a vase from the shelf | STEP 3: Move to the end table at the foot of the bed | STEP 4: Place the vase on the end table | STEP 5: Move to the dresser to the right of the bed | STEP 6: Pick up a gold disk from the dresser | STEP 7: Move to the end table at the foot of the bed | STEP 8: Place the disk on the end table | END


Input: drop a vase with the lid on a bed lamp stand 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, 2.0, 0, 270, 0,  [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0,  [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0,  [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0,  [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0,  [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0,  [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0,  [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0,  [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0,  [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0,  [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0,  [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0,  [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0,  [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0,  [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0,  [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0,  [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0,  [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0,  [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0,  [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0,  [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0,  [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0,  [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0,  [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0,  [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0,  [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0,  [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0,  [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0,  [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0,  [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0,  [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0,  [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0,  [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0,  [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0,  [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0,  [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0,  [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: move left towards the shelf | STEP 2: pick up the vase from the shelf | STEP 3: turn right and head towards the bed lamp | STEP 4: drop the vase on the bed lamp | STEP 5: turn around and head for the cupboard | STEP 6: pick up the vase lid | STEP 7: turn around and head for the bad lamp stand | STEP 8: drop the vase lid on the bed lamp stand | END


Input: Chill an egg and 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, -1.25, 0.901, -1.25, 0, 0, 0,  [SEP] 1, Potato, -0.158, 1.056, -0.802, 0, 270, 0, 77 [SEP] 2, DishSponge, -2.439, 0.713, -0.371, 0, 270, 0, 84 [SEP] 3, DishSponge, -3.300, 0.713, -0.665, 0, 225, 0, 84 [SEP] 4, Spatula, -0.471, 0.761, -0.837, 0, 90, 0, 66 [SEP] 5, Spatula, -3.477, 0.928, -3.428, 0, 90, 0, 40 [SEP] 6, Spoon, -1.638, 0.791, -3.747, 0, 0, 0, 82 [SEP] 7, Fork, -3.111, 0.747, -3.078, 0, 90, 0, 62 [SEP] 8, Fork, -1.058, 0.914, -3.581, 0, 0, 0, 40 [SEP] 9, Plate, -2.877, 0.715, -0.684, 0, 225, 0, 84 [SEP] 10, Plate, -3.130, 1.397, -2.002, 0, 90, 0, 81 [SEP] 11, Knife, -0.338, 0.948, -0.455, 0, 0, 0, 67 [SEP] 12, Tomato, -3.234, 1.063, -1.879, 0, 90, 0, 81 [SEP] 13, Tomato, -0.176, 0.965, -1.616, 0, 0, 0, 67 [SEP] 14, SoapBottle, -0.014, 0.915, -1.616, 0, 0, 0, 67 [SEP] 15, SaltShaker, -2.270, 0.910, -3.729, 0, 0, 0, 40 [SEP] 16, PepperShaker, -2.678, 0.710, -0.638, 0, 0, 0, 84 [SEP] 17, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 80 [SEP] 18, Mug, -2.708, 0.711, -0.741, 0, 135, 0, 84 [SEP] 19, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 69 [SEP] 20, Egg, -3.225, 0.949, -2.825, 0, 0, 0, 40 [SEP] 21, Cup, -3.225, 0.914, -3.026, 0, 0, 0, 40 [SEP] 22, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 40 [SEP] 23, Fork, -3.167, 0.914, -3.581, 0, 0, 0, 40 [SEP] 24, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 65 [SEP] 25, Potato, -3.098, 0.760, -0.463, 0, 225, 0, 84 [SEP] 26, Lettuce, -3.346, 1.001, -3.878, 0, 0, 0, 40 [SEP] 27, Tomato, -3.130, 0.690, -2.002, 0, 90, 0, 81 [SEP] 28, Apple, -2.581, 0.759, -0.496, 0, 270, 0, 84 [SEP] 29, SoapBottle, -0.243, 0.913, -3.878, 0, 0, 0, 40 [SEP] 30, Spatula, -0.076, 0.928, -3.012, 0, 0, 0, 40 [SEP] 31, SaltShaker, -0.441, 0.742, -2.968, 0, 0, 0, 70 [SEP] 32, Knife, -0.530, 0.779, -0.685, 0, 90, 0, 66 [SEP] 33, PepperShaker, -1.867, 0.078, -3.713, 0, 0, 0, 61 [SEP] 34, ButterKnife, -2.564, 0.713, -0.194, 0, 225, 0, 84 [SEP] 35, Plate, -0.650, 0.911, -3.729, 0, 0, 0, 40 [SEP] 36, DishSponge, -0.419, 0.915, -1.493, 0, 0, 0, 67 [SEP] 37, Spoon, -0.338, 0.917, -1.432, 0, 0, 0, 67 [SEP] 38, Mug, -1.983, 0.785, -3.747, 0, 180, 0, 82 [SEP] 39, Bowl, -2.928, 0.714, -0.922, 0, 0, 0, 84 [SEP] 40, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 41, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 42, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 43, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 44, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 45, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 46, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 47, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 48, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 49, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 50, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 51, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 52, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 53, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 54, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 55, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 56, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 57, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 58, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 59, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 60, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 61, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 62, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 63, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 64, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 65, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 66, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 67, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 68, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 69, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 70, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 71, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 72, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 73, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 74, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 75, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 76, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 77, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 78, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 79, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 80, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 81, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 82, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 83, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 84, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 85, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 86, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the counter. Turn right to the other side of the counter. | STEP 2: Pick up the egg from the right side of the counter. | STEP 3: Carry the egg and turn around. Face the fridge on the left side. | STEP 4: Open the fridge and place the egg inside. Shut the door and then open it again. Take out the egg and shut the door. | STEP 5: Carry the egg and turn to the left and then left again. Turn around so the sink is on the left. | STEP 6: Place the egg on the counter, to the left of the sink. | END