Input: Place a rinsed head of lettuce in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 0, 0,  [SEP] 1, Ladle, 0.294, 0.975, 0.762, 0, 0, 0, 81 [SEP] 2, DishSponge, 1.466, 0.913, -1.095, 0, 0, 0, 64 [SEP] 3, ButterKnife, -0.230, 0.913, -1.737, 0, 0, 0, 64 [SEP] 4, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 81 [SEP] 5, Spoon, 0.522, 0.931, 0.305, 0, 0, 0, 81 [SEP] 6, Fork, -0.047, 0.927, 1.220, 0, 0, 0, 81 [SEP] 7, Fork, -0.047, 0.927, 0.991, 0, 0, 0, 81 [SEP] 8, Cup, 1.647, 0.913, -1.797, 0, 0, 0, 64 [SEP] 9, Cup, -0.047, 0.930, 0.762, 0, 0, 0, 81 [SEP] 10, Knife, 1.919, 0.936, -1.446, 0, 0, 0, 64 [SEP] 11, Knife, -0.047, 0.950, 0.534, 0, 0, 0, 81 [SEP] 12, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 81 [SEP] 13, Tomato, -1.610, 1.235, -1.013, 0, 90, 0, 72 [SEP] 14, SoapBottle, 1.669, 0.879, 2.429, 0, 0, 0, 90 [SEP] 15, Lettuce, 0.408, 1.011, 0.076, 0, 0, 0, 81 [SEP] 16, SaltShaker, 1.256, 0.115, -1.806, 0, 0, 0, 56 [SEP] 17, PepperShaker, 0.563, 1.655, -2.087, 0, 0, 0, 53 [SEP] 18, Bread, -1.495, 1.228, -0.495, 0, 90, 0, 72 [SEP] 19, Mug, -1.316, 1.654, -1.604, 0, 90, 0, 47 [SEP] 20, Mug, 0.384, 1.653, -2.200, 0, 0, 0, 53 [SEP] 21, Apple, -1.284, 1.086, -1.846, 0, 90, 0, 70 [SEP] 22, Apple, -1.380, 1.254, -0.910, 0, 90, 0, 72 [SEP] 23, Potato, -1.553, 0.888, -0.392, 0, 90, 0, 72 [SEP] 24, Bowl, -0.160, 0.927, 0.076, 0, 0, 0, 81 [SEP] 25, SoapBottle, -0.668, 0.912, -2.233, 0, 0, 0, 64 [SEP] 26, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 81 [SEP] 27, Ladle, 1.572, 0.164, -1.332, 0, 270, 0, 58 [SEP] 28, Bread, 0.066, 0.975, 0.534, 0, 0, 0, 81 [SEP] 29, Lettuce, -1.572, 1.585, -0.806, 0, 90, 0, 72 [SEP] 30, WineBottle, 0.294, 0.931, 1.220, 0, 0, 0, 81 [SEP] 31, Spatula, 1.828, 0.928, -1.680, 0, 0, 0, 64 [SEP] 32, Plate, -1.438, 0.862, -0.702, 0, 90, 0, 72 [SEP] 33, SaltShaker, -0.160, 0.923, 0.762, 0, 0, 0, 81 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, 1.359, 0.553, 2.534, 0, 0, 0, 91 [SEP] 36, PepperShaker, 1.669, 0.877, 2.537, 0, 0, 0, 90 [SEP] 37, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 45 [SEP] 38, ButterKnife, 0.180, 0.926, 0.991, 0, 0, 0, 81 [SEP] 39, Tomato, 1.850, 0.965, -1.918, 0, 0, 0, 64 [SEP] 40, DishSponge, 1.566, 0.552, 2.586, 0, 0, 0, 91 [SEP] 41, Egg, -0.772, 0.967, -2.134, 0, 0, 0, 64 [SEP] 42, Spoon, 1.647, 0.914, -1.446, 0, 180, 0, 64 [SEP] 43, Knife, -0.346, 0.936, -1.689, 0, 0, 0, 64 [SEP] 44, Mug, -1.186, 1.010, -1.638, 0, 0, 0, 70 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 90, , , , , , , ,  [SEP] 91, , , , , , , ,  [SEP] 92, NorthWall, , , , , , ,  [SEP] 93, EastWall, , , , , , ,  [SEP] 94, SouthWall, , , , , , ,  [SEP] 95, WestWall, , , , , , ,

Output: STEP 1: Turn right and then left, facing the short side of the table. | STEP 2: Pick up the head of lettuce on the table. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the lettuce in the sink. | STEP 5: Turn left and walk around the counter, to the end where the trash bin is. | STEP 6: Place the lettuce in the trash bin. | END


Input: Wash the lettuce and place it inside the green bin.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 0, 0,  [SEP] 1, Ladle, 0.294, 0.975, 0.762, 0, 0, 0, 81 [SEP] 2, DishSponge, 1.466, 0.913, -1.095, 0, 0, 0, 64 [SEP] 3, ButterKnife, -0.230, 0.913, -1.737, 0, 0, 0, 64 [SEP] 4, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 81 [SEP] 5, Spoon, 0.522, 0.931, 0.305, 0, 0, 0, 81 [SEP] 6, Fork, -0.047, 0.927, 1.220, 0, 0, 0, 81 [SEP] 7, Fork, -0.047, 0.927, 0.991, 0, 0, 0, 81 [SEP] 8, Cup, 1.647, 0.913, -1.797, 0, 0, 0, 64 [SEP] 9, Cup, -0.047, 0.930, 0.762, 0, 0, 0, 81 [SEP] 10, Knife, 1.919, 0.936, -1.446, 0, 0, 0, 64 [SEP] 11, Knife, -0.047, 0.950, 0.534, 0, 0, 0, 81 [SEP] 12, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 81 [SEP] 13, Tomato, -1.610, 1.235, -1.013, 0, 90, 0, 72 [SEP] 14, SoapBottle, 1.669, 0.879, 2.429, 0, 0, 0, 90 [SEP] 15, Lettuce, 0.408, 1.011, 0.076, 0, 0, 0, 81 [SEP] 16, SaltShaker, 1.256, 0.115, -1.806, 0, 0, 0, 56 [SEP] 17, PepperShaker, 0.563, 1.655, -2.087, 0, 0, 0, 53 [SEP] 18, Bread, -1.495, 1.228, -0.495, 0, 90, 0, 72 [SEP] 19, Mug, -1.316, 1.654, -1.604, 0, 90, 0, 47 [SEP] 20, Mug, 0.384, 1.653, -2.200, 0, 0, 0, 53 [SEP] 21, Apple, -1.284, 1.086, -1.846, 0, 90, 0, 70 [SEP] 22, Apple, -1.380, 1.254, -0.910, 0, 90, 0, 72 [SEP] 23, Potato, -1.553, 0.888, -0.392, 0, 90, 0, 72 [SEP] 24, Bowl, -0.160, 0.927, 0.076, 0, 0, 0, 81 [SEP] 25, SoapBottle, -0.668, 0.912, -2.233, 0, 0, 0, 64 [SEP] 26, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 81 [SEP] 27, Ladle, 1.572, 0.164, -1.332, 0, 270, 0, 58 [SEP] 28, Bread, 0.066, 0.975, 0.534, 0, 0, 0, 81 [SEP] 29, Lettuce, -1.572, 1.585, -0.806, 0, 90, 0, 72 [SEP] 30, WineBottle, 0.294, 0.931, 1.220, 0, 0, 0, 81 [SEP] 31, Spatula, 1.828, 0.928, -1.680, 0, 0, 0, 64 [SEP] 32, Plate, -1.438, 0.862, -0.702, 0, 90, 0, 72 [SEP] 33, SaltShaker, -0.160, 0.923, 0.762, 0, 0, 0, 81 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, 1.359, 0.553, 2.534, 0, 0, 0, 91 [SEP] 36, PepperShaker, 1.669, 0.877, 2.537, 0, 0, 0, 90 [SEP] 37, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 45 [SEP] 38, ButterKnife, 0.180, 0.926, 0.991, 0, 0, 0, 81 [SEP] 39, Tomato, 1.850, 0.965, -1.918, 0, 0, 0, 64 [SEP] 40, DishSponge, 1.566, 0.552, 2.586, 0, 0, 0, 91 [SEP] 41, Egg, -0.772, 0.967, -2.134, 0, 0, 0, 64 [SEP] 42, Spoon, 1.647, 0.914, -1.446, 0, 180, 0, 64 [SEP] 43, Knife, -0.346, 0.936, -1.689, 0, 0, 0, 64 [SEP] 44, Mug, -1.186, 1.010, -1.638, 0, 0, 0, 70 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 90, , , , , , , ,  [SEP] 91, , , , , , , ,  [SEP] 92, NorthWall, , , , , , ,  [SEP] 93, EastWall, , , , , , ,  [SEP] 94, SouthWall, , , , , , ,  [SEP] 95, WestWall, , , , , , ,

Output: STEP 1: Turn right and head towards the silver table. | STEP 2: Pick up the lettuce at the edge of the table . | STEP 3: Turn around and place the lettuce inside the sink. | STEP 4: Turn on the water in the sink to wash the lettuce. | STEP 5: Turn off the faucet and pick up the lettuce in the sink. | STEP 6: Turn around and walk to the bin, place the lettuce inside the green bin | END


Input: Move two remotes from a table to a couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.902, 4.25, 0, 90, 0,  [SEP] 1, Plate, -2.712, 0.689, 1.052, 0, 0, 0, 59 [SEP] 2, Plate, -2.396, 0.348, 4.887, 0, 0, 0, 48 [SEP] 3, Newspaper, -3.198, 0.481, 3.436, 0, 0, 0, 52 [SEP] 4, Watch, -1.859, 0.649, -0.022, 0, 0, 0, 55 [SEP] 5, Statue, -2.934, 0.695, 1.546, 0, 0, 0, 57 [SEP] 6, Pen, -1.974, 0.753, -0.072, 0, 0, 0, 54 [SEP] 7, Pencil, -2.134, 0.241, 6.046, 0, 0, 0, 49 [SEP] 8, Pencil, -2.636, 0.241, 6.156, 0, 0, 0, 49 [SEP] 9, CreditCard, -0.811, 0.432, 5.650, 0, 135, 0, 45 [SEP] 10, CreditCard, -4.088, 0.432, 5.821, 0, 59.999, 0, 44 [SEP] 11, RemoteControl, -2.551, 0.348, 4.964, 0, 0, 0, 48 [SEP] 12, RemoteControl, -2.253, 0.750, -0.072, 0, 0, 0, 54 [SEP] 13, Pillow, -0.888, 0.529, 5.967, 0, 135, 0, 45 [SEP] 14, Laptop, -2.269, 0.687, 1.299, 0, 0, 0, 46 [SEP] 15, Laptop, -2.668, 0.478, 3.525, 0, 0, 0, 52 [SEP] 16, Book, -1.872, 0.680, 1.167, 0, 0, 0, 56 [SEP] 17, Box, -3.362, 0.219, 6.426, 0, 0, 0, 49 [SEP] 18, Statue, -2.712, 0.695, 1.423, 0, 0, 0, 46 [SEP] 19, Laptop, -1.874, 0.478, 3.525, 0, 0, 0, 52 [SEP] 20, TissueBox, -2.164, 0.347, 4.809, 0, 0, 0, 48 [SEP] 21, CreditCard, -0.252, 0.704, 3.285, 0, 0, 0, 42 [SEP] 22, Plate, -2.712, 0.689, 1.670, 0, 0, 0, 60 [SEP] 23, KeyChain, -2.003, 0.724, 6.215, 0, 90, 0, 51 [SEP] 24, Vase, -2.473, 0.101, 4.964, 0, 0, 0, 50 [SEP] 25, Pencil, -2.164, 0.348, 5.042, 0, 0, 0, 48 [SEP] 26, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 52 [SEP] 27, Bowl, -2.767, 0.723, 6.134, 0, 0, 0, 51 [SEP] 28, RemoteControl, -2.241, 0.606, 4.731, 0, 0, 0, 47 [SEP] 29, Watch, -2.490, 0.689, 1.299, 0, 0, 0, 46 [SEP] 30, Pen, -1.859, 0.654, -0.077, 0, 0, 0, 55 [SEP] 31, Newspaper, -2.532, 0.749, -0.072, 0, 0, 0, 54 [SEP] 32, Painting, -2.048, 1.615, -0.303, 0, 0, 0,  [SEP] 33, Curtains, -0.083, 2.420, 0.969, 0, 0, 0,  [SEP] 34, Television, -2.357, 1.205, 6.245, 0, 180, 0,  [SEP] 35, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0,  [SEP] 36, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0,  [SEP] 37, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0,  [SEP] 38, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0,  [SEP] 39, Window, -0.057, 0.925, 1.764, 90, 270, 0,  [SEP] 40, Window, -0.057, 1.130, 4.886, 90, 270, 0,  [SEP] 41, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0,  [SEP] 42, SideTable, -0.255, 0.001, 3.369, 0, 270, 0,  [SEP] 43, Drawer, -0.306, 0.626, 3.369, 0, 270, 0,  [SEP] 44, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0,  [SEP] 45, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0,  [SEP] 46, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0,  [SEP] 47, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0,  [SEP] 48, Shelf, -2.326, 0.338, 4.922, 0, 0, 0,  [SEP] 49, Shelf, -2.385, 0.238, 6.296, 0, 0, 0,  [SEP] 50, Shelf, -2.326, 0.089, 4.922, 0, 0, 0,  [SEP] 51, TVStand, -2.385, 0.006, 6.296, 0, 0, 0,  [SEP] 52, Sofa, -2.404, -0.003, 3.417, 0, 0, 0,  [SEP] 53, SideTable, -2.935, 0.004, -0.103, 0, 0, 0,  [SEP] 54, SideTable, -2.113, 0.002, -0.139, 0, 0, 0,  [SEP] 55, Drawer, -2.113, 0.654, -0.069, 0, 0, 0,  [SEP] 56, Chair, -1.862, 0.020, 1.035, 0, 0, 0,  [SEP] 57, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0,  [SEP] 58, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0,  [SEP] 59, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0,  [SEP] 60, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0,  [SEP] 61, Chair, -1.335, 0.020, 1.430, 0, 270, 0,  [SEP] 62, NorthWall, , , , , , ,  [SEP] 63, EastWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, WestWall, , , , , , ,

Output: STEP 1: Walk to the center table | STEP 2: Pick up the TV remote on the table | STEP 3: Turn to the couch | STEP 4: Put the remote on the couch between the laptops | STEP 5: Turn back to the table | STEP 6: Pick up a remote from the table | STEP 7: Walk back to the couch | STEP 8: Put the remote next to the other remote on the couch | END


Input: get the laptop and look at it under the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.998, -2.25, 0, 270, 0,  [SEP] 1, Plate, -0.030, 0.978, -2.533, 0, 90, 0, 43 [SEP] 2, Vase, -0.345, 0.977, -2.572, 0, 90, 0, 43 [SEP] 3, Vase, -0.695, 0.459, -0.897, 0, 0, 0, 35 [SEP] 4, Pen, -4.094, 0.884, -1.287, 0, 0, 0, 34 [SEP] 5, Pen, -2.985, 0.884, -1.483, 0, 0, 0, 34 [SEP] 6, KeyChain, -0.959, 0.454, -0.498, 0, 0, 0, 35 [SEP] 7, CreditCard, 0.159, 0.860, -2.433, 0, 90, 0, 42 [SEP] 8, CreditCard, -3.429, 0.881, -1.385, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.960, 0, 0, 0, 39 [SEP] 10, Laptop, -3.872, 0.879, -1.385, 0, 0, 0, 34 [SEP] 11, Box, -2.863, 1.03, -0.958, 0, 0, 0, 34 [SEP] 12, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 31 [SEP] 13, CreditCard, -0.221, 0.860, -2.506, 0, 90, 0, 42 [SEP] 14, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 34 [SEP] 15, Laptop, -1.222, 0.452, -0.897, 0, 0, 0, 35 [SEP] 16, RemoteControl, -0.731, 0.526, 1.085, 0, 0, 0, 39 [SEP] 17, Vase, -1.222, 0.459, -0.658, 0, 0, 0, 35 [SEP] 18, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 43 [SEP] 19, KeyChain, -1.080, 0.525, 1.022, 0, 180, 0, 39 [SEP] 20, Pen, -3.429, 0.884, -0.992, 0, 0, 0, 34 [SEP] 21, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 22, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 23, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 24, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 25, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 26, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 27, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 28, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 29, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 30, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 31, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 32, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 33, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 34, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 35, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 36, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 37, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 38, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 39, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 40, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 41, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 42, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 43, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: go stand behind the open computer on the table | STEP 2: close the computer and pick it up  | STEP 3: walk the computer over to the lamp | STEP 4: turn on the lamp to look at the computer | END


Input: Carry a laptop to the lamp, turn on lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.998, -2.25, 0, 270, 0,  [SEP] 1, Plate, -0.030, 0.978, -2.533, 0, 90, 0, 43 [SEP] 2, Vase, -0.345, 0.977, -2.572, 0, 90, 0, 43 [SEP] 3, Vase, -0.695, 0.459, -0.897, 0, 0, 0, 35 [SEP] 4, Pen, -4.094, 0.884, -1.287, 0, 0, 0, 34 [SEP] 5, Pen, -2.985, 0.884, -1.483, 0, 0, 0, 34 [SEP] 6, KeyChain, -0.959, 0.454, -0.498, 0, 0, 0, 35 [SEP] 7, CreditCard, 0.159, 0.860, -2.433, 0, 90, 0, 42 [SEP] 8, CreditCard, -3.429, 0.881, -1.385, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.960, 0, 0, 0, 39 [SEP] 10, Laptop, -3.872, 0.879, -1.385, 0, 0, 0, 34 [SEP] 11, Box, -2.863, 1.03, -0.958, 0, 0, 0, 34 [SEP] 12, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 31 [SEP] 13, CreditCard, -0.221, 0.860, -2.506, 0, 90, 0, 42 [SEP] 14, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 34 [SEP] 15, Laptop, -1.222, 0.452, -0.897, 0, 0, 0, 35 [SEP] 16, RemoteControl, -0.731, 0.526, 1.085, 0, 0, 0, 39 [SEP] 17, Vase, -1.222, 0.459, -0.658, 0, 0, 0, 35 [SEP] 18, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 43 [SEP] 19, KeyChain, -1.080, 0.525, 1.022, 0, 180, 0, 39 [SEP] 20, Pen, -3.429, 0.884, -0.992, 0, 0, 0, 34 [SEP] 21, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 22, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 23, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 24, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 25, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 26, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 27, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 28, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 29, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 30, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 31, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 32, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 33, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 34, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 35, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 36, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 37, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 38, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 39, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 40, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 41, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 42, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 43, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Move to the white table top where the laptop is on top of the table | STEP 2: Pick up the laptop on the edge of the white table | STEP 3: Carry the laptop over to the floor lamp  | STEP 4: Turn on the lamp | END


Input: Examine a set of keys by the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.998, 0.25, 0, 270, 0,  [SEP] 1, Pen, 0.254, 0.866, -2.433, 0, 180, 0, 38 [SEP] 2, Pen, -4.094, 0.884, -1.287, 0, 0, 0, 30 [SEP] 3, KeyChain, -3.429, 0.878, -1.287, 0, 180, 0, 30 [SEP] 4, CreditCard, -0.557, 0.524, 1.085, 0, 0, 0, 35 [SEP] 5, CreditCard, -0.221, 0.860, -2.531, 0, 90, 0, 38 [SEP] 6, Box, -3.207, 1.033, -1.188, 0, 180, 0, 30 [SEP] 7, Box, -1.354, 0.608, -0.738, 0, 270, 0, 31 [SEP] 8, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 27 [SEP] 9, CreditCard, 0.492, 0.304, -1.865, 0, 0, 0, 27 [SEP] 10, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 30 [SEP] 11, Laptop, -0.827, 0.452, -0.578, 0, 0, 0, 31 [SEP] 12, RemoteControl, -0.135, 0.974, -2.454, 0, 90, 0, 39 [SEP] 13, Vase, -3.650, 0.886, -1.385, 0, 0, 0, 30 [SEP] 14, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 39 [SEP] 15, KeyChain, 0.919, 0.786, -1.698, 0, 0, 0, 27 [SEP] 16, Pen, -0.959, 0.459, -0.897, 0, 0, 0, 31 [SEP] 17, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 18, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 19, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 20, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 21, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 22, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 23, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 24, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 25, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 26, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 27, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 28, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 29, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 30, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 31, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 32, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 33, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 34, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 35, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 36, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 37, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 38, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 39, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn left, take a left at the small white table and walk to the yellow chair. | STEP 2: Pick up the set of keys from the back of the chair in the middle. | STEP 3: Turn around, hang a right at the white table and walk to the tall lamp. | STEP 4: Turn on the tall lamp. | END


Input: Put the red cloth beside the other cloth on the tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -1.5, 0, 270, 0,  [SEP] 1, Cloth, -2.668, 0.078, -0.465, 0, 0, 0, 20 [SEP] 2, Candle, -2.550, 0.996, -0.336, 0, 0, 0, 17 [SEP] 3, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 23 [SEP] 4, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 25 [SEP] 5, SoapBar, -2.567, 0.078, -1.650, 0, 0, 0, 22 [SEP] 6, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 16 [SEP] 7, ToiletPaper, -0.084, 0.902, -3.286, 0, 270, 90, 30 [SEP] 8, SoapBottle, -0.417, 1.048, -3.887, 0, 0, 0, 30 [SEP] 9, Candle, -2.618, 0.080, -2.032, 0, 0, 0, 22 [SEP] 10, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 26 [SEP] 11, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 12, Cloth, -2.669, 0.079, -1.062, 0, 0, 0, 18 [SEP] 13, SprayBottle, -2.62, 0.996, -1.285, 0, 0, 0, 17 [SEP] 14, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0,  [SEP] 15, Mirror, -2.947, 1.559, -1.194, 0, 0, 0,  [SEP] 16, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0,  [SEP] 17, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0,  [SEP] 18, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0,  [SEP] 19, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0,  [SEP] 20, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0,  [SEP] 21, Sink, -2.907, 0.986, -1.761, 0, 90, 0,  [SEP] 22, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0,  [SEP] 23, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0,  [SEP] 24, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0,  [SEP] 25, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0,  [SEP] 26, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0,  [SEP] 27, Window, -0.566, 1.730, -4.102, 90, 0, 0,  [SEP] 28, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0,  [SEP] 29, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0,  [SEP] 30, Toilet, -0.319, 0.000, -3.533, 0, 90, 0,  [SEP] 31, Faucet, -2.907, 0.993, -1.761, 0, 90, 0,  [SEP] 32, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0,  [SEP] 33, Sink, -2.907, 0.986, -0.732, 0, 90, 0,  [SEP] 34, Faucet, -2.907, 0.993, -0.731, 0, 90, 0,  [SEP] 35, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0,  [SEP] 36, EastWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,

Output: STEP 1: Turn right walk forward then face the cabinet on the right below the sink | STEP 2: Open the cabinet, pick up the red cloth | STEP 3: Turn left then walk toward the toilet tank | STEP 4: Put the red cloth on the tank | STEP 5: Turn round to your right then walk forward head to the cabinet sink | STEP 6: Open the left side cabinet below the right sink and pick up the red cloth | STEP 7: Turn around to your left head back to the toilet tank | STEP 8: Put the red cloth beside the other cloth on the tank | END


Input: To heat an apple and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 90, 0,  [SEP] 1, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 59 [SEP] 2, Pan, 1.567, 0.948, -0.757, 0, 0, 0, 44 [SEP] 3, Ladle, 0.294, 0.971, 0.305, 0, 0, 0, 79 [SEP] 4, DishSponge, 1.850, 0.913, -1.834, 0, 0, 0, 62 [SEP] 5, DishSponge, 1.464, 0.880, 2.456, 0, 0, 0, 88 [SEP] 6, ButterKnife, 0.294, 0.930, 1.220, 0, 0, 0, 79 [SEP] 7, WineBottle, 0.522, 0.931, 0.991, 0, 0, 0, 79 [SEP] 8, Fork, 0.294, 0.927, 0.534, 0, 0, 0, 79 [SEP] 9, Egg, 2.009, 0.967, -1.563, 0, 0, 0, 62 [SEP] 10, Egg, 1.466, 0.967, -1.329, 0, 0, 0, 62 [SEP] 11, Plate, 1.572, 0.123, -1.332, 0, 270, 0, 56 [SEP] 12, Plate, 1.566, 0.556, 2.534, 0, 0, 0, 82 [SEP] 13, Knife, 1.850, 0.936, -2.002, 0, 0, 0, 62 [SEP] 14, Knife, 0.180, 0.953, 0.305, 0, 90, 0, 79 [SEP] 15, Bowl, -0.137, 0.761, -2.071, 0, 90, 0, 74 [SEP] 16, Bowl, -0.160, 0.927, 0.991, 0, 0, 0, 79 [SEP] 17, Lettuce, 0.066, 1.011, 0.305, 0, 0, 0, 79 [SEP] 18, SaltShaker, 0.066, 0.926, 1.220, 0, 0, 0, 79 [SEP] 19, Mug, -0.668, 0.908, -2.267, 0, 0, 0, 62 [SEP] 20, Apple, -0.160, 0.997, 0.305, 0, 0, 0, 79 [SEP] 21, Potato, -0.160, 0.956, 1.220, 0, 0, 0, 79 [SEP] 22, Bowl, -1.438, 1.180, -0.495, 0, 90, 0, 70 [SEP] 23, SoapBottle, 1.771, 0.879, 2.456, 0, 0, 0, 89 [SEP] 24, Fork, 1.828, 0.914, -1.212, 0, 0, 0, 62 [SEP] 25, Ladle, 0.180, 0.975, 1.448, 0, 0, 0, 79 [SEP] 26, Bread, 0.066, 0.972, 0.762, 0, 0, 0, 79 [SEP] 27, Lettuce, 0.408, 1.008, 0.076, 0, 0, 0, 79 [SEP] 28, WineBottle, 1.913, 1.659, -1.117, 0, 270, 0, 53 [SEP] 29, Spatula, -0.160, 0.945, 0.762, 0, 270, 0, 79 [SEP] 30, Plate, 1.557, 0.916, -1.680, 0, 0, 0, 62 [SEP] 31, SaltShaker, 1.877, 0.549, 2.586, 0, 0, 0, 82 [SEP] 32, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 79 [SEP] 33, Cup, -1.610, 1.183, -0.910, 0, 90, 0, 70 [SEP] 34, PepperShaker, -0.876, 0.909, -2.134, 0, 0, 0, 62 [SEP] 35, Pan, -1.438, 0.859, -0.495, 0, 0, 0, 70 [SEP] 36, ButterKnife, 0.408, 0.926, 0.991, 0, 0, 0, 79 [SEP] 37, Tomato, 1.829, 0.138, 0.160, 0, 0, 0, 63 [SEP] 38, DishSponge, 1.669, 0.880, 2.483, 0, 0, 0, 82 [SEP] 39, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 63 [SEP] 40, Spoon, -0.230, 0.914, -1.725, 0, 0, 0, 62 [SEP] 41, Knife, -0.210, 0.787, -2.026, 0, 0, 0, 74 [SEP] 42, Mug, 1.919, 0.908, -1.446, 0, 0, 0, 62 [SEP] 43, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 44, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 45, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 46, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 47, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 54, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 55, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 57, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 58, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 59, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 60, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 61, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 62, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 63, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 64, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 65, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 66, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 67, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 68, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 69, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 70, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 71, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 72, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 73, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 74, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 79, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 80, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 81, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 82, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 83, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 84, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 85, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 86, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 87, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 88, , , , , , , ,  [SEP] 89, , , , , , , ,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Turn around and then walk around the table to face the opposite side. | STEP 2: Pick up the apple on the table. | STEP 3: Turn right and walk forward to face the microwave. | STEP 4: Heat the apple in the microwave and then remove it. | STEP 5: Step to the right to face the fridge. | STEP 6: Place the apple in the fridge to the left of the pan. | END


Input: Place a cool apple next to the bowl on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.25, 0, 0, 0,  [SEP] 1, Potato, -2.798, 0.080, 0.318, 0, 26.101, 0, 69 [SEP] 2, ButterKnife, -2.480, 0.900, 2.045, 0, 0, 0, 76 [SEP] 3, ButterKnife, -2.706, 0.935, 3.209, 0, 0, 0, 62 [SEP] 4, Spoon, -2.037, 0.929, 0.518, 0, 0, 0, 55 [SEP] 5, Spoon, -2.892, 0.901, 2.706, 0, 90, 0, 76 [SEP] 6, Fork, -0.572, 0.901, 2.932, 0, 0, 0, 78 [SEP] 7, Plate, -2.831, 0.303, 4.278, 0, 90, 0, 72 [SEP] 8, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 62 [SEP] 9, Knife, -2.686, 0.926, 2.177, 0, 0, 0, 76 [SEP] 10, SoapBottle, -0.143, 0.900, 2.530, 0, 0, 0, 78 [SEP] 11, Tomato, -2.583, 0.964, 2.706, 0, 0, 0, 76 [SEP] 12, Tomato, -0.143, 0.964, 3.133, 0, 0, 0, 78 [SEP] 13, SaltShaker, -2.161, 0.658, 0.300, 0, 0, 0, 63 [SEP] 14, SaltShaker, -1.878, 0.658, 0.245, 0, 0, 0, 58 [SEP] 15, PepperShaker, -2.377, 0.896, 2.706, 0, 0, 0, 76 [SEP] 16, PepperShaker, -0.657, 0.896, 3.334, 0, 0, 0, 78 [SEP] 17, Bread, -2.805, 0.689, 4.427, 0, 90, 0, 72 [SEP] 18, Lettuce, -2.847, 1.266, 4.352, 0, 90, 0, 72 [SEP] 19, Lettuce, -0.314, 0.980, 2.530, 0, 0, 0, 78 [SEP] 20, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 75 [SEP] 21, Apple, -2.037, 0.984, 0.264, 0, 0, 0, 55 [SEP] 22, Apple, -0.657, 0.956, 2.329, 0, 0, 0, 78 [SEP] 23, Egg, -0.244, 1.051, 0.267, 0, 0, 0, 74 [SEP] 24, Plate, -1.193, 1.777, 0.205, 0, 0, 0, 52 [SEP] 25, Fork, -0.486, 0.901, 3.133, 0, 0, 0, 78 [SEP] 26, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 76 [SEP] 27, Apple, -1.266, 0.852, 0.392, 0, 0, 0, 73 [SEP] 28, Lettuce, -0.400, 0.980, 2.329, 0, 0, 0, 78 [SEP] 29, Spatula, -1.007, 0.810, 0.447, 0, 270, 0, 73 [SEP] 30, Knife, -0.272, 0.688, 0.409, 0, 0, 0, 44 [SEP] 31, Potato, -2.764, 1.212, 4.204, 0, 90, 0, 72 [SEP] 32, Tomato, -0.657, 0.964, 2.731, 0, 0, 0, 78 [SEP] 33, Cup, -2.805, 1.186, 4.575, 0, 90, 0, 72 [SEP] 34, SaltShaker, -0.572, 0.896, 2.329, 0, 0, 0, 78 [SEP] 35, PepperShaker, -0.164, 0.658, 0.573, 0, 0, 0, 44 [SEP] 36, ButterKnife, -0.314, 0.900, 2.329, 0, 0, 0, 78 [SEP] 37, SoapBottle, -0.747, 1.773, 0.251, 0, 0, 0, 53 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -2.943, 0.935, 3.302, 0, 0, 0, 62 [SEP] 40, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 41, Spoon, -2.323, 0.663, 0.300, 0, 0, 0, 63 [SEP] 42, Mug, -0.350, 1.013, 0.267, 0, 0, 0, 74 [SEP] 43, Bowl, -2.480, 0.897, 2.309, 0, 0, 0, 76 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 79, NorthWall, , , , , , ,  [SEP] 80, EastWall, , , , , , ,  [SEP] 81, SouthWall, , , , , , ,  [SEP] 82, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the table to your left. | STEP 2: Grab the apple in front of the salt shaker on the counter. | STEP 3: Turn left and walk to the fridge to the end on the left. | STEP 4: Place the apple into the fridge, cool it and remove it. | STEP 5: Turn left and walk to the table to your right. | STEP 6: Place the cool apple next to the bowl on the table. | END


Input: Place a chilled apple on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.25, 0, 0, 0,  [SEP] 1, Potato, -2.798, 0.080, 0.318, 0, 26.101, 0, 69 [SEP] 2, ButterKnife, -2.480, 0.900, 2.045, 0, 0, 0, 76 [SEP] 3, ButterKnife, -2.706, 0.935, 3.209, 0, 0, 0, 62 [SEP] 4, Spoon, -2.037, 0.929, 0.518, 0, 0, 0, 55 [SEP] 5, Spoon, -2.892, 0.901, 2.706, 0, 90, 0, 76 [SEP] 6, Fork, -0.572, 0.901, 2.932, 0, 0, 0, 78 [SEP] 7, Plate, -2.831, 0.303, 4.278, 0, 90, 0, 72 [SEP] 8, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 62 [SEP] 9, Knife, -2.686, 0.926, 2.177, 0, 0, 0, 76 [SEP] 10, SoapBottle, -0.143, 0.900, 2.530, 0, 0, 0, 78 [SEP] 11, Tomato, -2.583, 0.964, 2.706, 0, 0, 0, 76 [SEP] 12, Tomato, -0.143, 0.964, 3.133, 0, 0, 0, 78 [SEP] 13, SaltShaker, -2.161, 0.658, 0.300, 0, 0, 0, 63 [SEP] 14, SaltShaker, -1.878, 0.658, 0.245, 0, 0, 0, 58 [SEP] 15, PepperShaker, -2.377, 0.896, 2.706, 0, 0, 0, 76 [SEP] 16, PepperShaker, -0.657, 0.896, 3.334, 0, 0, 0, 78 [SEP] 17, Bread, -2.805, 0.689, 4.427, 0, 90, 0, 72 [SEP] 18, Lettuce, -2.847, 1.266, 4.352, 0, 90, 0, 72 [SEP] 19, Lettuce, -0.314, 0.980, 2.530, 0, 0, 0, 78 [SEP] 20, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 75 [SEP] 21, Apple, -2.037, 0.984, 0.264, 0, 0, 0, 55 [SEP] 22, Apple, -0.657, 0.956, 2.329, 0, 0, 0, 78 [SEP] 23, Egg, -0.244, 1.051, 0.267, 0, 0, 0, 74 [SEP] 24, Plate, -1.193, 1.777, 0.205, 0, 0, 0, 52 [SEP] 25, Fork, -0.486, 0.901, 3.133, 0, 0, 0, 78 [SEP] 26, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 76 [SEP] 27, Apple, -1.266, 0.852, 0.392, 0, 0, 0, 73 [SEP] 28, Lettuce, -0.400, 0.980, 2.329, 0, 0, 0, 78 [SEP] 29, Spatula, -1.007, 0.810, 0.447, 0, 270, 0, 73 [SEP] 30, Knife, -0.272, 0.688, 0.409, 0, 0, 0, 44 [SEP] 31, Potato, -2.764, 1.212, 4.204, 0, 90, 0, 72 [SEP] 32, Tomato, -0.657, 0.964, 2.731, 0, 0, 0, 78 [SEP] 33, Cup, -2.805, 1.186, 4.575, 0, 90, 0, 72 [SEP] 34, SaltShaker, -0.572, 0.896, 2.329, 0, 0, 0, 78 [SEP] 35, PepperShaker, -0.164, 0.658, 0.573, 0, 0, 0, 44 [SEP] 36, ButterKnife, -0.314, 0.900, 2.329, 0, 0, 0, 78 [SEP] 37, SoapBottle, -0.747, 1.773, 0.251, 0, 0, 0, 53 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -2.943, 0.935, 3.302, 0, 0, 0, 62 [SEP] 40, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 41, Spoon, -2.323, 0.663, 0.300, 0, 0, 0, 63 [SEP] 42, Mug, -0.350, 1.013, 0.267, 0, 0, 0, 74 [SEP] 43, Bowl, -2.480, 0.897, 2.309, 0, 0, 0, 76 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 79, NorthWall, , , , , , ,  [SEP] 80, EastWall, , , , , , ,  [SEP] 81, SouthWall, , , , , , ,  [SEP] 82, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the right side of the table. | STEP 2: Pick up the red apple on the table. | STEP 3: Turn left and veer left to the fridge. | STEP 4: Place the apple in the fridge to the right side of the top shelf. Close the door, wait a moment, and take it out again. | STEP 5: Turn left and walk to the table on the right. | STEP 6: Place the apple on the table to the right and in front of the gray bowl. | END


Input: Put a chilled mug at the coffee maker. 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, 1.0, 0, 180, 0,  [SEP] 1, Potato, -0.290, 0.793, -1.952, 0, 0, 0, 89 [SEP] 2, Potato, 1.891, 0.847, -0.830, 0, 270, 0, 86 [SEP] 3, ButterKnife, 1.419, 0.911, -1.760, 0, 0, 0, 79 [SEP] 4, Pot, -1.312, 1.662, -0.490, 0, 0, 0, 62 [SEP] 5, Spatula, -1.404, 0.926, -1.553, 0, 90, 0, 79 [SEP] 6, Spatula, -1.080, 0.928, -0.292, 0, 0, 0, 72 [SEP] 7, Fork, -1.259, 0.911, -1.845, 0, 270, 0, 79 [SEP] 8, Fork, -0.205, 0.914, 0.241, 0, 0, 0, 72 [SEP] 9, Spoon, -0.375, 1.132, 0.662, 0, 0, 0, 75 [SEP] 10, Egg, 1.910, 1.049, -1.192, 0, 270, 0, 84 [SEP] 11, Plate, 1.945, 1.426, -0.458, 0, 270, 0, 86 [SEP] 12, Plate, 1.945, 1.097, -0.644, 0, 270, 0, 86 [SEP] 13, SoapBottle, 1.194, 0.911, -1.844, 0, 0, 0, 79 [SEP] 14, Tomato, -0.290, 0.812, -2.063, 0, 0, 0, 89 [SEP] 15, Bowl, -1.330, 0.910, -0.170, 0, 0, 0, 72 [SEP] 16, SaltShaker, 1.513, 0.113, -1.527, 0, 0, 0, 53 [SEP] 17, SaltShaker, -0.152, 1.127, 0.529, 0, 0, 0, 75 [SEP] 18, PepperShaker, -1.080, 0.909, -0.231, 0, 0, 0, 72 [SEP] 19, Lettuce, 0.071, 1.208, 0.529, 0, 0, 0, 75 [SEP] 20, Mug, -0.375, 1.126, 0.485, 0, 180, 0, 75 [SEP] 21, Pan, -1.289, 0.957, -1.02, 0, 0, 0, 69 [SEP] 22, Knife, -0.849, 0.937, 0.241, 0, 270, 0, 72 [SEP] 23, Bowl, -0.117, 0.760, -2.063, 0, 0, 0, 89 [SEP] 24, Fork, -1.322, 0.911, -1.722, 0, 0, 0, 79 [SEP] 25, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 89 [SEP] 26, Ladle, -0.611, 0.728, 0.190, 0, 270, 0, 73 [SEP] 27, Apple, 1.910, 1.064, -1.350, 0, 270, 0, 84 [SEP] 28, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 51 [SEP] 29, Vase, 1.000, 1.660, -2.163, 0, 0, 0, 58 [SEP] 30, Potato, -1.063, 0.943, 0.083, 0, 0, 0, 72 [SEP] 31, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 76 [SEP] 32, Bread, 1.945, 0.899, -0.365, 0, 270, 0, 86 [SEP] 33, Plate, -0.598, 1.129, 0.573, 0, 0, 0, 75 [SEP] 34, Spatula, -0.119, 0.711, 0.098, 0, 90, 0, 78 [SEP] 35, PaperTowelRoll, -1.045, 1.235, 0.485, 0, 0, 0, 75 [SEP] 36, Vase, 1.868, 0.917, -2.014, 0, 0, 0, 79 [SEP] 37, Egg, -1.259, 0.944, -2.098, 0, 0, 0, 79 [SEP] 38, SoapBottle, -1.278, 0.913, 0.135, 0, 0, 0, 72 [SEP] 39, SaltShaker, -0.910, 0.907, -1.384, 0, 0, 0, 79 [SEP] 40, Lettuce, 1.924, 0.139, 0.109, 0, 270, 0, 82 [SEP] 41, PepperShaker, 1.987, 1.655, -1.236, 0, 0, 0, 56 [SEP] 42, ButterKnife, 0.969, 0.911, -1.929, 0, 0, 0, 79 [SEP] 43, DishSponge, 0.388, 1.660, -2.124, 0, 0, 0, 59 [SEP] 44, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 85 [SEP] 45, Spoon, -0.657, 0.693, -1.846, 0, 0, 0, 49 [SEP] 46, Tomato, 1.945, 1.477, -0.830, 0, 270, 0, 86 [SEP] 47, Mug, -0.117, 0.758, -1.897, 0, 90, 0, 89 [SEP] 48, Statue, 0.008, 0.920, 0.241, 0, 180, 0, 72 [SEP] 49, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 50, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 51, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 52, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 54, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 55, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 56, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 58, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 59, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 60, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 61, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 62, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 63, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 64, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 65, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 66, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 67, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 68, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 69, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 70, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 71, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 72, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 73, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 74, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 75, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 76, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 77, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 78, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 79, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 80, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 81, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 82, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 83, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 84, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 85, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 86, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 87, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 88, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 89, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 90, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 91, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 92, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 93, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 94, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 95, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 96, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 97, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 98, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: Turn right, then left, then go to the sink near the coffee maker. | STEP 2: Pick up the mug that is in the sink next to the bowl. | STEP 3: Turn around and go right to the fridge. | STEP 4: Chill the mug in the fridge. | STEP 5: Turn around and go left to the coffee maker. | STEP 6: Place the mug at the coffee maker. | END


Input: Put a warmed plate in the cabinet over the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -2.75, 0, 180, 0,  [SEP] 1, Pan, -3.713, 0.758, -3.778, 0, 199.125, 0, 72 [SEP] 2, Potato, -0.334, 1.318, -0.297, 0, 270, 0, 66 [SEP] 3, ButterKnife, -3.475, 0.760, -3.371, 0, 109.125, 0, 72 [SEP] 4, ButterKnife, -0.315, 0.941, -1.319, 0, 0, 0, 54 [SEP] 5, Fork, -2.761, 0.895, -0.548, 0, 270, 0, 73 [SEP] 6, Spoon, -3.935, 0.761, -2.959, 0, 334.125, 0, 72 [SEP] 7, Spoon, -3.460, 0.761, -3.048, 0, 199.125, 0, 72 [SEP] 8, Spatula, -4.062, 0.705, -0.187, 0, 0, 0, 71 [SEP] 9, Spatula, -0.236, 0.956, -1.538, 0, 0, 0, 54 [SEP] 10, Egg, -1.016, 0.983, -3.650, 0, 45, 0, 36 [SEP] 11, Plate, -3.565, 0.908, -0.548, 0, 270, 0, 73 [SEP] 12, Bowl, -0.293, 1.284, -0.994, 0, 270, 0, 66 [SEP] 13, Bread, -2.560, 0.976, -0.290, 0, 270, 0, 73 [SEP] 14, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 66 [SEP] 15, SoapBottle, -1.169, 0.940, -3.804, 0, 45, 0, 36 [SEP] 16, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 38 [SEP] 17, Fork, -0.524, 0.747, -1.488, 0, 90, 0, 40 [SEP] 18, Cup, -0.397, 1.489, -0.645, 0, 270, 0, 66 [SEP] 19, Tomato, -2.359, 0.945, -0.119, 0, 270, 0, 73 [SEP] 20, Pan, -2.962, 0.892, -0.376, 0, 0, 0, 73 [SEP] 21, Plate, -3.565, 0.908, -0.204, 0, 270, 0, 73 [SEP] 22, Bread, -4.002, 0.772, -0.248, 0, 0, 0, 71 [SEP] 23, Spatula, -3.163, 0.909, -0.462, 0, 270, 0, 73 [SEP] 24, Knife, -2.560, 0.920, -0.462, 0, 270, 0, 73 [SEP] 25, SaltShaker, -1.123, 0.750, -3.447, 0, 0, 0, 42 [SEP] 26, PepperShaker, -0.233, 0.938, -2.905, 0, 45, 0, 36 [SEP] 27, ButterKnife, -4.122, 0.690, -0.491, 0, 0, 0, 71 [SEP] 28, Apple, -0.552, 1.002, -1.538, 0, 0, 0, 54 [SEP] 29, DishSponge, -0.236, 0.940, -1.406, 0, 0, 0, 54 [SEP] 30, Potato, -4.182, 0.723, -0.308, 0, 0, 0, 71 [SEP] 31, Egg, -0.359, 1.529, -0.413, 0, 270, 0, 66 [SEP] 32, Spoon, -3.364, 0.895, -0.290, 0, 180, 0, 73 [SEP] 33, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 66 [SEP] 34, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 62 [SEP] 35, Bowl, -3.364, 0.892, -0.119, 0, 270, 0, 73 [SEP] 36, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 37, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 38, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 39, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 40, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 41, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 42, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 43, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 44, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 45, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 46, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 47, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 48, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 49, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 50, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 51, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 52, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 53, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 54, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 55, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 56, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 57, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 58, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 59, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 60, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 61, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 62, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 63, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 64, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 65, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 66, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 67, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 68, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 69, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 70, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 71, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 72, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 73, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 74, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 75, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,

Output: STEP 1: Turn around and go to the white table. | STEP 2: Pick up the plate in the left corner closest to you. | STEP 3: Turn around and go to the microwave on your left. | STEP 4: Put the plate in the microwave, heat it, and take it out. | STEP 5: Turn right and face the sink. | STEP 6: Put the plate in the cabinet above the sink. | END


Input: Put a heated plate in a cabinet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -2.75, 0, 180, 0,  [SEP] 1, Pan, -3.713, 0.758, -3.778, 0, 199.125, 0, 72 [SEP] 2, Potato, -0.334, 1.318, -0.297, 0, 270, 0, 66 [SEP] 3, ButterKnife, -3.475, 0.760, -3.371, 0, 109.125, 0, 72 [SEP] 4, ButterKnife, -0.315, 0.941, -1.319, 0, 0, 0, 54 [SEP] 5, Fork, -2.761, 0.895, -0.548, 0, 270, 0, 73 [SEP] 6, Spoon, -3.935, 0.761, -2.959, 0, 334.125, 0, 72 [SEP] 7, Spoon, -3.460, 0.761, -3.048, 0, 199.125, 0, 72 [SEP] 8, Spatula, -4.062, 0.705, -0.187, 0, 0, 0, 71 [SEP] 9, Spatula, -0.236, 0.956, -1.538, 0, 0, 0, 54 [SEP] 10, Egg, -1.016, 0.983, -3.650, 0, 45, 0, 36 [SEP] 11, Plate, -3.565, 0.908, -0.548, 0, 270, 0, 73 [SEP] 12, Bowl, -0.293, 1.284, -0.994, 0, 270, 0, 66 [SEP] 13, Bread, -2.560, 0.976, -0.290, 0, 270, 0, 73 [SEP] 14, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 66 [SEP] 15, SoapBottle, -1.169, 0.940, -3.804, 0, 45, 0, 36 [SEP] 16, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 38 [SEP] 17, Fork, -0.524, 0.747, -1.488, 0, 90, 0, 40 [SEP] 18, Cup, -0.397, 1.489, -0.645, 0, 270, 0, 66 [SEP] 19, Tomato, -2.359, 0.945, -0.119, 0, 270, 0, 73 [SEP] 20, Pan, -2.962, 0.892, -0.376, 0, 0, 0, 73 [SEP] 21, Plate, -3.565, 0.908, -0.204, 0, 270, 0, 73 [SEP] 22, Bread, -4.002, 0.772, -0.248, 0, 0, 0, 71 [SEP] 23, Spatula, -3.163, 0.909, -0.462, 0, 270, 0, 73 [SEP] 24, Knife, -2.560, 0.920, -0.462, 0, 270, 0, 73 [SEP] 25, SaltShaker, -1.123, 0.750, -3.447, 0, 0, 0, 42 [SEP] 26, PepperShaker, -0.233, 0.938, -2.905, 0, 45, 0, 36 [SEP] 27, ButterKnife, -4.122, 0.690, -0.491, 0, 0, 0, 71 [SEP] 28, Apple, -0.552, 1.002, -1.538, 0, 0, 0, 54 [SEP] 29, DishSponge, -0.236, 0.940, -1.406, 0, 0, 0, 54 [SEP] 30, Potato, -4.182, 0.723, -0.308, 0, 0, 0, 71 [SEP] 31, Egg, -0.359, 1.529, -0.413, 0, 270, 0, 66 [SEP] 32, Spoon, -3.364, 0.895, -0.290, 0, 180, 0, 73 [SEP] 33, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 66 [SEP] 34, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 62 [SEP] 35, Bowl, -3.364, 0.892, -0.119, 0, 270, 0, 73 [SEP] 36, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 37, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 38, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 39, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 40, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 41, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 42, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 43, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 44, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 45, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 46, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 47, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 48, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 49, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 50, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 51, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 52, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 53, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 54, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 55, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 56, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 57, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 58, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 59, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 60, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 61, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 62, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 63, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 64, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 65, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 66, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 67, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 68, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 69, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 70, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 71, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 72, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 73, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 74, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 75, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,

Output: STEP 1: Turn around and head to the white table. | STEP 2: Pick up the plate on the front of the table.  | STEP 3: Bring the plate to the microwave on the left. | STEP 4: Heat the plate in the microwave.  | STEP 5: Bring the heated plate to the cabinet to the right.  | STEP 6: Put the heated plate in the cabinet above the counter.  | END


Input: Place a bowl of water with a knife in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.25, 0, 0, 0,  [SEP] 1, Glassbottle, -0.600, 0.916, -3.485, 0, 0, 0, 52 [SEP] 2, Glassbottle, -0.422, 0.082, -1.895, 0, 0, 0, 47 [SEP] 3, Pencil, -0.778, 0.747, -3.556, 0, 0, 0, 51 [SEP] 4, Pencil, -2.780, 0.923, -2.345, 0, 0, 0, 77 [SEP] 5, Pen, -2.552, 0.926, -1.654, 0, 0, 0, 77 [SEP] 6, Pen, -2.096, 0.926, -1.884, 0, 0, 0, 77 [SEP] 7, Potato, -0.268, 1.722, -0.665, 0, 270, 0, 69 [SEP] 8, ButterKnife, -2.552, 0.923, -2.115, 0, 0, 0, 77 [SEP] 9, WineBottle, -0.743, 0.916, -3.555, 0, 0, 0, 52 [SEP] 10, WineBottle, -0.233, 1.531, -3.630, 0, 45, 0, 60 [SEP] 11, Knife, -2.552, 0.946, -1.193, 0, 0, 0, 77 [SEP] 12, Knife, -2.666, 0.946, -1.423, 0, 180, 0, 77 [SEP] 13, Plate, -0.460, 0.083, -2.201, 0, 0, 0, 57 [SEP] 14, Cup, -2.666, 0.922, -1.654, 0, 0, 0, 77 [SEP] 15, Cup, -0.421, 0.080, -3.330, 0, 0, 0, 58 [SEP] 16, Egg, -0.268, 1.723, -0.770, 0, 270, 0, 69 [SEP] 17, Tomato, -0.246, 1.162, -0.455, 0, 270, 0, 69 [SEP] 18, Lettuce, -0.295, 1.191, -0.979, 0, 270, 0, 69 [SEP] 19, PepperShaker, -0.067, 0.912, -1.800, 0, 0, 0, 70 [SEP] 20, PepperShaker, -1.549, 1.965, -3.773, 0, 0, 0, 61 [SEP] 21, Apple, -0.343, 1.464, -0.665, 0, 270, 0, 69 [SEP] 22, Apple, -0.268, 1.764, -0.979, 0, 270, 0, 69 [SEP] 23, Lettuce, -0.343, 1.191, -0.665, 0, 270, 0, 69 [SEP] 24, Glassbottle, -0.385, 0.916, -3.839, 0, 0, 0, 52 [SEP] 25, Egg, -2.666, 0.956, -1.884, 0, 0, 0, 77 [SEP] 26, Pen, -2.552, 0.926, -1.884, 0, 0, 0, 77 [SEP] 27, Fork, -2.324, 0.924, -1.884, 0, 0, 0, 77 [SEP] 28, SoapBottle, -0.315, 1.529, -3.548, 0, 45, 0, 60 [SEP] 29, Pencil, -0.720, 0.746, -3.527, 0, 90, 0, 51 [SEP] 30, WineBottle, -1.912, 0.027, -3.690, 0, 0, 0, 68 [SEP] 31, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 52 [SEP] 32, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 52 [SEP] 33, Tomato, -0.295, 1.454, -0.979, 0, 270, 0, 69 [SEP] 34, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 50 [SEP] 35, Cup, -0.778, 0.081, -3.545, 0, 0, 0, 58 [SEP] 36, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 49 [SEP] 37, SaltShaker, -2.096, 0.919, -1.193, 0, 0, 0, 77 [SEP] 38, Potato, -0.388, 1.722, -0.665, 0, 270, 0, 69 [SEP] 39, PepperShaker, -2.666, 0.919, -2.115, 0, 0, 0, 77 [SEP] 40, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 77 [SEP] 41, DishSponge, -0.499, 0.080, -3.236, 0, 0, 0, 58 [SEP] 42, Spoon, -2.324, 0.924, -0.963, 0, 0, 0, 77 [SEP] 43, Plate, -2.438, 0.925, -1.193, 0, 0, 0, 77 [SEP] 44, Knife, -2.210, 0.946, -2.345, 0, 0, 0, 77 [SEP] 45, Mug, -0.671, 0.910, -3.768, 0, 0, 0, 52 [SEP] 46, Bowl, -2.754, 0.913, -1.174, 0, 18.855, 0, 77 [SEP] 47, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 48, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 49, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 50, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 51, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 52, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 53, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 54, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 55, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 56, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 57, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 58, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 59, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 60, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 61, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 62, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 63, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 64, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 65, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 66, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 67, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 68, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 69, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 70, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 71, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 72, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 73, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 74, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 75, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 76, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 77, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 78, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 79, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 80, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 81, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 82, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 83, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Walk around the table in front of you to reach the opposite end. | STEP 2: Pick up the bowl with the knife in it from the table. | STEP 3: Walk to the left of the table and stop when you get to the sink. | STEP 4: Fill the bowl with water, then pick it up again. | STEP 5: Turn around to face the table again.  | STEP 6: Place the bowl on the front left side of the table, next to the other knife. | END


Input: Put a chilled tomato on the counter left 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, -1.75, 0.900, 2.75, 0, 90, 0,  [SEP] 1, Book, 3.689, 0.549, 1.449, 0, 270, 0, 81 [SEP] 2, Book, 0.663, 0.908, -1.674, 0, 0, 0, 58 [SEP] 3, DishSponge, -1.682, 0.719, -1.073, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.659, 0.878, 3.559, 0, 0, 0, 60 [SEP] 5, ButterKnife, -2.315, 0.874, 3.088, 0, 135, 0, 60 [SEP] 6, WineBottle, -2.143, 0.879, 3.021, 0, 135, 0, 60 [SEP] 7, WineBottle, -0.844, 0.193, 2.136, 0, 90, 0, 88 [SEP] 8, Spatula, -3.069, 0.893, 3.527, 0, 315, 0, 60 [SEP] 9, Pot, -0.263, 1.574, 2.160, 0, 180, 0, 83 [SEP] 10, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 62 [SEP] 11, Fork, -2.964, 0.875, 3.632, 0, 135, 0, 60 [SEP] 12, Fork, -2.510, 0.879, 2.884, 0, 0, 0, 60 [SEP] 13, Knife, 1.760, 0.932, -1.618, 0, 90, 0, 78 [SEP] 14, SoapBottle, 3.716, 0.881, 1.759, 0, 270, 0, 79 [SEP] 15, SoapBottle, 0.207, 0.114, -1.379, 0, 0, 0, 66 [SEP] 16, Tomato, 0.571, 0.959, -1.471, 0, 0, 0, 58 [SEP] 17, Bowl, -2.807, 0.876, 3.728, 0, 0, 0, 60 [SEP] 18, SaltShaker, 1.687, 0.906, -1.437, 0, 0, 0, 78 [SEP] 19, SaltShaker, 1.578, 0.906, -1.346, 0, 0, 0, 78 [SEP] 20, PepperShaker, -2.807, 0.874, 3.053, 0, 0, 0, 60 [SEP] 21, Bread, -1.849, 0.995, -1.265, 0, 0, 0, 58 [SEP] 22, Bread, -3.122, 0.961, 2.968, 0, 225, 0, 60 [SEP] 23, Mug, -2.996, 0.869, 3.296, 0, 270, 0, 60 [SEP] 24, Apple, -2.845, 0.929, 2.930, 0, 225, 0, 60 [SEP] 25, Apple, -2.584, 0.933, 2.715, 0, 0, 0, 60 [SEP] 26, Book, -1.627, 0.908, 0.037, 0, 0, 0, 58 [SEP] 27, Fork, -2.148, 0.718, -1.716, 0, 90, 0, 77 [SEP] 28, Tomato, -2.353, 0.925, 3.632, 0, 225, 0, 60 [SEP] 29, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 58 [SEP] 30, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 61 [SEP] 31, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 81 [SEP] 32, Cup, 1.157, 1.759, -1.596, 0, 0, 0, 82 [SEP] 33, WineBottle, -0.459, 0.122, -1.452, 0, 0, 0, 67 [SEP] 34, Plate, -0.833, 0.916, -1.369, 0, 0, 0, 58 [SEP] 35, Spatula, 0.179, 0.943, -1.356, 0, 0, 0, 55 [SEP] 36, Potato, -2.697, 0.915, 2.945, 0, 135, 0, 60 [SEP] 37, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 38, Knife, -2.793, 0.896, 3.565, 0, 315, 0, 60 [SEP] 39, SaltShaker, -1.557, 1.653, -1.821, 0, 0, 0, 71 [SEP] 40, PepperShaker, 1.703, 0.716, -1.476, 0, 0, 0, 74 [SEP] 41, Lettuce, -2.183, 0.977, -0.288, 0, 0, 0, 58 [SEP] 42, ButterKnife, 0.014, 0.930, -1.646, 0, 270, 0, 55 [SEP] 43, Bread, -2.315, 0.958, 3.355, 0, 225, 0, 60 [SEP] 44, Vase, 0.997, 2.157, -1.747, 0, 0, 0, 72 [SEP] 45, DishSponge, 0.521, 0.718, -1.376, 0, 0, 0, 75 [SEP] 46, Apple, -0.367, 0.752, -1.678, 0, 270, 0, 87 [SEP] 47, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 76 [SEP] 48, Spoon, -2.584, 0.875, 3.728, 0, 90, 0, 60 [SEP] 49, SoapBottle, -1.444, 1.657, -1.710, 0, 0, 0, 71 [SEP] 50, Mug, -2.644, 0.869, 3.446, 0, 225, 0, 60 [SEP] 51, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 81 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, 0.193, 1.570, 2.040, 0, 180, 0, 83 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

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


Input: Place a warm slice of apple in the gray bin next to the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -2.5, 0, 0, 0,  [SEP] 1, Potato, -0.338, 0.959, -1.432, 0, 0, 0, 66 [SEP] 2, Potato, -0.176, 0.959, -1.493, 0, 0, 0, 66 [SEP] 3, ButterKnife, -0.854, 0.913, -3.878, 0, 0, 0, 39 [SEP] 4, Spatula, -2.765, 0.731, -0.395, 0, 315, 0, 83 [SEP] 5, Spatula, -0.039, 0.928, -3.878, 0, 0, 0, 39 [SEP] 6, Fork, -0.419, 0.916, -1.555, 0, 0, 0, 66 [SEP] 7, Cup, -3.234, 1.013, -1.941, 0, 90, 0, 80 [SEP] 8, SoapBottle, -3.007, 0.713, -0.621, 0, 270, 0, 83 [SEP] 9, SoapBottle, -1.867, 0.081, -3.635, 0, 0, 0, 60 [SEP] 10, Bowl, -0.235, 1.294, -3.669, 0, 45, 0, 59 [SEP] 11, SaltShaker, -0.471, 0.742, -1.331, 0, 0, 0, 62 [SEP] 12, SaltShaker, -0.118, 1.290, -0.923, 0, 0, 0, 46 [SEP] 13, PepperShaker, -0.128, 1.864, -2.106, 0, 0, 0, 57 [SEP] 14, PepperShaker, -1.066, 0.076, -3.559, 0, 0, 0, 54 [SEP] 15, Apple, -2.721, 0.756, -0.552, 0, 135, 0, 83 [SEP] 16, Apple, -3.123, 0.756, -0.841, 0, 225, 0, 83 [SEP] 17, Apple, -3.130, 1.056, -2.064, 0, 90, 0, 80 [SEP] 18, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 70 [SEP] 19, Egg, -0.419, 0.951, -1.370, 0, 0, 0, 66 [SEP] 20, Cup, -1.164, 0.080, -3.750, 0, 0, 0, 54 [SEP] 21, Bread, -0.328, 0.954, -2.911, 0, 0, 0, 39 [SEP] 22, Fork, -2.809, 0.714, -0.640, 0, 135, 0, 83 [SEP] 23, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 64 [SEP] 24, Potato, -3.346, 0.957, -3.655, 0, 0, 0, 39 [SEP] 25, Lettuce, -1.324, 0.988, -3.759, 1.589, 253.733, 356.995, 39 [SEP] 26, Tomato, -0.014, 0.965, -1.432, 0, 0, 0, 66 [SEP] 27, Apple, -0.039, 0.956, -3.729, 0, 0, 0, 39 [SEP] 28, SoapBottle, -2.990, 0.713, -0.780, 0, 0, 0, 83 [SEP] 29, Spatula, -3.477, 0.928, -3.227, 0, 90, 0, 39 [SEP] 30, SaltShaker, -0.382, 0.743, -0.533, 0, 0, 0, 65 [SEP] 31, Knife, -2.678, 0.746, -0.211, 0, 90, 0, 83 [SEP] 32, PepperShaker, -0.257, 0.912, -1.309, 0, 0, 0, 66 [SEP] 33, ButterKnife, -3.309, 0.913, -2.926, 0, 0, 0, 39 [SEP] 34, Plate, -2.808, 0.911, -3.952, 0, 0, 0, 39 [SEP] 35, DishSponge, -3.393, 0.913, -3.327, 0, 0, 0, 39 [SEP] 36, Spoon, -1.776, 0.791, -3.790, 0, 0, 0, 81 [SEP] 37, Mug, -2.439, 0.708, -0.496, 0, 270, 0, 83 [SEP] 38, Bowl, -3.182, 0.638, -2.125, 0, 90, 0, 80 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Walk towards the door and then turn left to face the round table. | STEP 2: Pick up the yellow knife from the table | STEP 3: Turn left and stand behind the metal chair to your left. | STEP 4: Slice the apple behind the cup into three pieces. | STEP 5: Turn around and walk towards the microwave. | STEP 6: Open the microwave, place the knife in it, and close it. | STEP 7: Turn around, head towards the round table. | STEP 8: Pick up the middle slice of apple from the table. | STEP 9: Turn around and head towards the microwave. | STEP 10: Open the microwave, place the apple in it, heat it up, and take out the apple. | STEP 11: Turn left and walk towards the bin on the floor to your right. | STEP 12: Place the apple in the bin. | END


Input: Cook a potato and put in on the bottom shelf 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, -0.25, 0.930, 0.75, 0, 270, 0,  [SEP] 1, Potato, 0.929, 0.924, -1.475, 0, 0, 0, 113 [SEP] 2, Potato, 1.086, 0.749, -1.354, 0, 0, 0, 113 [SEP] 3, Potato, 3.355, 0.939, -0.399, 0, 0, 0, 66 [SEP] 4, Ladle, 0.967, 0.947, 0.747, 0, 0, 0, 98 [SEP] 5, DishSponge, 0.967, 0.910, 0.464, 0, 0, 0, 98 [SEP] 6, DishSponge, 0.354, 1.259, -1.741, 0, 0, 0, 83 [SEP] 7, ButterKnife, 2.966, 0.900, -0.698, 0, 0, 0, 66 [SEP] 8, ButterKnife, 0.622, 0.911, 0.627, 0, 0, 0, 98 [SEP] 9, Glassbottle, -0.131, 0.901, -1.296, 0, 45, 0, 88 [SEP] 10, Glassbottle, -0.939, 1.259, -0.740, 0, 45, 0, 86 [SEP] 11, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 69 [SEP] 12, Pot, -0.862, 0.900, -0.047, 0, 90, 0, 67 [SEP] 13, Spatula, 0.664, 0.925, 0.296, 0, 126.810, 0, 98 [SEP] 14, Spatula, 2.947, 0.727, -0.705, 0, 270, 0, 54 [SEP] 15, Spoon, -0.868, 0.327, 1.430, 0, 0, 0, 102 [SEP] 16, Spoon, -0.078, 0.323, -1.353, 0, 135, 0, 99 [SEP] 17, Fork, -0.868, 0.326, -0.273, 0, 0, 0, 72 [SEP] 18, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 110 [SEP] 19, Mug, -0.985, 0.992, 1.417, 0, 90, 0, 115 [SEP] 20, Bread, 0.445, 0.986, 0.426, 0, 0, 0, 98 [SEP] 21, Lettuce, 0.929, 1.139, -1.503, 0, 0, 0, 113 [SEP] 22, Lettuce, -0.725, 0.965, -0.803, 0, 45, 0, 67 [SEP] 23, Tomato, 1.242, 0.748, -1.354, 0, 0, 0, 113 [SEP] 24, Egg, -1.119, 1.050, 1.311, 0, 90, 0, 115 [SEP] 25, Cup, -0.038, 0.898, -1.388, 0, 45, 0, 88 [SEP] 26, Plate, 0.808, 1.687, -1.550, 0, 0, 0, 82 [SEP] 27, Plate, 3.173, 1.477, -1.235, 0, 0, 0, 81 [SEP] 28, Plate, -0.953, 0.886, 0.699, 0, 0, 0, 67 [SEP] 29, Glassbottle, 3.028, 0.748, -0.034, 0, 90, 0, 112 [SEP] 30, SoapBottle, 0.839, 0.917, 0.530, 0, 36.810, 0, 98 [SEP] 31, Potato, 3.355, 0.939, -0.897, 0, 0, 0, 66 [SEP] 32, Fork, -0.868, 0.518, -0.011, 0, 0, 0, 94 [SEP] 33, Ladle, 0.667, 0.947, 0.416, 0, 36.810, 0, 98 [SEP] 34, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 98 [SEP] 35, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 62 [SEP] 36, Spatula, 3.070, 0.727, 0.560, 0, 90, 0, 89 [SEP] 37, Knife, 3.152, 0.738, -0.454, 0, 90, 0, 63 [SEP] 38, Lettuce, -0.717, 0.965, 0.399, 0, 0, 0, 67 [SEP] 39, Cup, 0.773, 1.245, -1.503, 0, 0, 0, 113 [SEP] 40, SaltShaker, 3.084, 0.172, -0.786, 0, 0, 0, 79 [SEP] 41, Egg, 0.101, 0.952, -1.660, 0, 0, 0, 88 [SEP] 42, PepperShaker, -0.717, 0.896, 0.846, 0, 0, 0, 71 [SEP] 43, ButterKnife, -1.080, 0.900, 0.176, 0, 0, 0, 67 [SEP] 44, Apple, 1.491, 0.981, 0.322, 0, 0, 0, 98 [SEP] 45, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 88 [SEP] 46, Bread, 3.122, 0.979, -0.798, 0, 0, 0, 66 [SEP] 47, CellPhone, 0.285, 0.510, -1.434, 0, 0, 0, 53 [SEP] 48, DishSponge, 0.836, 0.910, 0.180, 0, 0, 0, 98 [SEP] 49, Tomato, 0.710, 0.947, 0.827, 0, 0, 0, 98 [SEP] 50, Spoon, 3.122, 0.901, -0.300, 0, 180, 0, 66 [SEP] 51, Bowl, 3.084, 0.172, -0.453, 0, 0, 0, 78 [SEP] 52, Mug, -0.935, 0.895, 0.399, 0, 0, 0, 67 [SEP] 53, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 54, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 55, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 56, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 57, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 58, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 59, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 60, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 61, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 62, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 63, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 64, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 65, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 66, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 67, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 69, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 70, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 72, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 73, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 74, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 75, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 77, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 78, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 79, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 80, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 81, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 82, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 83, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 84, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 85, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 86, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 87, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 88, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 89, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 90, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 92, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 93, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 94, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 95, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 96, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 97, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 98, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 99, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 100, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 101, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 102, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 103, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 104, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 105, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 106, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 107, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 108, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 109, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 110, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 111, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 112, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 113, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 114, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 115, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 116, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 117, NorthWall, , , , , , ,  [SEP] 118, EastWall, , , , , , ,  [SEP] 119, SouthWall, , , , , , ,  [SEP] 120, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk around the room the face the fridge. | STEP 2: Take the potato out of the fridge. | STEP 3: Turn right and walk around the room then turn left to face the microwave. | STEP 4: Heat the potato in the microwave, then remove it. | STEP 5: Turn left and walk around the room the face the fridge. | STEP 6: Place the potato in the fridge on the bottom shelf. | END


Input: Cut an apple, wash a piece of the apple, put it in the bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 1.25, 0, 270, 0,  [SEP] 1, Potato, -1.465, 0.962, 0.636, 0, 0, 0, 74 [SEP] 2, Ladle, -2.011, 1.164, 0.190, 0, 90, 0, 62 [SEP] 3, Ladle, -2.514, 1.164, 0.662, 0, 0, 0, 62 [SEP] 4, ButterKnife, -2.388, 1.124, 0.190, 0, 0, 0, 62 [SEP] 5, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 50 [SEP] 6, Pot, -3.572, 1.566, 2.849, 0, 90, 0, 69 [SEP] 7, Fork, -0.785, 1.047, 3.266, 0, 0, 0, 52 [SEP] 8, Fork, -2.450, 0.095, 0.579, 0, 0, 0, 55 [SEP] 9, Spoon, -2.388, 1.126, 0.379, 0, 0, 0, 62 [SEP] 10, Spoon, -0.908, 1.049, 1.920, 0, 0, 0, 52 [SEP] 11, Spatula, -0.538, 1.063, 1.920, 0, 0, 0, 52 [SEP] 12, Egg, -0.659, 1.155, 0.206, 0, 0, 0, 64 [SEP] 13, Egg, -1.111, 0.961, 0.221, 0, 0, 0, 74 [SEP] 14, Cup, -0.939, 1.122, 0.296, 0, 0, 0, 64 [SEP] 15, Plate, -3.373, 1.285, 3.061, 0, 90, 0, 69 [SEP] 16, Knife, -1.288, 0.963, 0.428, 0, 0, 0, 74 [SEP] 17, SoapBottle, -0.785, 1.047, 2.593, 0, 0, 0, 52 [SEP] 18, SoapBottle, -1.568, 1.154, 0.095, 0, 0, 0, 49 [SEP] 19, Tomato, -0.538, 1.088, 2.593, 0, 0, 0, 52 [SEP] 20, Tomato, -0.662, 1.087, 3.266, 0, 0, 0, 52 [SEP] 21, SaltShaker, -2.555, 0.898, 0.511, 0, 0, 0, 61 [SEP] 22, PepperShaker, -2.514, 1.121, 0.379, 0, 0, 0, 62 [SEP] 23, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 52 [SEP] 24, Apple, -0.908, 1.114, 2.817, 0, 0, 0, 52 [SEP] 25, Fork, -0.771, 1.125, 0.206, 0, 0, 0, 64 [SEP] 26, SoapBottle, -3.814, 1.125, 0.662, 0, 0, 0, 59 [SEP] 27, Pot, -0.785, 1.052, 2.369, 0, 0, 0, 52 [SEP] 28, Ladle, -1.111, 0.970, 0.428, 0, 90, 0, 74 [SEP] 29, Potato, -3.644, 0.142, 2.008, 0, 0, 0, 73 [SEP] 30, Plate, -1.156, 0.047, 0.437, 0, 0, 0, 56 [SEP] 31, Bread, -2.639, 1.211, 0.567, 0, 0, 0, 62 [SEP] 32, Lettuce, -2.011, 1.202, 0.473, 0, 0, 0, 62 [SEP] 33, Spatula, -0.415, 1.063, 2.817, 0, 0, 0, 52 [SEP] 34, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 66 [SEP] 35, Egg, -3.229, 0.759, 2.920, 0, 90, 0, 69 [SEP] 36, Cup, -1.465, 0.929, 0.498, 0, 0, 0, 74 [SEP] 37, SaltShaker, -3.814, 1.121, 0.284, 0, 0, 0, 59 [SEP] 38, Knife, -0.662, 1.079, 3.042, 0, 270, 0, 52 [SEP] 39, Bowl, -0.827, 1.122, 0.478, 0, 0, 0, 64 [SEP] 40, PepperShaker, -1.995, 0.092, 0.545, 0, 0, 0, 54 [SEP] 41, ButterKnife, -1.553, 0.931, 0.498, 0, 0, 0, 74 [SEP] 42, Apple, -0.203, 1.295, 0.443, 0, 0, 0, 75 [SEP] 43, Tomato, -3.440, 1.603, 3.061, 0, 90, 0, 69 [SEP] 44, DishSponge, -0.771, 1.124, 0.115, 0, 0, 0, 64 [SEP] 45, Spoon, -0.908, 1.049, 2.144, 0, 0, 0, 52 [SEP] 46, Mug, -3.291, 0.917, 2.459, 0, 0, 0, 69 [SEP] 47, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 48, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 49, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 50, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 51, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 52, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 53, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 54, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 55, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 56, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 57, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 58, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 59, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 60, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 61, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 62, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 63, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 64, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 65, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 66, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 67, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 68, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 69, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 70, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 71, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 72, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 73, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 74, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 75, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 76, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 77, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 78, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 79, NorthWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, SouthWall, , , , , , ,

Output: STEP 1: Turn around, go forward, turn right at the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around, go forward, turn right at the table  | STEP 4: Cut the apple on the table  | STEP 5: Turn around, go forward a bit, turn left and go to the cupboard under the sink | STEP 6: Put the knife in the cupboard | STEP 7: Turn around, go forward, turn right at the table  | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn right, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn right, go forward, turn right | STEP 12: Put the apple piece into the bin | END


Input: Place chilled coffee mug on coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 180, 0,  [SEP] 1, Glassbottle, -0.254, 0.797, -1.934, 0, 270, 0, 73 [SEP] 2, Pencil, -2.666, 0.923, -2.115, 0, 0, 0, 80 [SEP] 3, Pencil, -0.778, 0.747, -3.586, 0, 270, 0, 54 [SEP] 4, Pen, -1.943, 0.029, -3.799, 0, 0, 0, 71 [SEP] 5, Potato, -2.552, 0.954, -1.193, 0, 0, 0, 80 [SEP] 6, Potato, -2.096, 0.954, -2.115, 0, 0, 0, 80 [SEP] 7, DishSponge, -0.230, 1.970, -1.663, 0, 0, 0, 57 [SEP] 8, DishSponge, -0.230, 1.970, -1.883, 0, 0, 0, 57 [SEP] 9, WineBottle, -0.344, 0.082, -2.201, 0, 0, 0, 60 [SEP] 10, WineBottle, -2.006, 0.027, -3.799, 0, 0, 0, 71 [SEP] 11, Spatula, -2.552, 0.938, -0.963, 0, 90, 0, 80 [SEP] 12, Fork, -0.350, 0.797, -2.008, 0, 270, 0, 73 [SEP] 13, Spoon, -2.324, 0.924, -1.423, 0, 0, 0, 80 [SEP] 14, Spoon, -2.324, 0.924, -0.963, 0, 0, 0, 80 [SEP] 15, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 80 [SEP] 16, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 80 [SEP] 17, Cup, -0.388, 1.689, -0.769, 0, 270, 0, 72 [SEP] 18, Egg, -1.943, 0.059, -3.654, 0, 0, 0, 71 [SEP] 19, Bowl, -0.348, 1.689, -0.560, 0, 270, 0, 72 [SEP] 20, Bread, -0.343, 1.443, -0.560, 0, 270, 0, 72 [SEP] 21, SaltShaker, -0.180, 1.966, -1.773, 0, 0, 0, 57 [SEP] 22, SaltShaker, -2.096, 0.919, -1.423, 0, 0, 0, 80 [SEP] 23, PepperShaker, -0.138, 1.524, -2.914, 0, 0, 0, 67 [SEP] 24, PepperShaker, -0.256, 1.966, -2.249, 0, 0, 0, 62 [SEP] 25, Apple, -0.392, 1.172, -0.560, 0, 270, 0, 72 [SEP] 26, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 72 [SEP] 27, Glassbottle, -0.254, 0.797, -2.155, 0, 270, 0, 73 [SEP] 28, Egg, -0.350, 0.830, -2.229, 0, 270, 0, 73 [SEP] 29, Pen, -0.026, 0.918, -2.001, 0, 90, 0, 55 [SEP] 30, Fork, -2.324, 0.924, -1.193, 0, 0, 0, 80 [SEP] 31, SoapBottle, -0.288, 1.529, -3.575, 0, 45, 0, 63 [SEP] 32, Pencil, -2.666, 0.923, -2.345, 0, 0, 0, 80 [SEP] 33, WineBottle, -0.418, 1.531, -3.651, 0, 45, 0, 63 [SEP] 34, Spatula, -2.096, 0.938, -1.423, 0, 0, 0, 80 [SEP] 35, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 55 [SEP] 36, Tomato, -2.717, 0.979, -1.924, 0, 0, 0, 80 [SEP] 37, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 80 [SEP] 38, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 80 [SEP] 39, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 53 [SEP] 40, SaltShaker, -0.150, 0.912, -2.563, 0, 0, 0, 55 [SEP] 41, Potato, -2.780, 0.954, -1.654, 0, 0, 0, 80 [SEP] 42, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 66 [SEP] 43, ButterKnife, -2.552, 0.923, -1.884, 0, 0, 0, 80 [SEP] 44, DishSponge, -0.230, 1.970, -2.363, 0, 0, 0, 62 [SEP] 45, Spoon, -0.365, 0.916, -2.764, 0, 0, 0, 55 [SEP] 46, Plate, -0.295, 1.101, -0.979, 0, 270, 0, 72 [SEP] 47, Knife, -2.210, 0.946, -2.345, 0, 0, 0, 80 [SEP] 48, Mug, -2.780, 0.918, -1.193, 0, 0, 0, 80 [SEP] 49, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 68 [SEP] 50, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 51, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 52, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 53, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 54, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 55, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 56, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 57, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 58, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 59, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 60, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 61, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 62, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 63, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 64, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 65, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 66, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 67, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 68, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 69, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 70, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 71, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 72, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 73, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 74, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 75, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 76, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 77, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 78, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 79, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 80, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 81, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 82, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 83, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 84, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 85, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 86, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: turn around, go to end of green counter facing spatula  | STEP 2: pick up black coffee mug on green counter to the right of potato | STEP 3: turn left, go to black refrigerator | STEP 4: open refrigerator, place black mug on space in between top shelves, close refrigerator, open refrigerator, pick up black mug from top shelf, close refrigerator | STEP 5: turn right, go to counter with toaster and coffee maker on the left | STEP 6: place mug on heater plate on coffee maker | END


Input: Put the cleaned knife in the drawer under the tomato.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Kettle, -2.614, 0.953, 0.524, 0, 90, 0, 75 [SEP] 2, Kettle, 1.658, 0.913, -1.737, 0, 0, 0, 42 [SEP] 3, Potato, -2.065, 0.982, 0.704, 0, 90, 0, 75 [SEP] 4, DishSponge, -2.203, 0.951, 0.704, 0, 90, 0, 75 [SEP] 5, ButterKnife, -2.340, 0.952, 0.435, 0, 90, 0, 75 [SEP] 6, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 47 [SEP] 7, Fork, -2.614, 0.952, 0.255, 0, 90, 0, 75 [SEP] 8, Fork, 1.907, 0.912, 0.375, 0, 0, 0, 57 [SEP] 9, Spoon, 1.846, 0.913, 0.540, 0, 0, 0, 57 [SEP] 10, SoapBottle, -1.928, 0.950, 0.614, 0, 90, 0, 75 [SEP] 11, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 39 [SEP] 12, Bowl, -0.634, 0.110, -1.508, 0, 0, 0, 56 [SEP] 13, Bread, -2.065, 1.035, 0.345, 0, 90, 0, 75 [SEP] 14, Knife, 1.781, 0.937, -1.571, 0, 90, 0, 42 [SEP] 15, Fork, -2.203, 0.952, 0.255, 0, 90, 0, 75 [SEP] 16, Bowl, 0.387, 0.109, 0.308, 0, 0, 0, 53 [SEP] 17, Kettle, -0.147, 0.111, -1.471, 0, 0, 0, 51 [SEP] 18, Cup, -1.872, 1.491, -1.763, 0, 0, 0, 72 [SEP] 19, Tomato, 0.035, 0.961, 0.209, 0, 0, 0, 41 [SEP] 20, SoapBottle, 0.701, 0.918, -1.649, 0, 270, 0, 40 [SEP] 21, Plate, -0.111, 0.900, -1.596, 0, 0, 0, 42 [SEP] 22, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 44 [SEP] 23, Spatula, 1.785, 0.927, 0.209, 0, 0, 0, 57 [SEP] 24, PaperTowelRoll, 1.412, 1.016, -1.489, 0, 0, 0, 42 [SEP] 25, Egg, -0.544, 0.947, -1.571, 0, 0, 0, 42 [SEP] 26, Lettuce, -1.791, 1.042, 0.255, 0, 90, 0, 75 [SEP] 27, SaltShaker, 1.289, 0.908, -1.903, 0, 0, 0, 42 [SEP] 28, PepperShaker, 0.517, 0.104, -1.547, 0, 180, 0, 39 [SEP] 29, Apple, -1.079, 1.082, -1.704, 0, 0, 0, 64 [SEP] 30, ButterKnife, -2.477, 0.952, 0.614, 0, 90, 0, 75 [SEP] 31, Potato, -2.222, 0.541, -1.720, 0, 0, 0, 72 [SEP] 32, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 54 [SEP] 33, DishSponge, -0.362, 0.069, 0.569, 0, 90, 0, 71 [SEP] 34, Spoon, -1.928, 0.953, 0.435, 0, 90, 0, 75 [SEP] 35, Mug, 0.167, 0.907, 0.540, 0, 0, 0, 41 [SEP] 36, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 37, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 38, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 39, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 40, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 41, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 42, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 43, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 44, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 45, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 46, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 47, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 48, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 49, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 50, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 51, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 52, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 53, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 54, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 55, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 56, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 57, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 58, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 59, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 60, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 61, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 62, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 63, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 64, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 65, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 66, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 67, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 68, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 69, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 70, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 71, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 72, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 73, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 74, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 75, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Move to the white rectangular table. | STEP 2: Pick up the knife next to the bread.  | STEP 3: Bring the knife to the sink.  | STEP 4: Wash the knife in the sink with water.  | STEP 5: Bring the knife to the counter by the tomato. | STEP 6: Put the knife in the drawer under the tomato.  | END


Input: Move a credit card to a chair in the corner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Bowl, -0.416, 0.477, -0.995, 0, 180, 0, 38 [SEP] 2, KeyChain, -0.115, 0.478, -1.245, 0, 180, 0, 38 [SEP] 3, KeyChain, -1.807, 0.760, -1.290, 0, 270, 0, 42 [SEP] 4, RemoteControl, 0.794, 0.547, 1.180, 0, 180, 0, 35 [SEP] 5, CreditCard, 0.794, 0.545, 0.906, 0, 180, 0, 35 [SEP] 6, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 48 [SEP] 7, Bowl, -1.635, 0.419, -1.550, 0, 90, 0, 42 [SEP] 8, KeyChain, 1.982, 0.453, -2.141, 0, 270, 0, 48 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.802, 1.315, -2.467, 0, 270, 0, 40 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 42 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, -1.743, 0.858, -0.350, 0, 90, 0, 42 [SEP] 15, RemoteControl, -0.301, 0.758, -2.247, 0, 0, 0, 30 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.353, 0.545, 1.089, 0, 180, 0, 35 [SEP] 18, Vase, -1.680, 0.760, -1.055, 0, 90, 0, 42 [SEP] 19, Statue, -1.616, 0.770, -1.526, 0, 90, 0, 42 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0,  [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0,  [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0,  [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0,  [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0,  [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0,  [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0,  [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0,  [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0,  [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0,  [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0,  [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0,  [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0,  [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0,  [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0,  [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0,  [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0,  [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0,  [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0,  [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0,  [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0,  [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0,  [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0,  [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0,  [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0,  [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0,  [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0,  [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0,  [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0,  [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to stand facing the center of the sofa. | STEP 2: Pick up the credit card closest to the center of the sofa. | STEP 3: Turn right and then right again immediately to move to the blue chair in the corner. | STEP 4: Place the credit card on the chair. | END