Input: Stand a racket on a desk.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.901, -1.5, 0, 0, 0,  [SEP] 1, Mug, -0.527, 0.063, 2.452, 0, 0, 0, 34 [SEP] 2, Mug, -0.855, 0.667, 2.728, 0, 90, 0, 45 [SEP] 3, CellPhone, -0.709, 0.980, -1.228, 0, 0, 0, 50 [SEP] 4, Pen, -0.703, 0.743, -1.320, 0, 0, 0, 51 [SEP] 5, CreditCard, -0.949, 0.668, 3.075, 0, 90, 0, 45 [SEP] 6, KeyChain, -0.848, 0.416, -1.403, 0, 90, 0, 53 [SEP] 7, KeyChain, -0.543, 0.978, -1.509, 0, 0, 0, 50 [SEP] 8, Book, -1.002, 1.504, -1.166, 0, 0, 0, 49 [SEP] 9, Book, -0.513, 0.681, 1.804, 0, 90, 0, 35 [SEP] 10, Laptop, -0.632, 1.835, 2.481, 0, 0, 0, 54 [SEP] 11, Laptop, -0.731, 1.498, -0.496, 0, 0, 0, 49 [SEP] 12, AlarmClock, -0.667, 0.669, 2.988, 0, 90, 0, 45 [SEP] 13, Book, 1.710, 0.729, -0.748, 0, 270, 0, 59 [SEP] 14, Box, -0.493, 0.2, -0.286, 0, 84.024, 0,  [SEP] 15, TennisRacket, -1.345, 0.288, 0.233, 30.000, 270, 180,  [SEP] 16, Pen, 1.715, 0.319, -0.362, 0, 90, 0, 61 [SEP] 17, AlarmClock, 2.003, 0.727, -0.010, 0, 270, 0, 59 [SEP] 18, Pillow, -0.63, 1.871, 3.047, 0, 0, 0, 54 [SEP] 19, Pillow, 1.672, 0.536, 1.605, 0, 180, 0, 62 [SEP] 20, CellPhone, -0.703, 1.839, 1.348, 0, 0, 0, 54 [SEP] 21, KeyChain, 1.710, 0.726, -0.502, 0, 270, 0, 59 [SEP] 22, CreditCard, 1.587, 0.432, 1.326, 0, 180, 0, 62 [SEP] 23, CD, -0.890, 0.065, 2.235, 0, 0, 0, 34 [SEP] 24, Pencil, -0.872, 0.681, 2.364, 0, 90, 0, 35 [SEP] 25, Laptop, -0.603, 0.675, 1.245, 0, 180, 0, 35 [SEP] 26, Mug, 1.515, 0.724, 0.236, 0, 270, 0, 59 [SEP] 27, DeskLamp, 2.016, 0.701, 0.708, 0, 0, 0,  [SEP] 28, Painting, 2.199, 1.771, -0.101, 90, 270, 0,  [SEP] 29, GarbageCan, 2.022, -0.037, -1.239, 0, 270, 0,  [SEP] 30, Mirror, 2.229, 1.254, 2.664, 0, 90, 0,  [SEP] 31, LightSwitch, 2.199, 1.258, 1.988, 0, 270, 0,  [SEP] 32, Window, 1.575, 1.559, -1.953, 90, 180, 0,  [SEP] 33, Drawer, -0.551, 0.578, 2.246, 0, 90, 0,  [SEP] 34, Cabinet, -0.649, 0.270, 2.247, 0, 90, 0,  [SEP] 35, Desk, -0.655, 0.006, 1.814, 0, 90, 0,  [SEP] 36, Shelf, 1.769, 0.184, 0.757, 0, 270, 0,  [SEP] 37, Shelf, 1.769, 0.572, 0.757, 0, 270, 0,  [SEP] 38, Shelf, 1.769, 0.572, 0.935, 0, 270, 0,  [SEP] 39, Shelf, 1.769, 0.378, 0.935, 0, 270, 0,  [SEP] 40, Shelf, 1.769, 0.378, 0.757, 0, 270, 0,  [SEP] 41, Shelf, 1.769, 0.184, 0.935, 0, 270, 0,  [SEP] 42, Blinds, 1.547, 2.434, -1.886, 0, 0, 0,  [SEP] 43, Drawer, -0.553, 0.155, 2.942, 0, 90, 0,  [SEP] 44, Drawer, -0.553, 0.572, 2.942, 0, 90, 0,  [SEP] 45, Dresser, -0.665, 0.001, 2.939, 0, 90, 0,  [SEP] 46, Drawer, -0.553, 0.376, 2.942, 0, 90, 0,  [SEP] 47, Chair, 1.482, 0.012, 0.223, 0, 77.085, 0,  [SEP] 48, Chair, -0.199, 0.012, 1.538, 0, 287.086, 0,  [SEP] 49, Bed, -0.866, 0.007, -0.919, 0, 0, 0,  [SEP] 50, Dresser, -0.772, 0.001, -1.313, 0, 90, 0,  [SEP] 51, Drawer, -0.660, 0.830, -1.309, 0, 90, 0,  [SEP] 52, Drawer, -0.660, 0.225, -1.309, 0, 90, 0,  [SEP] 53, Drawer, -0.660, 0.547, -1.309, 0, 90, 0,  [SEP] 54, Bed, -0.872, 1.637, 2.188, 0, 0, 0,  [SEP] 55, Drawer, 1.685, 0.160, -0.805, 0, 270, 0,  [SEP] 56, Drawer, 1.685, 0.160, -0.378, 0, 270, 0,  [SEP] 57, Drawer, 1.685, 0.547, -0.805, 0, 270, 0,  [SEP] 58, Drawer, 1.685, 0.547, -0.378, 0, 270, 0,  [SEP] 59, Desk, 1.812, 0.003, -0.014, 0, 270, 0,  [SEP] 60, Drawer, 1.685, 0.354, -0.805, 0, 270, 0,  [SEP] 61, Drawer, 1.685, 0.354, -0.378, 0, 270, 0,  [SEP] 62, ArmChair, 1.712, -0.000, 1.532, 0, 270, 0,  [SEP] 63, NorthWall, , , , , , ,  [SEP] 64, EastWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, WestWall, , , , , , ,

Output: STEP 1: Move forward to between the two wooden posts, turn left, head towards the tennis racket | STEP 2: Pick up the tennis racket on the floor. | STEP 3: Turn around, bring the racket to the desk across the room. | STEP 4: Stand the racket on the desk.  | END


Input: get an egg, wash it in the sink to take to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0,  [SEP] 1, Kettle, -0.343, 1.329, -1.809, 0, 180, 0, 47 [SEP] 2, Potato, -2.614, 0.982, 0.614, 0, 90, 0, 86 [SEP] 3, Potato, -1.959, 1.081, -1.763, 0, 0, 0, 83 [SEP] 4, ButterKnife, -2.065, 0.952, 0.704, 0, 180, 0, 86 [SEP] 5, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 55 [SEP] 6, Fork, 0.960, 0.920, -1.649, 0, 90, 0, 51 [SEP] 7, Spoon, -0.196, 0.775, -1.538, 0, 90, 0, 56 [SEP] 8, Egg, -0.394, 0.105, 0.655, 0, 90, 0, 82 [SEP] 9, Egg, 0.035, 0.947, 0.375, 0, 0, 0, 52 [SEP] 10, Egg, -0.329, 0.105, 0.612, 0, 90, 0, 82 [SEP] 11, Cup, -1.872, 0.779, -1.849, 0, 0, 0, 83 [SEP] 12, Cup, -0.096, 0.910, 0.458, 0, 0, 0, 52 [SEP] 13, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 53 [SEP] 14, Knife, 0.649, 0.944, -1.649, 0, 90, 0, 51 [SEP] 15, SoapBottle, 0.753, 0.918, -1.516, 0, 270, 0, 51 [SEP] 16, Tomato, -2.135, 1.541, -1.849, 0, 0, 0, 83 [SEP] 17, Tomato, -0.096, 0.961, 0.209, 0, 0, 0, 52 [SEP] 18, PepperShaker, 1.830, 0.104, 0.236, 0, 0, 0, 61 [SEP] 19, Bread, -1.928, 1.035, 0.614, 0, 90, 0, 86 [SEP] 20, Lettuce, -0.451, 1.002, -1.820, 0, 0, 0, 53 [SEP] 21, Mug, -2.397, 0.257, -1.644, 0, 90, 0, 83 [SEP] 22, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 51 [SEP] 23, Apple, 1.785, 0.979, 0.375, 0, 0, 0, 68 [SEP] 24, Bread, -1.928, 1.035, 0.255, 0, 90, 0, 86 [SEP] 25, Knife, -2.065, 0.977, 0.165, 0, 180, 0, 86 [SEP] 26, Fork, 1.903, 0.912, -1.654, 0, 0, 0, 53 [SEP] 27, Bowl, 0.332, 0.108, -1.547, 0, 180, 0, 50 [SEP] 28, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 52 [SEP] 29, Cup, 1.724, 0.910, 0.540, 0, 0, 0, 68 [SEP] 30, Tomato, -1.928, 1.001, 0.435, 0, 90, 0, 86 [SEP] 31, SoapBottle, -0.329, 0.068, 0.439, 0, 90, 0, 82 [SEP] 32, Plate, 0.071, 0.107, 0.320, 0, 0, 0, 63 [SEP] 33, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 58 [SEP] 34, Spatula, -2.477, 0.967, 0.345, 0, 90, 0, 86 [SEP] 35, PaperTowelRoll, -2.614, 1.056, 0.255, 0, 90, 0, 86 [SEP] 36, Egg, -1.872, 1.086, -1.634, 0, 0, 0, 83 [SEP] 37, Lettuce, -1.959, 1.583, -1.763, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.907, 0.908, 0.209, 0, 0, 0, 68 [SEP] 39, PepperShaker, 1.754, 0.104, 0.274, 0, 0, 0, 61 [SEP] 40, Apple, -1.079, 1.082, -1.803, 0, 0, 0, 75 [SEP] 41, ButterKnife, -2.203, 0.952, 0.345, 0, 90, 0, 86 [SEP] 42, Potato, -1.791, 0.982, 0.435, 0, 90, 0, 86 [SEP] 43, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 65 [SEP] 44, DishSponge, 0.025, 0.773, 0.273, 0, 0, 0, 59 [SEP] 45, Spoon, -2.065, 0.953, 0.524, 0, 270, 0, 86 [SEP] 46, Mug, 1.412, 0.907, -1.406, 0, 180, 0, 53 [SEP] 47, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 48, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 49, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 50, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 51, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 52, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 53, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 54, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 55, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 56, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 57, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 58, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 59, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 60, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 61, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 62, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 63, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 64, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 65, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 66, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 67, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 68, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 69, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 70, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 71, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 72, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 73, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 74, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 75, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 76, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 77, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 78, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 79, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 80, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 81, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 82, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 83, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 84, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 85, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 86, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: go to the counter and face the toaster | STEP 2: pick up the egg from the counter | STEP 3: take the egg to the sink | STEP 4: wash the egg in the sink and take back out | STEP 5: take the egg to the white dining table | STEP 6: place the egg on the table to the left of the knife | END


Input: Place two lap tops side by side on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 3.0, 0, 180, 0,  [SEP] 1, Mug, 2.889, 0.806, 3.715, 0, 0, 0, 42 [SEP] 2, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 43 [SEP] 3, CD, 2.889, 0.806, 2.392, 0, 0, 0, 42 [SEP] 4, CellPhone, 2.575, 0.097, 0.428, 0, 0, 0, 44 [SEP] 5, CreditCard, 2.576, 0.808, 2.613, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.012, 0.914, 4.900, 0, 0, 0, 31 [SEP] 7, Book, -0.594, 0.713, 3.105, 0, 0, 0, 28 [SEP] 8, RemoteControl, 2.533, 0.095, 0.819, 0, 0, 0, 44 [SEP] 9, AlarmClock, 2.680, 0.816, 2.392, 0, 0, 0, 42 [SEP] 10, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 51 [SEP] 11, Laptop, 2.275, 0.397, -0.681, 0, 270, 0, 46 [SEP] 12, Laptop, -0.815, 0.911, 4.717, 0, 0, 0, 31 [SEP] 13, Laptop, -1.128, 0.397, -1.227, 0, 90, 0, 40 [SEP] 14, Book, 2.576, 0.806, 3.715, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.815, 0.921, 3.982, 0, 0, 0, 31 [SEP] 16, CellPhone, 2.262, 0.807, 2.613, 0, 0, 0, 42 [SEP] 17, Bowl, 2.367, 0.809, 3.053, 0, 0, 0, 42 [SEP] 18, CreditCard, 2.686, 0.745, -1.373, 0, 90, 0, 39 [SEP] 19, KeyChain, 2.609, 0.843, 0.886, 0, 90, 0, 43 [SEP] 20, RemoteControl, 2.397, 0.745, -1.659, 0, 0, 0, 39 [SEP] 21, Laptop, -0.881, 0.911, 4.35, 0, 0, 0, 31 [SEP] 22, Pencil, 2.262, 0.811, 3.053, 0, 0, 0, 42 [SEP] 23, Pillow, -0.594, 0.785, 2.539, 0, 0, 0, 28 [SEP] 24, Pillow, -1.073, 0.785, 3.105, 0, 0, 0, 28 [SEP] 25, CD, 2.367, 0.807, 3.274, 0, 0, 0, 42 [SEP] 26, Pen, 2.850, 0.848, 0.624, 0, 180, 0, 43 [SEP] 27, Mug, 2.262, 0.806, 3.494, 0, 0, 0, 42 [SEP] 28, Bed, -0.594, 0.009, 2.298, 0, 0, 0,  [SEP] 29, Mirror, -1.184, 1.603, 4.348, 0, 0, 0,  [SEP] 30, Television, 2.738, 1.330, 0.622, 0, 270, 0,  [SEP] 31, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0,  [SEP] 32, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0,  [SEP] 33, Painting, 2.992, 1.529, 3.415, 90, 270, 0,  [SEP] 34, Painting, 2.992, 1.529, 2.553, 90, 270, 0,  [SEP] 35, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0,  [SEP] 36, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0,  [SEP] 37, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0,  [SEP] 38, Window, -0.453, 1.450, -2.058, 90, 180, 0,  [SEP] 39, SideTable, 2.565, 0.009, -1.534, 0, 0, 0,  [SEP] 40, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0,  [SEP] 41, Blinds, -0.5, 2.174, -1.957, 0, 0, 0,  [SEP] 42, Desk, 2.572, 0.011, 3.054, 0, 270, 0,  [SEP] 43, SideTable, 2.645, 0.009, 0.624, 0, 270, 0,  [SEP] 44, Drawer, 2.525, 0.214, 0.624, 0, 270, 0,  [SEP] 45, Drawer, 2.525, 0.578, 0.624, 0, 270, 0,  [SEP] 46, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0,  [SEP] 47, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0,  [SEP] 48, Chair, 2.591, 0.020, 2.015, 0, 0, 0,  [SEP] 49, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0,  [SEP] 50, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0,  [SEP] 51, , , , , , , ,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk towards the door, then turn left and enter the bathroom. | STEP 2: Close and pick up the lap top in the middle | STEP 3: Turn around and walk out the bathroom, turn right and walk past the bed towards the green chair, turn right and walk towards the bed. | STEP 4: Place the lap top on the bed.  | STEP 5: Turn around and walk towards the green chair by the window, then turn right.  | STEP 6: Close and pick up the lap top in the green chair.  | STEP 7: Turn right and walk towards the bed. | STEP 8: Place the lap top on the right side of the other one. | END


Input: Put two computers on the bed.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 3.0, 0, 180, 0,  [SEP] 1, Mug, 2.889, 0.806, 3.715, 0, 0, 0, 42 [SEP] 2, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 43 [SEP] 3, CD, 2.889, 0.806, 2.392, 0, 0, 0, 42 [SEP] 4, CellPhone, 2.575, 0.097, 0.428, 0, 0, 0, 44 [SEP] 5, CreditCard, 2.576, 0.808, 2.613, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.012, 0.914, 4.900, 0, 0, 0, 31 [SEP] 7, Book, -0.594, 0.713, 3.105, 0, 0, 0, 28 [SEP] 8, RemoteControl, 2.533, 0.095, 0.819, 0, 0, 0, 44 [SEP] 9, AlarmClock, 2.680, 0.816, 2.392, 0, 0, 0, 42 [SEP] 10, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 51 [SEP] 11, Laptop, 2.275, 0.397, -0.681, 0, 270, 0, 46 [SEP] 12, Laptop, -0.815, 0.911, 4.717, 0, 0, 0, 31 [SEP] 13, Laptop, -1.128, 0.397, -1.227, 0, 90, 0, 40 [SEP] 14, Book, 2.576, 0.806, 3.715, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.815, 0.921, 3.982, 0, 0, 0, 31 [SEP] 16, CellPhone, 2.262, 0.807, 2.613, 0, 0, 0, 42 [SEP] 17, Bowl, 2.367, 0.809, 3.053, 0, 0, 0, 42 [SEP] 18, CreditCard, 2.686, 0.745, -1.373, 0, 90, 0, 39 [SEP] 19, KeyChain, 2.609, 0.843, 0.886, 0, 90, 0, 43 [SEP] 20, RemoteControl, 2.397, 0.745, -1.659, 0, 0, 0, 39 [SEP] 21, Laptop, -0.881, 0.911, 4.35, 0, 0, 0, 31 [SEP] 22, Pencil, 2.262, 0.811, 3.053, 0, 0, 0, 42 [SEP] 23, Pillow, -0.594, 0.785, 2.539, 0, 0, 0, 28 [SEP] 24, Pillow, -1.073, 0.785, 3.105, 0, 0, 0, 28 [SEP] 25, CD, 2.367, 0.807, 3.274, 0, 0, 0, 42 [SEP] 26, Pen, 2.850, 0.848, 0.624, 0, 180, 0, 43 [SEP] 27, Mug, 2.262, 0.806, 3.494, 0, 0, 0, 42 [SEP] 28, Bed, -0.594, 0.009, 2.298, 0, 0, 0,  [SEP] 29, Mirror, -1.184, 1.603, 4.348, 0, 0, 0,  [SEP] 30, Television, 2.738, 1.330, 0.622, 0, 270, 0,  [SEP] 31, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0,  [SEP] 32, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0,  [SEP] 33, Painting, 2.992, 1.529, 3.415, 90, 270, 0,  [SEP] 34, Painting, 2.992, 1.529, 2.553, 90, 270, 0,  [SEP] 35, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0,  [SEP] 36, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0,  [SEP] 37, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0,  [SEP] 38, Window, -0.453, 1.450, -2.058, 90, 180, 0,  [SEP] 39, SideTable, 2.565, 0.009, -1.534, 0, 0, 0,  [SEP] 40, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0,  [SEP] 41, Blinds, -0.5, 2.174, -1.957, 0, 0, 0,  [SEP] 42, Desk, 2.572, 0.011, 3.054, 0, 270, 0,  [SEP] 43, SideTable, 2.645, 0.009, 0.624, 0, 270, 0,  [SEP] 44, Drawer, 2.525, 0.214, 0.624, 0, 270, 0,  [SEP] 45, Drawer, 2.525, 0.578, 0.624, 0, 270, 0,  [SEP] 46, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0,  [SEP] 47, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0,  [SEP] 48, Chair, 2.591, 0.020, 2.015, 0, 0, 0,  [SEP] 49, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0,  [SEP] 50, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0,  [SEP] 51, , , , , , , ,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn around and head towards the door, then turn left and head towards the computers on the shelf.  | STEP 2: Pick up the left computer on the shelf.  | STEP 3: Turn around and head to the foot of the bed on the right.  | STEP 4: Put the computer on the bed.  | STEP 5: Turn around and go to the green chair. on the right. | STEP 6: Pick up the compute on the chair.  | STEP 7: Turn right and bring the computer to the bed.  | STEP 8: Put the computer on the bed, to the right of the other computer.  | END


Input: Put two laptops on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 3.0, 0, 180, 0,  [SEP] 1, Mug, 2.889, 0.806, 3.715, 0, 0, 0, 42 [SEP] 2, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 43 [SEP] 3, CD, 2.889, 0.806, 2.392, 0, 0, 0, 42 [SEP] 4, CellPhone, 2.575, 0.097, 0.428, 0, 0, 0, 44 [SEP] 5, CreditCard, 2.576, 0.808, 2.613, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.012, 0.914, 4.900, 0, 0, 0, 31 [SEP] 7, Book, -0.594, 0.713, 3.105, 0, 0, 0, 28 [SEP] 8, RemoteControl, 2.533, 0.095, 0.819, 0, 0, 0, 44 [SEP] 9, AlarmClock, 2.680, 0.816, 2.392, 0, 0, 0, 42 [SEP] 10, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 51 [SEP] 11, Laptop, 2.275, 0.397, -0.681, 0, 270, 0, 46 [SEP] 12, Laptop, -0.815, 0.911, 4.717, 0, 0, 0, 31 [SEP] 13, Laptop, -1.128, 0.397, -1.227, 0, 90, 0, 40 [SEP] 14, Book, 2.576, 0.806, 3.715, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.815, 0.921, 3.982, 0, 0, 0, 31 [SEP] 16, CellPhone, 2.262, 0.807, 2.613, 0, 0, 0, 42 [SEP] 17, Bowl, 2.367, 0.809, 3.053, 0, 0, 0, 42 [SEP] 18, CreditCard, 2.686, 0.745, -1.373, 0, 90, 0, 39 [SEP] 19, KeyChain, 2.609, 0.843, 0.886, 0, 90, 0, 43 [SEP] 20, RemoteControl, 2.397, 0.745, -1.659, 0, 0, 0, 39 [SEP] 21, Laptop, -0.881, 0.911, 4.35, 0, 0, 0, 31 [SEP] 22, Pencil, 2.262, 0.811, 3.053, 0, 0, 0, 42 [SEP] 23, Pillow, -0.594, 0.785, 2.539, 0, 0, 0, 28 [SEP] 24, Pillow, -1.073, 0.785, 3.105, 0, 0, 0, 28 [SEP] 25, CD, 2.367, 0.807, 3.274, 0, 0, 0, 42 [SEP] 26, Pen, 2.850, 0.848, 0.624, 0, 180, 0, 43 [SEP] 27, Mug, 2.262, 0.806, 3.494, 0, 0, 0, 42 [SEP] 28, Bed, -0.594, 0.009, 2.298, 0, 0, 0,  [SEP] 29, Mirror, -1.184, 1.603, 4.348, 0, 0, 0,  [SEP] 30, Television, 2.738, 1.330, 0.622, 0, 270, 0,  [SEP] 31, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0,  [SEP] 32, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0,  [SEP] 33, Painting, 2.992, 1.529, 3.415, 90, 270, 0,  [SEP] 34, Painting, 2.992, 1.529, 2.553, 90, 270, 0,  [SEP] 35, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0,  [SEP] 36, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0,  [SEP] 37, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0,  [SEP] 38, Window, -0.453, 1.450, -2.058, 90, 180, 0,  [SEP] 39, SideTable, 2.565, 0.009, -1.534, 0, 0, 0,  [SEP] 40, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0,  [SEP] 41, Blinds, -0.5, 2.174, -1.957, 0, 0, 0,  [SEP] 42, Desk, 2.572, 0.011, 3.054, 0, 270, 0,  [SEP] 43, SideTable, 2.645, 0.009, 0.624, 0, 270, 0,  [SEP] 44, Drawer, 2.525, 0.214, 0.624, 0, 270, 0,  [SEP] 45, Drawer, 2.525, 0.578, 0.624, 0, 270, 0,  [SEP] 46, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0,  [SEP] 47, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0,  [SEP] 48, Chair, 2.591, 0.020, 2.015, 0, 0, 0,  [SEP] 49, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0,  [SEP] 50, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0,  [SEP] 51, , , , , , , ,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn left and take a step then turn left and walk to the middle of the tiles to your left then turn left and walk to the counter. | STEP 2: Close the middle laptop and pick it up. | STEP 3: Turn around and walk past the wall to your right and when you do turn right and walk past the bed then turn right and walk to the middle of this side of the bed and turn right. | STEP 4: Put the laptop on the bed. | STEP 5: Walk back to where you got the first laptop. | STEP 6: Close the laptop and pick it up. | STEP 7: Walk back to where you put the first laptop. | STEP 8: Put the laptop you're holding on the bed. | END


Input: Heat a cup and place it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.75, 0, 180, 0,  [SEP] 1, Potato, -3.163, 0.926, -0.290, 0, 270, 0, 81 [SEP] 2, Potato, -0.626, 0.845, -3.240, 0, 315, 0, 73 [SEP] 3, ButterKnife, -0.933, 0.942, -3.672, 0, 45, 0, 44 [SEP] 4, ButterKnife, -0.397, 0.942, -2.729, 0, 0, 0, 44 [SEP] 5, Pot, -2.962, 0.895, -0.290, 0, 270, 0, 81 [SEP] 6, Spoon, -0.236, 0.942, -1.362, 0, 0, 0, 62 [SEP] 7, Egg, -4.062, 0.731, -0.126, 0, 0, 0, 79 [SEP] 8, Egg, -0.397, 1.529, -0.297, 0, 270, 0, 74 [SEP] 9, Cup, -0.397, 1.489, -0.413, 0, 270, 0, 74 [SEP] 10, Cup, -3.942, 0.691, -0.308, 0, 0, 0, 79 [SEP] 11, Cup, -4.009, 0.760, -3.578, 0, 244.125, 0, 80 [SEP] 12, Plate, -2.359, 0.908, -0.462, 0, 270, 0, 81 [SEP] 13, Knife, -2.761, 0.920, -0.290, 0, 270, 0, 81 [SEP] 14, Knife, -3.496, 0.785, -3.433, 0, 334.125, 0, 80 [SEP] 15, Tomato, -0.394, 0.992, -1.538, 0, 0, 0, 62 [SEP] 16, Bowl, -3.952, 0.758, -3.342, 0, 244.125, 0, 80 [SEP] 17, Bowl, -4.122, 0.688, -0.248, 0, 0, 0, 79 [SEP] 18, Bread, -3.565, 0.976, -0.376, 0, 270, 0, 81 [SEP] 19, Lettuce, -0.283, 1.579, -0.646, 0, 270, 0, 74 [SEP] 20, SaltShaker, -3.364, 0.890, -0.204, 0, 270, 0, 81 [SEP] 21, Apple, -0.552, 1.002, -1.406, 0, 0, 0, 62 [SEP] 22, Apple, -3.562, 0.821, -3.084, 0, 244.125, 0, 80 [SEP] 23, SoapBottle, -1.084, 0.079, -3.532, 0, 0, 0, 59 [SEP] 24, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 46 [SEP] 25, Fork, -0.577, 0.751, -2.685, 0, 90, 0, 49 [SEP] 26, Cup, -0.376, 1.287, -0.297, 0, 270, 0, 74 [SEP] 27, Tomato, -1.694, 0.993, -3.595, 0, 0, 0, 44 [SEP] 28, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 63 [SEP] 29, Plate, -2.560, 0.908, -0.204, 0, 270, 0, 81 [SEP] 30, Bread, -3.721, 0.841, -3.611, 0, 199.125, 0, 80 [SEP] 31, Spatula, -3.519, 0.775, -3.027, 0, 199.125, 0, 80 [SEP] 32, Knife, -4.062, 0.716, -0.430, 0, 180, 0, 79 [SEP] 33, SaltShaker, -0.218, 0.938, -3.096, 0, 45, 0, 44 [SEP] 34, PepperShaker, -0.126, 1.935, -2.179, 0, 0, 0, 54 [SEP] 35, ButterKnife, -2.761, 0.894, -0.548, 0, 270, 0, 81 [SEP] 36, Apple, -0.245, 1.550, -0.297, 0, 270, 0, 74 [SEP] 37, DishSponge, -0.473, 1.503, -3.702, 0, 45, 0, 56 [SEP] 38, Potato, -0.236, 0.973, -1.538, 0, 0, 0, 62 [SEP] 39, Egg, -0.293, 1.327, -0.994, 0, 270, 0, 74 [SEP] 40, Spoon, -0.529, 0.814, -3.221, 0, 315, 0, 73 [SEP] 41, Lettuce, -0.292, 1.033, -2.963, 0, 45, 0, 44 [SEP] 42, Mug, -3.645, 0.755, -2.820, 0, 199.125, 0, 80 [SEP] 43, Bowl, -2.359, 0.892, -0.204, 0, 270, 0, 81 [SEP] 44, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 45, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 46, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 47, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 48, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 49, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 50, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 51, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 52, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 53, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 54, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 55, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 56, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 57, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 58, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 59, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 60, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 61, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 62, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 63, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 64, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 65, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 66, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 67, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 68, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 69, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 70, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 71, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 72, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 73, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 74, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 75, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 76, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 77, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 78, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 79, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 80, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 81, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 82, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 83, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,

Output: STEP 1: Turn around a find the small black table in the corner. | STEP 2: Pick up the cup from the back right of the table. | STEP 3: Take the cup and turn around and go left to locate the stove. | STEP 4: Put the cup in the microwave and turn it on. When finished, take it back out. | STEP 5: Take the cup and turn around and go back to the small table on the right. | STEP 6: Place the cup on the table, behind the knife. | END


Input: place a microwaved potato on top of the kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Vase, -2.072, 0.913, -0.288, 0, 0, 0, 55 [SEP] 2, Potato, 0.124, 0.965, -1.790, 0, 270, 0, 52 [SEP] 3, Book, -2.996, 0.871, 3.296, 0, 270, 0, 57 [SEP] 4, Book, -2.584, 0.871, 2.884, 0, 0, 0, 57 [SEP] 5, DishSponge, -0.888, 1.653, -1.674, 0, 0, 0, 67 [SEP] 6, DishSponge, 3.689, 0.880, 1.656, 0, 270, 0, 78 [SEP] 7, ButterKnife, -0.833, 0.912, -1.471, 0, 0, 0, 55 [SEP] 8, WineBottle, -2.152, 0.879, 3.444, 0, 270, 0, 57 [SEP] 9, Spatula, -1.849, 0.927, -0.614, 0, 0, 0, 55 [SEP] 10, Spatula, -2.081, 0.734, -1.647, 0, 90, 0, 74 [SEP] 11, Fork, -2.300, 0.879, 2.863, 0, 135, 0, 57 [SEP] 12, Spoon, 0.571, 0.913, -1.267, 0, 0, 0, 55 [SEP] 13, Knife, -1.961, 0.934, -0.939, 0, 0, 0, 55 [SEP] 14, SoapBottle, 0.525, 0.912, -1.572, 0, 0, 0, 55 [SEP] 15, SoapBottle, -0.040, 0.929, -1.501, 0, 270, 0, 52 [SEP] 16, Tomato, -2.367, 0.922, 3.408, 0, 225, 0, 57 [SEP] 17, Bowl, -2.807, 0.876, 2.715, 0, 0, 0, 57 [SEP] 18, Bowl, -0.330, 0.705, -1.573, 0, 270, 0, 84 [SEP] 19, SaltShaker, -1.649, 0.714, -0.859, 0, 0, 0, 70 [SEP] 20, SaltShaker, -1.975, 0.116, -1.580, 0, 0, 0, 56 [SEP] 21, Mug, -0.149, 0.383, 2.054, 0, 180, 0, 80 [SEP] 22, Apple, -0.377, 1.627, 2.160, 0, 180, 0, 80 [SEP] 23, Book, -1.649, 0.116, -0.766, 0, 0, 0, 60 [SEP] 24, Fork, -1.627, 0.912, -1.265, 0, 0, 0, 55 [SEP] 25, Tomato, -0.149, 1.619, 2.160, 0, 180, 0, 80 [SEP] 26, Egg, 0.307, 0.414, 2.025, 0, 180, 0, 80 [SEP] 27, Kettle, 1.614, 0.911, -1.346, 0, 0, 0, 75 [SEP] 28, Vase, -1.378, 0.913, -1.776, 0, 0, 0, 55 [SEP] 29, Cup, 0.289, 0.927, -1.356, 0, 270, 0, 52 [SEP] 30, WineBottle, -2.143, 0.879, 3.021, 0, 135, 0, 57 [SEP] 31, Plate, -0.263, 0.807, 2.137, 0, 180, 0, 80 [SEP] 32, Spatula, -0.723, 0.927, -1.267, 0, 0, 0, 55 [SEP] 33, Potato, -2.510, 0.911, 3.053, 0, 0, 0, 57 [SEP] 34, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 35, Knife, -2.525, 0.896, 3.565, 0, 225, 0, 57 [SEP] 36, SaltShaker, 0.482, 0.714, -1.410, 0, 0, 0, 72 [SEP] 37, PepperShaker, -2.015, 0.715, -1.785, 0, 0, 0, 74 [SEP] 38, Lettuce, -2.436, 0.943, 3.728, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.289, 0.928, -1.646, 0, 270, 0, 52 [SEP] 40, Bread, -0.263, 1.227, 2.206, 0, 180, 0, 80 [SEP] 41, Vase, 0.700, 1.654, -1.675, 0, 0, 0, 66 [SEP] 42, DishSponge, -2.321, 0.878, 3.147, 0, 270, 0, 57 [SEP] 43, Apple, 0.307, 1.627, 2.100, 0, 180, 0, 80 [SEP] 44, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 45, Spoon, -2.490, 0.879, 3.221, 0, 270, 0, 57 [SEP] 46, SoapBottle, -2.405, 0.875, 2.758, 0, 135, 0, 57 [SEP] 47, Mug, 0.549, 0.111, -1.408, 0, 0, 0, 63 [SEP] 48, Statue, 3.689, 0.559, 1.449, 0, 270, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.944, 1.655, -1.710, 0, 0, 0, 51 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: walk on over to the kitchen sink | STEP 2: grab the potato off of the left sink | STEP 3: turn a bit and walk over to the stove | STEP 4: put the potato in the microwave above the stove too cook, then take it back out | STEP 5: turn around and walk over to the kitchen table | STEP 6: place the cooked potato on top of the table | END


Input: Put a heated potato on the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Vase, -2.072, 0.913, -0.288, 0, 0, 0, 55 [SEP] 2, Potato, 0.124, 0.965, -1.790, 0, 270, 0, 52 [SEP] 3, Book, -2.996, 0.871, 3.296, 0, 270, 0, 57 [SEP] 4, Book, -2.584, 0.871, 2.884, 0, 0, 0, 57 [SEP] 5, DishSponge, -0.888, 1.653, -1.674, 0, 0, 0, 67 [SEP] 6, DishSponge, 3.689, 0.880, 1.656, 0, 270, 0, 78 [SEP] 7, ButterKnife, -0.833, 0.912, -1.471, 0, 0, 0, 55 [SEP] 8, WineBottle, -2.152, 0.879, 3.444, 0, 270, 0, 57 [SEP] 9, Spatula, -1.849, 0.927, -0.614, 0, 0, 0, 55 [SEP] 10, Spatula, -2.081, 0.734, -1.647, 0, 90, 0, 74 [SEP] 11, Fork, -2.300, 0.879, 2.863, 0, 135, 0, 57 [SEP] 12, Spoon, 0.571, 0.913, -1.267, 0, 0, 0, 55 [SEP] 13, Knife, -1.961, 0.934, -0.939, 0, 0, 0, 55 [SEP] 14, SoapBottle, 0.525, 0.912, -1.572, 0, 0, 0, 55 [SEP] 15, SoapBottle, -0.040, 0.929, -1.501, 0, 270, 0, 52 [SEP] 16, Tomato, -2.367, 0.922, 3.408, 0, 225, 0, 57 [SEP] 17, Bowl, -2.807, 0.876, 2.715, 0, 0, 0, 57 [SEP] 18, Bowl, -0.330, 0.705, -1.573, 0, 270, 0, 84 [SEP] 19, SaltShaker, -1.649, 0.714, -0.859, 0, 0, 0, 70 [SEP] 20, SaltShaker, -1.975, 0.116, -1.580, 0, 0, 0, 56 [SEP] 21, Mug, -0.149, 0.383, 2.054, 0, 180, 0, 80 [SEP] 22, Apple, -0.377, 1.627, 2.160, 0, 180, 0, 80 [SEP] 23, Book, -1.649, 0.116, -0.766, 0, 0, 0, 60 [SEP] 24, Fork, -1.627, 0.912, -1.265, 0, 0, 0, 55 [SEP] 25, Tomato, -0.149, 1.619, 2.160, 0, 180, 0, 80 [SEP] 26, Egg, 0.307, 0.414, 2.025, 0, 180, 0, 80 [SEP] 27, Kettle, 1.614, 0.911, -1.346, 0, 0, 0, 75 [SEP] 28, Vase, -1.378, 0.913, -1.776, 0, 0, 0, 55 [SEP] 29, Cup, 0.289, 0.927, -1.356, 0, 270, 0, 52 [SEP] 30, WineBottle, -2.143, 0.879, 3.021, 0, 135, 0, 57 [SEP] 31, Plate, -0.263, 0.807, 2.137, 0, 180, 0, 80 [SEP] 32, Spatula, -0.723, 0.927, -1.267, 0, 0, 0, 55 [SEP] 33, Potato, -2.510, 0.911, 3.053, 0, 0, 0, 57 [SEP] 34, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 35, Knife, -2.525, 0.896, 3.565, 0, 225, 0, 57 [SEP] 36, SaltShaker, 0.482, 0.714, -1.410, 0, 0, 0, 72 [SEP] 37, PepperShaker, -2.015, 0.715, -1.785, 0, 0, 0, 74 [SEP] 38, Lettuce, -2.436, 0.943, 3.728, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.289, 0.928, -1.646, 0, 270, 0, 52 [SEP] 40, Bread, -0.263, 1.227, 2.206, 0, 180, 0, 80 [SEP] 41, Vase, 0.700, 1.654, -1.675, 0, 0, 0, 66 [SEP] 42, DishSponge, -2.321, 0.878, 3.147, 0, 270, 0, 57 [SEP] 43, Apple, 0.307, 1.627, 2.100, 0, 180, 0, 80 [SEP] 44, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 45, Spoon, -2.490, 0.879, 3.221, 0, 270, 0, 57 [SEP] 46, SoapBottle, -2.405, 0.875, 2.758, 0, 135, 0, 57 [SEP] 47, Mug, 0.549, 0.111, -1.408, 0, 0, 0, 63 [SEP] 48, Statue, 3.689, 0.559, 1.449, 0, 270, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.944, 1.655, -1.710, 0, 0, 0, 51 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Move to the sink. | STEP 2: Pick up the potato on the sink.  | STEP 3: Bring the potato to the microwave.  | STEP 4: Heat the potato in the microwave.  | STEP 5: Bring the potato to the table.  | STEP 6: Put the potato on the table next to the book.  | END


Input: Put a cup with a spoon 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, 1.0, 0.901, 0.75, 0, 90, 0,  [SEP] 1, WineBottle, -0.119, 0.791, 1.217, 0, 0, 0, 82 [SEP] 2, DishSponge, -0.004, 0.080, 1.993, 0, 0, 0, 62 [SEP] 3, ButterKnife, 0.174, 0.937, 2.688, 0, 0, 0, 55 [SEP] 4, ButterKnife, -0.282, 0.937, 2.827, 0, 0, 0, 55 [SEP] 5, Fork, 1.906, 0.746, 0.583, 0, 90, 0, 64 [SEP] 6, Fork, 0.682, 0.795, 2.695, 0, 270, 0, 79 [SEP] 7, Egg, 1.950, 0.380, -0.460, 0, 270, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.64, 0, 0, 0, 79 [SEP] 9, Cup, 1.223, 0.793, 2.529, 0, 0, 0, 79 [SEP] 10, Knife, 1.989, 0.771, 1.922, 0, 90, 0, 70 [SEP] 11, Knife, 2.301, 0.963, 0.509, 0, 90, 0, 66 [SEP] 12, SoapBottle, 2.040, 0.082, 2.199, 0, 270, 0, 51 [SEP] 13, Tomato, -0.396, 0.983, 2.827, 0, 0, 0, 55 [SEP] 14, Tomato, 2.168, 1.369, -0.007, 0, 270, 0, 76 [SEP] 15, Bowl, 2.244, 1.498, 2.425, 0, 0, 0, 48 [SEP] 16, Bowl, 2.167, 1.498, 2.104, 0, 0, 0, 58 [SEP] 17, PepperShaker, 2.280, 1.498, 0.785, 0, 0, 0, 63 [SEP] 18, PepperShaker, -0.425, 0.785, 0.881, 0, 0, 0, 82 [SEP] 19, Lettuce, 2.000, 1.385, -0.460, 0, 270, 0, 76 [SEP] 20, Lettuce, -0.396, 0.999, 2.688, 0, 270, 0, 55 [SEP] 21, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 22, Apple, 0.033, 0.840, 1.217, 0, 0, 0, 82 [SEP] 23, Apple, 1.945, 1.373, -0.279, 0, 270, 0, 76 [SEP] 24, Egg, -0.119, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 82 [SEP] 26, Fork, -0.042, 0.928, 2.530, 0, 180, 0, 55 [SEP] 27, SoapBottle, 1.156, 0.082, 2.562, 0, 0, 0, 61 [SEP] 28, Ladle, 1.849, 0.126, 1.915, 0, 90, 0, 51 [SEP] 29, Ladle, -0.097, 0.942, 2.543, 3.613, 45, 340.226, 55 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.349, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.071, 0.978, 0.361, 0, 90, 0, 66 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, -0.042, 0.791, 0.881, 0, 0, 0, 82 [SEP] 35, Spatula, 0.788, 0.810, 2.584, 0, 90, 0, 79 [SEP] 36, Knife, 1.872, 0.771, 0.721, 0, 270, 0, 64 [SEP] 37, Tomato, -0.167, 0.983, 2.757, 0, 0, 0, 55 [SEP] 38, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 39, ButterKnife, -0.119, 0.782, 0.377, 0, 0, 0, 82 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.049, 0, 0, 0, 82 [SEP] 42, Cup, 2.023, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, 2.205, 1.948, 1.468, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 66 [SEP] 46, Mug, 2.158, 0.855, -0.369, 0, 270, 0, 76 [SEP] 47, Bowl, 2.076, 1.515, -0.278, 0, 270, 0, 76 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Walk straight ahead to the toaster. | STEP 2: Pick up the spoon on the counter. | STEP 3: Walk right to the fridge. | STEP 4: Place the spoon in the cup in the fridge. | STEP 5: Pick up the cup with the spoon in it. | STEP 6: Turn around and forward to the table against the wall. | STEP 7: Put the cup on the table in front of the bread and to the left of the leftmost wine bottle. | END


Input: Setting the table with a cold glass & spoon. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, 0.75, 0, 90, 0,  [SEP] 1, WineBottle, -0.119, 0.791, 1.217, 0, 0, 0, 82 [SEP] 2, DishSponge, -0.004, 0.080, 1.993, 0, 0, 0, 62 [SEP] 3, ButterKnife, 0.174, 0.937, 2.688, 0, 0, 0, 55 [SEP] 4, ButterKnife, -0.282, 0.937, 2.827, 0, 0, 0, 55 [SEP] 5, Fork, 1.906, 0.746, 0.583, 0, 90, 0, 64 [SEP] 6, Fork, 0.682, 0.795, 2.695, 0, 270, 0, 79 [SEP] 7, Egg, 1.950, 0.380, -0.460, 0, 270, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.64, 0, 0, 0, 79 [SEP] 9, Cup, 1.223, 0.793, 2.529, 0, 0, 0, 79 [SEP] 10, Knife, 1.989, 0.771, 1.922, 0, 90, 0, 70 [SEP] 11, Knife, 2.301, 0.963, 0.509, 0, 90, 0, 66 [SEP] 12, SoapBottle, 2.040, 0.082, 2.199, 0, 270, 0, 51 [SEP] 13, Tomato, -0.396, 0.983, 2.827, 0, 0, 0, 55 [SEP] 14, Tomato, 2.168, 1.369, -0.007, 0, 270, 0, 76 [SEP] 15, Bowl, 2.244, 1.498, 2.425, 0, 0, 0, 48 [SEP] 16, Bowl, 2.167, 1.498, 2.104, 0, 0, 0, 58 [SEP] 17, PepperShaker, 2.280, 1.498, 0.785, 0, 0, 0, 63 [SEP] 18, PepperShaker, -0.425, 0.785, 0.881, 0, 0, 0, 82 [SEP] 19, Lettuce, 2.000, 1.385, -0.460, 0, 270, 0, 76 [SEP] 20, Lettuce, -0.396, 0.999, 2.688, 0, 270, 0, 55 [SEP] 21, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 22, Apple, 0.033, 0.840, 1.217, 0, 0, 0, 82 [SEP] 23, Apple, 1.945, 1.373, -0.279, 0, 270, 0, 76 [SEP] 24, Egg, -0.119, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 82 [SEP] 26, Fork, -0.042, 0.928, 2.530, 0, 180, 0, 55 [SEP] 27, SoapBottle, 1.156, 0.082, 2.562, 0, 0, 0, 61 [SEP] 28, Ladle, 1.849, 0.126, 1.915, 0, 90, 0, 51 [SEP] 29, Ladle, -0.097, 0.942, 2.543, 3.613, 45, 340.226, 55 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.349, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.071, 0.978, 0.361, 0, 90, 0, 66 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, -0.042, 0.791, 0.881, 0, 0, 0, 82 [SEP] 35, Spatula, 0.788, 0.810, 2.584, 0, 90, 0, 79 [SEP] 36, Knife, 1.872, 0.771, 0.721, 0, 270, 0, 64 [SEP] 37, Tomato, -0.167, 0.983, 2.757, 0, 0, 0, 55 [SEP] 38, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 39, ButterKnife, -0.119, 0.782, 0.377, 0, 0, 0, 82 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.049, 0, 0, 0, 82 [SEP] 42, Cup, 2.023, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, 2.205, 1.948, 1.468, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 66 [SEP] 46, Mug, 2.158, 0.855, -0.369, 0, 270, 0, 76 [SEP] 47, Bowl, 2.076, 1.515, -0.278, 0, 270, 0, 76 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and move to the counter with the toaster by the fridge. | STEP 2: Pick up the spoon in front of the toaster.  | STEP 3: Move to the right to the fridge. Open the door.  | STEP 4: Put the spoon in the wine glass.  | STEP 5: Pick up the wine glass from the shelf. Close the door,  | STEP 6: Turn around. Move to the white table across the room. | STEP 7: Place the glass with the spoon inside on the table.  | END


Input: Take the newspapers on the chair and the TV stand to the coffee 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, 0.900, -1.75, 0, 90, 0,  [SEP] 1, Plate, 3.381, 0.643, -0.983, 0, 0, 0, 39 [SEP] 2, Plate, 0.167, 0.339, 0.777, 0, 0, 0, 43 [SEP] 3, Newspaper, -1.887, 0.591, 0.208, 0, 0, 0, 40 [SEP] 4, KeyChain, 1.604, 0.482, 0.194, 0, 0, 0, 37 [SEP] 5, CellPhone, 1.479, 0.482, 0.391, 0, 0, 0, 37 [SEP] 6, CreditCard, 1.267, 0.704, -0.678, 0, 270, 0, 31 [SEP] 7, RemoteControl, -1.964, 0.599, 0.919, 0, 0, 0, 44 [SEP] 8, RemoteControl, -1.782, 0.095, 0.895, 0, 0, 0, 41 [SEP] 9, Box, 0.167, 0.419, 0.397, 0, 0, 0, 43 [SEP] 10, Box, -0.221, 0.122, -2.044, 0, 0, 0, 43 [SEP] 11, Newspaper, -1.485, 0.289, -1.329, 0, 240.000, 0, 22 [SEP] 12, CreditCard, -1.439, 0.305, -1.572, 0, 240.000, 0, 22 [SEP] 13, Vase, 3.685, 0.644, -0.621, 0, 0, 0, 39 [SEP] 14, KeyChain, 0.414, 0.336, 0.397, 0, 0, 0, 43 [SEP] 15, Plate, -1.810, 0.348, 0.232, 0, 0, 0, 42 [SEP] 16, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 39 [SEP] 17, CellPhone, 0.085, 0.336, 0.018, 0, 0, 0, 43 [SEP] 18, RemoteControl, -1.856, 0.095, 0.563, 0, 0, 0, 41 [SEP] 19, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 37 [SEP] 20, Vase, -0.389, 0.882, 1.928, 0, 0, 0, 35 [SEP] 21, Statue, 3.786, 0.649, -1.165, 0, 0, 0, 39 [SEP] 22, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0,  [SEP] 23, Television, -2.035, 1.081, 0.555, 0, 90, 0,  [SEP] 24, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0,  [SEP] 25, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0,  [SEP] 26, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0,  [SEP] 27, Painting, 1.983, 1.585, 0.326, 90, 270, 0,  [SEP] 28, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0,  [SEP] 29, Window, 2.775, 1.281, -2.018, 90, 180, 0,  [SEP] 30, Window, -0.013, 1.289, -2.450, 90, 180, 0,  [SEP] 31, SideTable, 1.566, 0.000, -0.689, 0, 180, 0,  [SEP] 32, Drawer, 1.566, 0.624, -0.741, 0, 180, 0,  [SEP] 33, Shelf, -0.147, 0.172, 1.925, 0, 0, 0,  [SEP] 34, Shelf, -0.147, 0.552, 1.925, 0, 0, 0,  [SEP] 35, Shelf, -0.147, 0.880, 1.924, 0, 0, 0,  [SEP] 36, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0,  [SEP] 37, Sofa, 1.556, -0.004, 0.424, 0, 270, 0,  [SEP] 38, Shelf, 0.167, 0.104, 0.200, 0, 270, 0,  [SEP] 39, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0,  [SEP] 40, TVStand, -1.965, 0.000, 0.563, 0, 270, 0,  [SEP] 41, Shelf, -1.964, 0.082, 0.563, 0, 270, 0,  [SEP] 42, Shelf, -1.964, 0.333, 0.563, 0, 270, 0,  [SEP] 43, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0,  [SEP] 44, , , , , , , ,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the TV stand across the room next to the recycling bin. | STEP 2: Pick up the newspaper on the TV stand. | STEP 3: Turn around and go to the coffee table in the living room. | STEP 4: Place the newspaper on the coffee table. | STEP 5: Turn around and go to the black chair in the corner of the room. | STEP 6: Pick up the newspaper on the chair. | STEP 7: Turn to your right and go to the coffee table in the living room. | STEP 8: place the newspaper on the coffee table to the left of the other newspaper. | END


Input: Put two news papers on the coffee 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, 0.900, -1.75, 0, 90, 0,  [SEP] 1, Plate, 3.381, 0.643, -0.983, 0, 0, 0, 39 [SEP] 2, Plate, 0.167, 0.339, 0.777, 0, 0, 0, 43 [SEP] 3, Newspaper, -1.887, 0.591, 0.208, 0, 0, 0, 40 [SEP] 4, KeyChain, 1.604, 0.482, 0.194, 0, 0, 0, 37 [SEP] 5, CellPhone, 1.479, 0.482, 0.391, 0, 0, 0, 37 [SEP] 6, CreditCard, 1.267, 0.704, -0.678, 0, 270, 0, 31 [SEP] 7, RemoteControl, -1.964, 0.599, 0.919, 0, 0, 0, 44 [SEP] 8, RemoteControl, -1.782, 0.095, 0.895, 0, 0, 0, 41 [SEP] 9, Box, 0.167, 0.419, 0.397, 0, 0, 0, 43 [SEP] 10, Box, -0.221, 0.122, -2.044, 0, 0, 0, 43 [SEP] 11, Newspaper, -1.485, 0.289, -1.329, 0, 240.000, 0, 22 [SEP] 12, CreditCard, -1.439, 0.305, -1.572, 0, 240.000, 0, 22 [SEP] 13, Vase, 3.685, 0.644, -0.621, 0, 0, 0, 39 [SEP] 14, KeyChain, 0.414, 0.336, 0.397, 0, 0, 0, 43 [SEP] 15, Plate, -1.810, 0.348, 0.232, 0, 0, 0, 42 [SEP] 16, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 39 [SEP] 17, CellPhone, 0.085, 0.336, 0.018, 0, 0, 0, 43 [SEP] 18, RemoteControl, -1.856, 0.095, 0.563, 0, 0, 0, 41 [SEP] 19, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 37 [SEP] 20, Vase, -0.389, 0.882, 1.928, 0, 0, 0, 35 [SEP] 21, Statue, 3.786, 0.649, -1.165, 0, 0, 0, 39 [SEP] 22, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0,  [SEP] 23, Television, -2.035, 1.081, 0.555, 0, 90, 0,  [SEP] 24, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0,  [SEP] 25, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0,  [SEP] 26, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0,  [SEP] 27, Painting, 1.983, 1.585, 0.326, 90, 270, 0,  [SEP] 28, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0,  [SEP] 29, Window, 2.775, 1.281, -2.018, 90, 180, 0,  [SEP] 30, Window, -0.013, 1.289, -2.450, 90, 180, 0,  [SEP] 31, SideTable, 1.566, 0.000, -0.689, 0, 180, 0,  [SEP] 32, Drawer, 1.566, 0.624, -0.741, 0, 180, 0,  [SEP] 33, Shelf, -0.147, 0.172, 1.925, 0, 0, 0,  [SEP] 34, Shelf, -0.147, 0.552, 1.925, 0, 0, 0,  [SEP] 35, Shelf, -0.147, 0.880, 1.924, 0, 0, 0,  [SEP] 36, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0,  [SEP] 37, Sofa, 1.556, -0.004, 0.424, 0, 270, 0,  [SEP] 38, Shelf, 0.167, 0.104, 0.200, 0, 270, 0,  [SEP] 39, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0,  [SEP] 40, TVStand, -1.965, 0.000, 0.563, 0, 270, 0,  [SEP] 41, Shelf, -1.964, 0.082, 0.563, 0, 270, 0,  [SEP] 42, Shelf, -1.964, 0.333, 0.563, 0, 270, 0,  [SEP] 43, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0,  [SEP] 44, , , , , , , ,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Move to the TV stand in front of the coffee table | STEP 2: Pick up the paper from the stand  | STEP 3: Move to the coffee table in the middle of the room | STEP 4: Put the paper on the table | STEP 5: Move to the arm chair to the right of the TV | STEP 6: Pick up the paper from the chair | STEP 7: Move to the coffee table in the middle of the room | STEP 8: Put the paper on the table | END


Input: Put a tomato on a plate next to 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, -0.5, 0.900, 4.5, 0, 0, 0,  [SEP] 1, Fork, 1.332, 0.891, 2.085, 0, 180, 0, 73 [SEP] 2, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 51 [SEP] 3, Egg, 1.276, 0.940, 1.983, 0, 90, 0, 73 [SEP] 4, Cup, -0.025, 0.756, 6.347, 0, 225, 0, 86 [SEP] 5, Plate, 1.322, 0.141, 2.498, 0, 0, 0, 62 [SEP] 6, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 63 [SEP] 7, SoapBottle, 1.585, 2.207, 4.219, 0, 0, 0, 38 [SEP] 8, SoapBottle, 1.489, 2.207, 3.701, 0, 0, 0, 38 [SEP] 9, Bowl, 2.009, 1.514, 6.001, 0, 270, 0, 72 [SEP] 10, PepperShaker, 1.368, 1.572, 1.410, 0, 0, 0, 60 [SEP] 11, SaltShaker, 0.079, 0.755, 6.063, 0, 135, 0, 86 [SEP] 12, Bread, 1.403, 1.062, 0.213, 0, 0, 0, 50 [SEP] 13, Lettuce, -0.621, 0.848, 6.604, 0, 270, 0, 86 [SEP] 14, Mug, 0.055, 0.139, 0.429, 0, 0, 0, 59 [SEP] 15, Bowl, 0.305, 0.759, 6.354, 0, 270, 0, 86 [SEP] 16, Bread, -0.687, 1.062, 0.212, 0, 0, 0, 50 [SEP] 17, Egg, 1.442, 0.941, 2.576, 0, 90, 0, 73 [SEP] 18, Knife, 0.167, 0.789, 6.151, 0, 135, 0, 86 [SEP] 19, Fork, 0.847, 0.993, 0.486, 0, 180, 0, 50 [SEP] 20, Apple, 2.137, 1.590, 5.501, 0, 270, 0, 72 [SEP] 21, Kettle, 1.490, 0.141, 3.143, 0, 0, 0, 61 [SEP] 22, Plate, 1.079, 1.580, 0.251, 0, 0, 0, 57 [SEP] 23, SaltShaker, 1.314, 0.987, 2.950, 0, 0, 0, 50 [SEP] 24, Lettuce, 0.104, 0.848, 6.653, 0, 225, 0, 86 [SEP] 25, SoapBottle, -0.467, 0.760, 6.354, 0, 270, 0, 86 [SEP] 26, Spatula, -0.096, 0.775, 6.941, 0, 0, 0, 86 [SEP] 27, PaperTowelRoll, 1.314, 1.096, 3.511, 0, 0, 0, 50 [SEP] 28, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 45 [SEP] 29, Potato, -0.244, 0.794, 6.128, 0, 225, 0, 86 [SEP] 30, ButterKnife, 0.124, 0.771, 0.507, 0, 0, 0, 47 [SEP] 31, PepperShaker, 1.403, 0.987, 0.440, 0, 0, 0, 50 [SEP] 32, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 44 [SEP] 33, Tomato, 0.544, 1.042, 0.486, 0, 0, 0, 50 [SEP] 34, DishSponge, 1.143, 0.141, 4.686, 0, 0, 0, 52 [SEP] 35, Cup, 2.137, 1.511, 5.376, 0, 270, 0, 72 [SEP] 36, Spoon, 1.225, 0.993, 0.440, 0, 0, 0, 50 [SEP] 37, Mug, -0.071, 0.755, 6.568, 0, 135, 0, 86 [SEP] 38, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 39, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 40, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 41, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 42, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 43, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 44, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 45, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 46, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 47, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 48, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 49, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 50, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 51, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 52, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 53, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 54, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 55, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 56, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 57, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 58, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 59, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 60, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 61, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 62, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 63, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 64, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 65, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 66, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 67, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 68, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 69, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 70, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 71, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 72, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 73, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 74, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 75, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 76, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 77, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 78, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 79, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 80, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 81, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 82, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 83, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 84, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 85, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 86, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 87, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 88, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk across the room to the counter with the microwave. | STEP 2: Pick up the tomato from the counter. | STEP 3: Move over a few inches towards the corner of the counter. | STEP 4: Put the tomato on the plate in the upper cabinet on the left. | STEP 5: Take the plate with tomato out of the cabinet. | STEP 6: Turn left toward the coffee pot. | STEP 7: Set the plate to the left of the coffee maker. | END


Input: Put a washed knife in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 0, 0,  [SEP] 1, SprayBottle, 1.342, 1.655, -1.579, 0, 0, 0, 61 [SEP] 2, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 68 [SEP] 3, Pen, 1.002, 0.777, 0.485, 0, 0, 0, 46 [SEP] 4, ButterKnife, -2.079, 0.910, 0.032, 0, 0, 0, 71 [SEP] 5, DishSponge, -1.396, 1.857, -1.802, 0, 0, 0, 62 [SEP] 6, Glassbottle, 0.251, 0.920, -1.607, 0, 270, 0, 48 [SEP] 7, Glassbottle, -0.037, 1.656, -1.876, 0, 0, 0, 59 [SEP] 8, Fork, 1.101, 0.775, 0.323, 0, 90, 0, 46 [SEP] 9, Spatula, -0.174, 0.926, -1.436, 0, 180, 0, 69 [SEP] 10, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 65 [SEP] 11, Egg, 1.369, 1.846, 2.181, 0, 270, 0, 88 [SEP] 12, Plate, 1.376, 1.368, 2.351, 0, 270, 0, 88 [SEP] 13, Plate, 1.343, 0.911, 0.031, 0, 0, 0, 69 [SEP] 14, Tomato, -2.079, 0.950, 0.377, 0, 0, 0, 71 [SEP] 15, Tomato, -0.477, 0.951, -1.789, 0, 0, 0, 69 [SEP] 16, PepperShaker, -2.445, 0.905, 0.291, 0, 0, 0, 71 [SEP] 17, SaltShaker, 1.461, 1.651, -0.815, 0, 0, 0, 57 [SEP] 18, Lettuce, -2.323, 0.979, 0.204, 0, 0, 0, 71 [SEP] 19, Apple, 0.251, 0.954, -1.758, 0, 270, 0, 48 [SEP] 20, Tomato, 1.323, 1.760, 2.026, 0, 270, 0, 88 [SEP] 21, Glassbottle, 0.771, 0.117, -1.585, 0, 90, 0, 63 [SEP] 22, Knife, -1.809, 0.940, -1.448, 0, 0, 0, 67 [SEP] 23, Plate, 1.035, 0.115, -1.129, 0, 0, 0, 54 [SEP] 24, Fork, -1.957, 0.911, 0.377, 0, 0, 0, 71 [SEP] 25, Ladle, 0.889, 1.699, -1.839, 0, 0, 0, 58 [SEP] 26, Potato, 1.356, 1.762, 1.901, 0, 270, 0, 88 [SEP] 27, Lettuce, 1.325, 1.436, 1.976, 0, 270, 0, 88 [SEP] 28, Kettle, 1.090, 0.115, -0.662, 0, 0, 0, 53 [SEP] 29, Pen, 1.381, 0.217, 1.08, 0, 0, 0, 86 [SEP] 30, SaltShaker, 1.414, 1.157, 0.370, 0, 180, 0, 75 [SEP] 31, Cup, 0.279, 1.656, -1.801, 0, 0, 0, 59 [SEP] 32, Egg, 1.296, 1.846, 2.244, 0, 270, 0, 88 [SEP] 33, Spatula, 0.149, 0.934, -1.607, 0, 270, 0, 48 [SEP] 34, Bowl, -1.712, 0.911, 0.463, 0, 0, 0, 71 [SEP] 35, SprayBottle, -2.445, 0.909, 0.118, 0, 0, 0, 71 [SEP] 36, Pan, -0.703, 0.910, -1.789, 0, 0, 0, 69 [SEP] 37, SoapBottle, -1.835, 0.910, 0.204, 0, 0, 0, 71 [SEP] 38, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 77 [SEP] 39, ButterKnife, 0.320, 0.919, -1.708, 0, 270, 0, 48 [SEP] 40, PepperShaker, -1.809, 0.905, -1.707, 0, 0, 0, 67 [SEP] 41, DishSponge, 0.982, 0.772, -1.178, 0, 0, 0, 47 [SEP] 42, Bread, 1.414, 1.240, -0.659, 0, 0, 0, 75 [SEP] 43, Apple, -0.063, 0.817, -1.707, 0, 270, 0, 90 [SEP] 44, Spoon, 1.036, 0.776, -0.732, 0, 90, 0, 60 [SEP] 45, Mug, 1.414, 1.157, -1.345, 0, 0, 0, 75 [SEP] 46, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 47, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 48, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 49, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 50, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 51, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 52, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 53, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 54, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 55, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 56, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 57, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 58, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 59, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 60, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 61, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 62, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 63, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 64, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 65, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 66, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 67, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 68, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 69, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 70, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 71, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 72, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 73, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 74, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 75, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 76, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 77, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 78, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 79, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 80, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 81, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 82, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 83, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 84, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 85, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 86, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 87, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 88, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 89, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 90, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 91, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 92, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 93, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 94, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 95, NorthWall, , , , , , ,  [SEP] 96, EastWall, , , , , , ,  [SEP] 97, SouthWall, , , , , , ,  [SEP] 98, WestWall, , , , , , ,

Output: STEP 1: Go left then turn left at the counter and go to the counter on your right. | STEP 2: Pick up the knife from the counter.  | STEP 3: Go to the sink to your left. | STEP 4: Place the knife in the sink closest to you and turn on the water.  | STEP 5: Pick up the knife out of the sink. | STEP 6: Place the knife in the first drawer to your left.  | END


Input: To cool a slice of bread as well as store it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0,  [SEP] 1, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 56 [SEP] 2, Potato, -0.714, 0.866, 1.337, 0, 90, 0, 109 [SEP] 3, Potato, 2.801, 0.806, 3.821, 0, 270, 0, 53 [SEP] 4, DishSponge, 2.762, 0.802, -1.224, 0, 0, 0, 60 [SEP] 5, ButterKnife, 2.761, 0.800, -0.699, 0, 0, 0, 52 [SEP] 6, WineBottle, 2.893, 1.027, 1.200, 0, 136.999, 0, 52 [SEP] 7, WineBottle, 2.348, 0.765, 3.552, 0, 225, 0, 53 [SEP] 8, Cup, 2.106, 1.859, -1.809, 0, 0, 0, 98 [SEP] 9, Plate, 2.763, 0.764, 4.177, 0, 225, 0, 53 [SEP] 10, Plate, -0.946, 1.781, 1.859, 0, 0, 0, 69 [SEP] 11, Knife, 1.230, 1.052, -1.774, 0, 90, 0, 52 [SEP] 12, Knife, 2.706, 1.052, -1.762, 0, 180, 0, 52 [SEP] 13, Tomato, -0.645, 0.870, 1.492, 0, 90, 0, 109 [SEP] 14, Tomato, 2.553, 0.818, 4.387, 0, 225, 0, 53 [SEP] 15, Bowl, -0.922, 1.440, -0.738, 0, 90, 0, 96 [SEP] 16, Bowl, 2.239, 0.762, 4.484, 0, 329.999, 0, 53 [SEP] 17, SaltShaker, 2.818, 0.797, -1.132, 0, 0, 0, 60 [SEP] 18, SaltShaker, 1.982, 0.760, 4.335, 0, 329.999, 0, 53 [SEP] 19, PepperShaker, 1.529, 1.023, -1.881, 0, 90, 0, 52 [SEP] 20, Bread, 1.926, 0.832, 3.821, 0, 270, 0, 53 [SEP] 21, Bread, 1.350, 1.094, -1.454, 0, 90, 0, 52 [SEP] 22, Bread, 2.451, 0.832, 3.97, 0, 270, 0, 53 [SEP] 23, Apple, 2.673, 0.814, 4.32, 0, 0, 0, 53 [SEP] 24, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 50 [SEP] 25, Glassbottle, -1.038, 0.077, 2.842, 0, 0, 0, 107 [SEP] 26, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 109 [SEP] 27, SoapBottle, 2.554, 0.031, -0.791, 0, 0, 0, 93 [SEP] 28, Egg, -0.968, 1.486, -0.184, 0, 90, 0, 96 [SEP] 29, Fork, -0.782, 0.817, 1.259, 0, 270, 0, 109 [SEP] 30, Potato, 1.350, 1.068, -1.774, 0, 90, 0, 52 [SEP] 31, Ladle, 2.816, 0.074, 0.119, 0, 90, 0, 79 [SEP] 32, Tomato, 2.626, 0.818, 3.747, 0, 270, 0, 53 [SEP] 33, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 51 [SEP] 34, WineBottle, 2.788, 0.765, 4.412, 0, 225, 0, 53 [SEP] 35, Plate, -0.890, 0.049, 0.530, 0, 0, 0, 85 [SEP] 36, Spatula, 2.535, 0.816, 0.731, 0, 317.0, 0, 64 [SEP] 37, PaperTowelRoll, -0.347, 1.131, 1.356, 0, 0, 0, 55 [SEP] 38, Lettuce, 1.925, 0.822, 4.044, 0, 270, 0, 53 [SEP] 39, Apple, -1.102, 1.077, 1.519, 0, 0, 0, 55 [SEP] 40, SaltShaker, -0.873, 0.798, 0.858, 0, 0, 0, 54 [SEP] 41, PepperShaker, 2.976, 0.760, 4.044, 0, 270, 0, 53 [SEP] 42, ButterKnife, -0.645, 0.816, 1.414, 0, 90, 0, 109 [SEP] 43, Bread, 2.265, 1.094, 1.452, 0, 136.999, 0, 52 [SEP] 44, Cup, -0.942, 2.288, -0.551, 0, 0, 0, 84 [SEP] 45, DishSponge, 2.650, 0.802, -1.224, 0, 0, 0, 60 [SEP] 46, Bowl, 2.730, 0.031, -0.220, 0, 0, 0, 78 [SEP] 47, Spoon, 2.450, 0.765, 4.118, 0, 270, 0, 53 [SEP] 48, Mug, 2.113, 0.759, 3.527, 0, 225, 0, 53 [SEP] 49, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 50, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 51, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 52, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 53, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 54, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 55, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 56, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 57, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 58, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 59, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 60, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 62, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 63, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 64, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 65, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 66, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 67, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 68, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 69, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 70, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 71, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 72, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 73, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 74, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 75, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 76, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 77, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 78, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 79, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 80, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 81, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 82, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 83, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 84, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 85, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 86, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 87, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 88, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 89, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 90, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 91, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 92, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 93, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 94, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 95, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 96, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 97, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 98, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 99, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 100, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 101, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 102, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 103, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 104, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 105, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 106, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 107, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 108, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 109, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 110, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 111, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 112, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 113, , , , , , , ,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Walk forward and turn left to face the end of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk across the room to face the kitchen table. | STEP 4: Cut the loaf of bread on the table into slices. | STEP 5: Place the knife on the kitchen table. | STEP 6: Pick up the bread slice on the kitchen table. | STEP 7: Turn around and walk across the room, then turn left and walk forward to face the fridge. | STEP 8: Cool the bread slice in the fridge and then remove it. | STEP 9: Turn around and walk across the room, then turn right and look up to face the microwave. | STEP 10: Place the slice of bread in the microwave. | END


Input: cook a potato in the microwave and put it on the dining table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Potato, -0.064, 0.793, -1.936, 0, 0, 0, 72 [SEP] 2, Potato, -1.610, 1.533, -1.013, 0, 90, 0, 68 [SEP] 3, DishSponge, 1.528, 1.659, -2.086, 0, 0, 0, 47 [SEP] 4, WineBottle, 0.066, 0.927, 0.305, 0, 0, 0, 77 [SEP] 5, WineBottle, -0.160, 0.931, 0.991, 0, 0, 0, 77 [SEP] 6, Spatula, 1.557, 0.928, -1.446, 0, 270, 0, 60 [SEP] 7, Spoon, -0.230, 0.914, -1.725, 0, 0, 0, 60 [SEP] 8, Spoon, 0.066, 0.928, 0.762, 0, 0, 0, 77 [SEP] 9, Fork, -0.047, 0.931, 0.076, 0, 0, 0, 77 [SEP] 10, Cup, -0.984, 0.126, -1.575, 0, 90, 0, 55 [SEP] 11, Knife, -0.137, 0.787, -2.071, 0, 90, 0, 72 [SEP] 12, SoapBottle, 0.066, 0.929, 0.991, 0, 0, 0, 77 [SEP] 13, SaltShaker, 1.773, 0.549, 2.431, 0, 0, 0, 80 [SEP] 14, SaltShaker, 1.566, 0.877, 2.483, 0, 0, 0, 86 [SEP] 15, Mug, -0.668, 0.908, -2.267, 0, 0, 0, 60 [SEP] 16, Mug, -1.186, 1.010, -1.846, 0, 0, 0, 66 [SEP] 17, Apple, -0.210, 0.835, -1.936, 0, 0, 0, 72 [SEP] 18, Apple, -1.438, 1.254, -0.495, 0, 90, 0, 68 [SEP] 19, Potato, 0.081, 0.793, -2.026, 0, 90, 0, 72 [SEP] 20, Bowl, 1.828, 0.910, -1.563, 0, 0, 0, 60 [SEP] 21, SoapBottle, 1.340, 1.658, -2.162, 0, 0, 0, 47 [SEP] 22, Fork, 0.180, 0.927, 0.991, 0, 0, 0, 77 [SEP] 23, Ladle, 1.909, 1.702, -1.673, 0, 270, 0, 50 [SEP] 24, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 77 [SEP] 25, Lettuce, 0.180, 1.008, 1.448, 0, 0, 0, 77 [SEP] 26, WineBottle, -1.072, 0.914, -2.151, 0, 0, 0, 60 [SEP] 27, Spatula, 1.850, 0.928, -1.918, 0, 0, 0, 60 [SEP] 28, Plate, 0.294, 0.934, 0.762, 0, 0, 0, 77 [SEP] 29, SaltShaker, 1.464, 0.877, 2.429, 0, 0, 0, 81 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 0.180, 0.927, 0.076, 0, 0, 0, 77 [SEP] 32, PepperShaker, 1.795, 1.653, -1.608, 0, 270, 0, 50 [SEP] 33, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 41 [SEP] 34, ButterKnife, 1.850, 0.913, -1.751, 0, 0, 0, 60 [SEP] 35, Tomato, -0.160, 0.982, 1.220, 0, 0, 0, 77 [SEP] 36, DishSponge, 0.522, 0.930, 0.762, 0, 0, 0, 77 [SEP] 37, Egg, -0.160, 0.980, 0.305, 0, 0, 0, 77 [SEP] 38, Spoon, -0.283, 0.765, -2.026, 0, 0, 0, 72 [SEP] 39, Knife, 0.066, 0.950, 0.534, 0, 0, 0, 77 [SEP] 40, Mug, -1.438, 1.178, -0.910, 0, 90, 0, 68 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 86, , , , , , , ,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: walk over to the front of the sink | STEP 2: take one potato out of the sink | STEP 3: walk the clean potato over to the microwave next to the fridge | STEP 4: cook the potato in the microwave | STEP 5: take the cooked potato over to the set dining table | STEP 6: gently place the potato onto the dining table | END


Input: Examine a laptop by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 2.25, 0, 0, 0,  [SEP] 1, Watch, -1.349, 0.707, 3.759, 0, 0, 0, 29 [SEP] 2, KeyChain, 0.880, 0.718, 0.583, 0, 0, 0, 26 [SEP] 3, KeyChain, -0.851, 0.546, 0.650, 0, 0, 0, 28 [SEP] 4, CreditCard, -1.840, 0.447, 2.120, 0, 0, 0, 27 [SEP] 5, RemoteControl, -1.714, 0.449, 2.200, 0, 0, 0, 27 [SEP] 6, RemoteControl, 0.627, 0.715, 0.421, 0, 0, 0, 26 [SEP] 7, Box, -1.351, 0.734, 0.471, 0, 180, 0, 28 [SEP] 8, Book, -1.648, 0.712, 3.649, 0, 0, 0, 29 [SEP] 9, Box, 0.332, 0.892, 0.488, 0, 0, 0, 26 [SEP] 10, Laptop, 0.627, 0.238, 0.506, 0, 0, 0, 26 [SEP] 11, KeyChain, -3.075, 0.564, 0.754, 0, 90, 0, 31 [SEP] 12, Pillow, -0.506, 0.664, 0.431, 36.288, 0, 0, 28 [SEP] 13, Statue, -1.200, 0.716, 3.759, 0, 0, 0, 29 [SEP] 14, RemoteControl, -2.824, 0.564, 0.661, 0, 0, 0, 31 [SEP] 15, CreditCard, 0.373, 0.239, 0.545, 0, 0, 0, 30 [SEP] 16, Watch, -1.587, 0.448, 2.361, 0, 0, 0, 27 [SEP] 17, Painting, -3.049, 1.690, 4.341, 0, 0, 0,  [SEP] 18, Curtains, -3.973, 2.254, 1.453, 0, 0, 0,  [SEP] 19, Painting, -1.096, 1.773, -0.017, 0, 0, 0,  [SEP] 20, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0,  [SEP] 21, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0,  [SEP] 22, Television, -1.504, 1.189, 4.126, 0, 180, 0,  [SEP] 23, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0,  [SEP] 24, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0,  [SEP] 25, Window, -4.051, 1.197, 1.312, 90, 270, 0,  [SEP] 26, SideTable, 0.626, 0.006, 0.340, 0, 0, 0,  [SEP] 27, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0,  [SEP] 28, Sofa, -1.135, -0.004, 0.517, 0, 0, 0,  [SEP] 29, TVStand, -1.566, 0.004, 3.869, 0, 0, 0,  [SEP] 30, Shelf, 0.622, 0.238, 0.340, 0, 0, 0,  [SEP] 31, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0,  [SEP] 32, NorthWall, , , , , , ,  [SEP] 33, EastWall, , , , , , ,  [SEP] 34, SouthWall, , , , , , ,  [SEP] 35, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the table which is to the left of the blue sofa. | STEP 2: Pick up the laptop from the bottom shelf of the table. | STEP 3: Turn around and walk to the floor lamp which is to the left of the television. | STEP 4: Turn on the lamp. | END


Input: Examine the laptop by the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 2.25, 0, 0, 0,  [SEP] 1, Watch, -1.349, 0.707, 3.759, 0, 0, 0, 29 [SEP] 2, KeyChain, 0.880, 0.718, 0.583, 0, 0, 0, 26 [SEP] 3, KeyChain, -0.851, 0.546, 0.650, 0, 0, 0, 28 [SEP] 4, CreditCard, -1.840, 0.447, 2.120, 0, 0, 0, 27 [SEP] 5, RemoteControl, -1.714, 0.449, 2.200, 0, 0, 0, 27 [SEP] 6, RemoteControl, 0.627, 0.715, 0.421, 0, 0, 0, 26 [SEP] 7, Box, -1.351, 0.734, 0.471, 0, 180, 0, 28 [SEP] 8, Book, -1.648, 0.712, 3.649, 0, 0, 0, 29 [SEP] 9, Box, 0.332, 0.892, 0.488, 0, 0, 0, 26 [SEP] 10, Laptop, 0.627, 0.238, 0.506, 0, 0, 0, 26 [SEP] 11, KeyChain, -3.075, 0.564, 0.754, 0, 90, 0, 31 [SEP] 12, Pillow, -0.506, 0.664, 0.431, 36.288, 0, 0, 28 [SEP] 13, Statue, -1.200, 0.716, 3.759, 0, 0, 0, 29 [SEP] 14, RemoteControl, -2.824, 0.564, 0.661, 0, 0, 0, 31 [SEP] 15, CreditCard, 0.373, 0.239, 0.545, 0, 0, 0, 30 [SEP] 16, Watch, -1.587, 0.448, 2.361, 0, 0, 0, 27 [SEP] 17, Painting, -3.049, 1.690, 4.341, 0, 0, 0,  [SEP] 18, Curtains, -3.973, 2.254, 1.453, 0, 0, 0,  [SEP] 19, Painting, -1.096, 1.773, -0.017, 0, 0, 0,  [SEP] 20, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0,  [SEP] 21, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0,  [SEP] 22, Television, -1.504, 1.189, 4.126, 0, 180, 0,  [SEP] 23, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0,  [SEP] 24, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0,  [SEP] 25, Window, -4.051, 1.197, 1.312, 90, 270, 0,  [SEP] 26, SideTable, 0.626, 0.006, 0.340, 0, 0, 0,  [SEP] 27, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0,  [SEP] 28, Sofa, -1.135, -0.004, 0.517, 0, 0, 0,  [SEP] 29, TVStand, -1.566, 0.004, 3.869, 0, 0, 0,  [SEP] 30, Shelf, 0.622, 0.238, 0.340, 0, 0, 0,  [SEP] 31, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0,  [SEP] 32, NorthWall, , , , , , ,  [SEP] 33, EastWall, , , , , , ,  [SEP] 34, SouthWall, , , , , , ,  [SEP] 35, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the table in the corner. | STEP 2: Pick up the laptop on the shelf under the table. | STEP 3: Turn around and go to the lamp in the opposite corner. | STEP 4: Turn on the lamp. | END


Input: Put the orange bowl with fork in the kitchen sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, -0.25, 0, 0, 0,  [SEP] 1, Ladle, 3.140, 0.214, 0.700, 0, 0, 0, 68 [SEP] 2, Ladle, 0.887, 0.945, 0.727, 0, 90, 0, 90 [SEP] 3, Spatula, -0.932, 0.915, -0.801, 0, 135, 0, 59 [SEP] 4, Spatula, -0.950, 0.341, 0.839, 0, 180, 0, 60 [SEP] 5, Fork, -0.827, 0.518, 1.605, 0, 0, 0, 47 [SEP] 6, Fork, 0.101, 0.900, -1.516, 0, 0, 0, 80 [SEP] 7, Fork, 3.200, 0.901, -0.599, 0, 0, 0, 58 [SEP] 8, CellPhone, -0.950, 0.323, 0.489, 0, 0, 0, 60 [SEP] 9, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 102 [SEP] 10, Bread, -0.789, 0.979, 0.623, 0, 0, 0, 59 [SEP] 11, Lettuce, -1.080, 0.965, 0.623, 0, 0, 0, 59 [SEP] 12, SaltShaker, 0.016, 0.129, -1.351, 0, 45, 0, 84 [SEP] 13, SaltShaker, -0.935, 0.896, 0.399, 0, 0, 0, 59 [SEP] 14, Bowl, 2.971, 0.174, 0.629, 0, 0, 0, 68 [SEP] 15, Bowl, 0.760, 1.671, -1.550, 0, 0, 0, 74 [SEP] 16, SoapBottle, -0.655, 0.909, -0.571, 0, 45, 0, 59 [SEP] 17, SoapBottle, 0.404, 1.268, -1.638, 0, 0, 0, 75 [SEP] 18, Plate, 0.781, 0.923, 0.452, 0, 36.810, 0, 90 [SEP] 19, Knife, 0.022, 0.925, -1.731, 0, 90, 0, 80 [SEP] 20, Plate, 1.208, 1.687, -1.619, 0, 0, 0, 50 [SEP] 21, Glassbottle, -0.991, 0.901, -0.640, 0, 45, 0, 59 [SEP] 22, SoapBottle, -0.257, 1.272, -1.577, 0, 45, 0, 76 [SEP] 23, Potato, 3.152, 0.785, -0.100, 0, 0, 0, 104 [SEP] 24, Fork, 0.156, 0.900, -1.379, 0, 45, 0, 80 [SEP] 25, Ladle, 0.967, 0.945, 0.038, 0, 0, 0, 90 [SEP] 26, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 54 [SEP] 27, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 88 [SEP] 28, Spatula, -0.786, 0.146, 1.168, 0, 90, 0, 83 [SEP] 29, Knife, 0.533, 0.936, 0.326, 0, 0, 0, 90 [SEP] 30, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 105 [SEP] 31, Cup, 1.086, 0.709, -1.407, 0, 0, 0, 105 [SEP] 32, SaltShaker, -0.182, 1.259, -1.502, 0, 45, 0, 76 [SEP] 33, Egg, 3.354, 0.953, -0.279, 0, 0, 0, 58 [SEP] 34, PepperShaker, 1.491, 0.904, 0.180, 0, 0, 0, 90 [SEP] 35, ButterKnife, -1.080, 0.900, 0.846, 0, 0, 0, 59 [SEP] 36, Apple, 3.155, 0.174, 1.519, 0, 225, 0, 100 [SEP] 37, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 80 [SEP] 38, Bread, 1.534, 0.972, 0.486, 0, 289.287, 0, 90 [SEP] 39, CellPhone, -0.055, 0.511, -1.377, 0, 45, 0, 62 [SEP] 40, DishSponge, 3.249, 1.464, -1.746, 0, 0, 0, 57 [SEP] 41, Tomato, 2.987, 0.784, 0.165, 0, 90, 0, 104 [SEP] 42, Spoon, -0.754, 0.329, -0.683, 0, 135, 0, 92 [SEP] 43, Bowl, -1.052, 0.994, 1.311, 0, 90, 0, 107 [SEP] 44, Mug, 3.355, 0.895, -0.798, 0, 0, 0, 58 [SEP] 45, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 46, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 47, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 48, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 49, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 50, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 51, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 52, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 53, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 54, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 55, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 56, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 57, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 58, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 59, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 60, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 61, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 62, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 63, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 64, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 65, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 66, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 67, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 68, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 69, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 70, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 71, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 72, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 73, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 74, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 75, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 76, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 77, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 78, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 79, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 80, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 81, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 82, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 83, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 84, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 85, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 86, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 87, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 88, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 89, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 90, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 91, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 92, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 93, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 94, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 95, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 96, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 97, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 98, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 99, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 100, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 101, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 102, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 103, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 104, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 105, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 106, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 107, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 108, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk up to the kitchen counter right of the sink | STEP 2: Pick up the fork from the counter | STEP 3: Turn around and walk over to the fridge | STEP 4: Open the fridge and put the fork in the orange bowl | STEP 5: Pick up the orange bowl from the fridge | STEP 6: Turn left and walk over to the kitchen sink | STEP 7: Put the orange bowl in the kitchen sink | END


Input: Put a pan with lettuce 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, -1.25, 0.900, -2.25, 0, 90, 0,  [SEP] 1, Pan, -0.437, 0.961, -2.243, 0, 0, 0, 46 [SEP] 2, Potato, -0.167, 1.607, -1.937, 0, 270, 0, 75 [SEP] 3, DishSponge, -3.942, 0.690, -0.369, 0, 0, 0, 78 [SEP] 4, Spoon, -0.473, 0.942, -1.538, 0, 0, 0, 61 [SEP] 5, Egg, -4.122, 0.731, -0.126, 0, 0, 0, 78 [SEP] 6, Egg, -4.242, 0.731, -0.126, 0, 0, 0, 78 [SEP] 7, Cup, -0.252, 1.287, -0.878, 0, 270, 0, 73 [SEP] 8, Plate, -0.427, 0.096, -1.410, 0, 0, 0, 59 [SEP] 9, Tomato, -0.318, 0.993, -2.937, 0, 45, 0, 43 [SEP] 10, Bowl, -0.126, 1.937, -1.897, 0, 0, 0, 52 [SEP] 11, Bread, -3.309, 0.841, -3.362, 0, 109.125, 0, 79 [SEP] 12, Bread, -3.662, 0.841, -3.632, 0, 199.125, 0, 79 [SEP] 13, Lettuce, -0.397, 1.033, -2.788, 0, 0, 0, 43 [SEP] 14, Lettuce, -4.002, 0.781, -0.248, 0, 0, 0, 78 [SEP] 15, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 73 [SEP] 16, SaltShaker, -3.706, 0.756, -3.092, 0, 109.125, 0, 79 [SEP] 17, SaltShaker, -4.182, 0.687, -0.187, 0, 0, 0, 78 [SEP] 18, PepperShaker, -3.942, 0.686, -0.491, 0, 0, 0, 78 [SEP] 19, Mug, -0.175, 1.932, -1.002, 0, 0, 0, 51 [SEP] 20, Mug, -0.155, 0.937, -2.982, 0, 45, 0, 43 [SEP] 21, Apple, -0.268, 1.636, -1.937, 0, 270, 0, 75 [SEP] 22, SoapBottle, -0.315, 0.939, -1.581, 0, 0, 0, 61 [SEP] 23, Pot, -0.606, 0.802, -3.419, 0, 315, 0, 72 [SEP] 24, Fork, -3.731, 0.760, -3.444, 0, 334.125, 0, 79 [SEP] 25, Cup, -0.157, 0.942, -1.450, 0, 0, 0, 61 [SEP] 26, Tomato, -2.387, 0.150, -3.538, 0, 0, 0, 68 [SEP] 27, Pan, -0.222, 0.961, -1.845, 0, 180, 0, 45 [SEP] 28, Plate, -4.182, 0.704, -0.430, 0, 0, 0, 78 [SEP] 29, Bread, -2.984, 0.956, -0.311, 0, 50.592, 0, 80 [SEP] 30, Spatula, -1.694, 0.957, -3.673, 0, 0, 0, 43 [SEP] 31, Knife, -3.502, 0.785, -3.360, 0, 109.125, 0, 79 [SEP] 32, SaltShaker, -0.942, 0.938, -3.785, 0, 45, 0, 43 [SEP] 33, PepperShaker, -1.154, 0.750, -3.534, 0, 0, 0, 49 [SEP] 34, ButterKnife, -3.203, 0.760, -3.118, 0, 244.125, 0, 79 [SEP] 35, Apple, -0.359, 1.550, -0.529, 0, 270, 0, 73 [SEP] 36, DishSponge, -0.136, 1.937, -1.108, 0, 0, 0, 51 [SEP] 37, Potato, -0.471, 0.846, -3.163, 0, 315, 0, 72 [SEP] 38, Egg, -0.334, 1.327, -0.762, 0, 270, 0, 73 [SEP] 39, Spoon, -0.236, 0.942, -1.319, 0, 0, 0, 61 [SEP] 40, Lettuce, -1.248, 1.033, -3.829, 0, 0, 0, 43 [SEP] 41, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 69 [SEP] 42, Bowl, -0.334, 1.284, -0.413, 0, 270, 0, 73 [SEP] 43, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 44, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 45, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 46, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 47, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 48, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 49, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 50, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 51, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 52, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 53, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 54, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 55, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 56, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 57, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 58, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 59, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 60, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 61, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 62, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 63, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 64, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 65, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 66, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 67, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 68, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 69, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 70, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 71, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 72, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 73, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 74, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 75, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 76, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 77, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 78, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 79, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 80, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 81, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 82, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,

Output: STEP 1: Turn around and go to the black circular table. | STEP 2: Take the all silver knife to the right of the bread. | STEP 3: Turn right and go to the black stand in the corner next to the white table. | STEP 4: Cut the lettuce into slices. | STEP 5: Go to the white table to the right. | STEP 6: Put the knife in front of the loaf of bread. | STEP 7: Go to the black stand to the left. | STEP 8: Take a piece of lettuce from the stand. | STEP 9: Turn right go to the oven. | STEP 10: Put the lettuce in the pan on the left back burner on the stove top. | STEP 11: Take the pan from the stove top. | STEP 12: Turn around, go to the white table on the right. | STEP 13: Put the pan to the right of the knife on the table. | END


Input: Put the chilled large pot on the wooded rack.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.5, 0, 180, 0,  [SEP] 1, Book, -1.856, 0.910, -2.146, 0, 270, 0, 86 [SEP] 2, Statue, -0.059, 1.110, -0.253, 0, 0, 0, 61 [SEP] 3, Statue, -0.335, 1.110, -0.759, 0, 0, 0, 61 [SEP] 4, Potato, -1.908, 0.800, -1.328, 0, 90, 0, 96 [SEP] 5, CreditCard, -1.574, 0.908, -1.869, 0, 0, 0, 86 [SEP] 6, Plate, -2.040, 1.499, 1.008, 0, 90, 0, 94 [SEP] 7, Plate, -2.122, 1.499, 1.260, 0, 90, 0, 94 [SEP] 8, Cup, 0.615, 1.657, -2.525, 0, 0, 0, 85 [SEP] 9, Tomato, -1.797, 0.808, -1.242, 0, 90, 0, 96 [SEP] 10, Tomato, -1.611, 0.950, -0.698, 0, 0, 0, 86 [SEP] 11, SoapBottle, 0.505, 1.660, -2.632, 0, 0, 0, 85 [SEP] 12, PepperShaker, -1.781, 0.474, -0.293, 0, 90, 0, 76 [SEP] 13, Lettuce, 0.355, 1.191, -0.253, 0, 0, 0, 61 [SEP] 14, Lettuce, -0.995, 0.991, -2.637, 0, 0, 0, 86 [SEP] 15, Knife, -1.143, 0.936, -2.329, 0, 180, 0, 86 [SEP] 16, Knife, 0.453, 0.936, -2.484, 0, 0, 0, 63 [SEP] 17, Fork, 0.950, 0.482, -2.380, 0, 0, 0, 69 [SEP] 18, Fork, 1.007, 0.142, -2.431, 0, 90, 0, 81 [SEP] 19, Mug, -0.122, 1.785, -2.514, 0, 0, 0, 87 [SEP] 20, Spatula, -1.739, 0.809, 0.111, 0, 90, 0, 58 [SEP] 21, ButterKnife, -1.937, 0.911, -0.698, 0, 0, 0, 86 [SEP] 22, Kettle, -1.814, 0.130, 0.248, 0, 90, 0, 67 [SEP] 23, Glassbottle, -1.797, 0.770, -1.414, 0, 90, 0, 96 [SEP] 24, WineBottle, 0.582, 0.911, -2.253, 0, 0, 0, 63 [SEP] 25, DishSponge, -1.852, 0.769, -1.673, 0, 90, 0, 96 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -1.962, 0.048, 1.933, 0, 270, 0, 92 [SEP] 28, Knife, -1.693, 0.936, -2.475, 0, 0, 0, 86 [SEP] 29, Bread, -0.335, 1.184, -0.506, 0, 0, 0, 61 [SEP] 30, Fork, -1.438, 0.911, -2.406, 0, 0, 0, 86 [SEP] 31, Potato, -1.586, 0.941, -2.713, 0, 0, 0, 86 [SEP] 32, SoapBottle, 0.217, 1.112, -0.506, 0, 0, 0, 61 [SEP] 33, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 56 [SEP] 34, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 70 [SEP] 35, Plate, 0.217, 1.108, -0.001, 0, 0, 0, 61 [SEP] 36, Tomato, -1.962, 0.087, 2.076, 0, 270, 0, 92 [SEP] 37, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 91 [SEP] 38, Egg, -0.019, 1.825, -2.482, 0, 0, 0, 87 [SEP] 39, CreditCard, -1.611, 0.790, 0.155, 0, 90, 0, 58 [SEP] 40, Statue, 0.969, 0.909, -2.407, 0, 90, 0, 63 [SEP] 41, WineBottle, 0.840, 0.911, -2.560, 0, 0, 0, 63 [SEP] 42, Pot, -2.019, 0.915, -0.513, 0, 0, 0, 86 [SEP] 43, Spatula, 1.119, 0.791, -2.463, 0, 90, 0, 57 [SEP] 44, PaperTowelRoll, 1.482, 0.985, -2.509, 0, 180, 0, 88 [SEP] 45, Cup, -0.335, 1.109, -0.001, 0, 0, 0, 61 [SEP] 46, Vase, 1.582, 0.550, -2.666, 0, 180, 0, 91 [SEP] 47, Bowl, -2.120, 0.795, 1.251, 0, 90, 0, 94 [SEP] 48, SaltShaker, 0.563, 0.136, -2.239, 0, 0, 0, 78 [SEP] 49, PepperShaker, 1.993, 0.877, -2.590, 0, 180, 0, 88 [SEP] 50, Lettuce, -0.473, 1.191, 0.757, 0, 0, 0, 61 [SEP] 51, ButterKnife, -1.963, 0.769, -1.587, 0, 270, 0, 96 [SEP] 52, Apple, -0.197, 1.162, 0.757, 0, 0, 0, 61 [SEP] 53, DishSponge, -2.018, 0.769, -1.501, 0, 90, 0, 96 [SEP] 54, Spoon, -0.059, 1.112, 0.251, 0, 0, 0, 61 [SEP] 55, Mug, -0.277, 1.785, -2.514, 0, 0, 0, 87 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Move to the counter by the coffee machine. | STEP 2: Pick up the large pot from the counter.  | STEP 3: Bring the pot to the fridge. | STEP 4: Chill the pot in the fridge for a few seconds.  | STEP 5: Bring the pot to the wooden rack. | STEP 6: Put the pot on the wooden rack to the left of the red bowl.  | END