Input: place clean fork to right of spatula on 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, 0.75, 0, 0, 0,  [SEP] 1, Potato, 1.422, 0.946, 1.468, 0, 0, 0, 79 [SEP] 2, Potato, -0.017, 0.800, -0.651, 0, 0, 0, 101 [SEP] 3, DishSponge, -0.159, 0.771, 1.122, 0, 0, 0, 49 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 5, ButterKnife, 2.156, 0.911, -0.345, 0, 0, 0, 44 [SEP] 6, Pot, 2.838, 1.567, -0.578, 0, 0, 0, 99 [SEP] 7, Spoon, -0.734, 0.822, -1.328, 0, 0, 0, 103 [SEP] 8, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 9, Fork, 1.141, 0.912, -0.430, 0, 0, 0, 44 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 69 [SEP] 11, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 79 [SEP] 12, Knife, 0.634, 0.944, -0.6, 0, 0, 0, 44 [SEP] 13, Knife, -0.055, 0.944, 1.299, 0, 90, 0, 55 [SEP] 14, SoapBottle, -0.072, 1.660, -0.772, 0, 180, 0, 86 [SEP] 15, Bowl, 2.777, 1.017, -0.644, 0, 0, 0, 99 [SEP] 16, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 79 [SEP] 17, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 76 [SEP] 18, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 55 [SEP] 21, SoapBottle, -0.983, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.221, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, -0.694, 0.821, -1.206, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 55 [SEP] 26, Egg, -2.048, 0.461, 1.332, 0, 270, 0, 97 [SEP] 27, Kettle, 1.484, 1.656, -0.810, 0, 180, 0, 66 [SEP] 28, Tomato, 2.962, 0.758, -0.442, 0, 0, 0, 99 [SEP] 29, Cup, 2.838, 1.016, -0.840, 0, 0, 0, 99 [SEP] 30, Spatula, -0.887, 0.835, -1.255, 0, 90, 0, 103 [SEP] 31, Apple, 0.193, 0.834, -0.707, 0, 0, 0, 101 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 103 [SEP] 34, SaltShaker, 1.422, 0.908, 1.129, 0, 0, 0, 79 [SEP] 35, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 101 [SEP] 37, PepperShaker, -0.682, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.246, 0.911, 1.214, 0, 90, 0, 55 [SEP] 39, Bowl, 0.415, 1.782, 1.455, 0, 180, 0, 102 [SEP] 40, DishSponge, -1.962, 0.423, 1.417, 0, 270, 0, 97 [SEP] 41, Spoon, -0.983, 0.822, -1.360, 0, 90, 0, 103 [SEP] 42, Mug, 2.715, 0.721, -0.473, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: turn around, go to gray round table to the left | STEP 2: pick up fork from the gray table | STEP 3: turn around, go to sink to the right | STEP 4: place fork in sink, turn on water, turn off water, pick up fork from sink | STEP 5: go to gray table to the right | STEP 6: place fork to the right of spatula on gray table | END


Input: stand a clean fork up on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, 1.422, 0.946, 1.468, 0, 0, 0, 79 [SEP] 2, Potato, -0.017, 0.800, -0.651, 0, 0, 0, 101 [SEP] 3, DishSponge, -0.159, 0.771, 1.122, 0, 0, 0, 49 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 5, ButterKnife, 2.156, 0.911, -0.345, 0, 0, 0, 44 [SEP] 6, Pot, 2.838, 1.567, -0.578, 0, 0, 0, 99 [SEP] 7, Spoon, -0.734, 0.822, -1.328, 0, 0, 0, 103 [SEP] 8, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 9, Fork, 1.141, 0.912, -0.430, 0, 0, 0, 44 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 69 [SEP] 11, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 79 [SEP] 12, Knife, 0.634, 0.944, -0.6, 0, 0, 0, 44 [SEP] 13, Knife, -0.055, 0.944, 1.299, 0, 90, 0, 55 [SEP] 14, SoapBottle, -0.072, 1.660, -0.772, 0, 180, 0, 86 [SEP] 15, Bowl, 2.777, 1.017, -0.644, 0, 0, 0, 99 [SEP] 16, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 79 [SEP] 17, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 76 [SEP] 18, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 55 [SEP] 21, SoapBottle, -0.983, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.221, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, -0.694, 0.821, -1.206, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 55 [SEP] 26, Egg, -2.048, 0.461, 1.332, 0, 270, 0, 97 [SEP] 27, Kettle, 1.484, 1.656, -0.810, 0, 180, 0, 66 [SEP] 28, Tomato, 2.962, 0.758, -0.442, 0, 0, 0, 99 [SEP] 29, Cup, 2.838, 1.016, -0.840, 0, 0, 0, 99 [SEP] 30, Spatula, -0.887, 0.835, -1.255, 0, 90, 0, 103 [SEP] 31, Apple, 0.193, 0.834, -0.707, 0, 0, 0, 101 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 103 [SEP] 34, SaltShaker, 1.422, 0.908, 1.129, 0, 0, 0, 79 [SEP] 35, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 101 [SEP] 37, PepperShaker, -0.682, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.246, 0.911, 1.214, 0, 90, 0, 55 [SEP] 39, Bowl, 0.415, 1.782, 1.455, 0, 180, 0, 102 [SEP] 40, DishSponge, -1.962, 0.423, 1.417, 0, 270, 0, 97 [SEP] 41, Spoon, -0.983, 0.822, -1.360, 0, 90, 0, 103 [SEP] 42, Mug, 2.715, 0.721, -0.473, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table | STEP 3: take the fork to the sink | STEP 4: rinse the fork in the sink with the existing veggies | STEP 5: take the cleaned fork back to the table | STEP 6: stand the fork on the table | END


Input: cut a slice of a potato put it in the microwave put it on the counter next to the knife 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, 0.5, 0, 180, 0,  [SEP] 1, Potato, 2.777, 1.323, -0.447, 0, 0, 0, 97 [SEP] 2, DishSponge, -0.164, 1.654, 1.432, 0, 0, 0, 68 [SEP] 3, Kettle, -0.017, 0.766, -0.596, 0, 0, 0, 99 [SEP] 4, Kettle, 1.835, 1.655, -0.811, 0, 180, 0, 79 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 6, Spoon, 2.173, 0.772, -0.460, 0, 180, 0, 55 [SEP] 7, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 42 [SEP] 8, Cup, 1.558, 0.112, -0.538, 0, 180, 0, 59 [SEP] 9, Cup, 1.804, 1.653, 1.546, 0, 0, 0, 54 [SEP] 10, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 101 [SEP] 11, Knife, 0.634, 0.944, -0.515, 0, 0, 0, 42 [SEP] 12, Tomato, 2.591, 0.756, -0.535, 0, 0, 0, 97 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 95 [SEP] 14, Bowl, 2.153, 0.112, 1.119, 0, 0, 0, 78 [SEP] 15, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 101 [SEP] 16, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 101 [SEP] 17, Mug, 2.715, 1.283, -0.578, 0, 0, 0, 97 [SEP] 18, Apple, -2.019, 0.492, 1.290, 0, 270, 0, 95 [SEP] 19, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 101 [SEP] 20, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 97 [SEP] 21, Fork, 1.771, 0.772, -0.498, 0, 90, 0, 56 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.838, 0.764, -0.535, 0, 0, 0, 97 [SEP] 25, Kettle, 0.654, 2.154, 1.468, 0, 0, 0, 51 [SEP] 26, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 42 [SEP] 27, Cup, 2.900, 1.016, -0.709, 0, 0, 0, 97 [SEP] 28, Spatula, 2.156, 0.926, -0.515, 0, 0, 0, 42 [SEP] 29, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 101 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.912, 1.345, -0.613, 14.844, 5.052, 19.928, 97 [SEP] 32, SaltShaker, -0.142, 0.908, -0.302, 0, 0, 0, 42 [SEP] 33, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.193, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, 2.154, 1.650, 1.585, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, 2.715, 1.017, -0.644, 0, 0, 0, 97 [SEP] 38, DishSponge, 1.896, 0.114, 1.196, 0, 0, 0, 62 [SEP] 39, Spoon, 2.217, 0.772, 1.122, 0, 0, 0, 73 [SEP] 40, Mug, 0.284, 2.152, 1.467, 0, 0, 0, 76 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: turn to the left  and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato  | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink | STEP 8: pick up the slice of potato and turn to the left | STEP 9: open the microwave door  | STEP 10: put slice of the potato into the microwave close the microwave door | STEP 11: get the slice out of the microwave and turn to the right | STEP 12: put the slice next to the knife in the counter | END


Input: Slice potato, put knife on above third cabinet, place potato slice to the right of the knife 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, 0.5, 0, 180, 0,  [SEP] 1, Potato, 2.777, 1.323, -0.447, 0, 0, 0, 97 [SEP] 2, DishSponge, -0.164, 1.654, 1.432, 0, 0, 0, 68 [SEP] 3, Kettle, -0.017, 0.766, -0.596, 0, 0, 0, 99 [SEP] 4, Kettle, 1.835, 1.655, -0.811, 0, 180, 0, 79 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 6, Spoon, 2.173, 0.772, -0.460, 0, 180, 0, 55 [SEP] 7, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 42 [SEP] 8, Cup, 1.558, 0.112, -0.538, 0, 180, 0, 59 [SEP] 9, Cup, 1.804, 1.653, 1.546, 0, 0, 0, 54 [SEP] 10, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 101 [SEP] 11, Knife, 0.634, 0.944, -0.515, 0, 0, 0, 42 [SEP] 12, Tomato, 2.591, 0.756, -0.535, 0, 0, 0, 97 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 95 [SEP] 14, Bowl, 2.153, 0.112, 1.119, 0, 0, 0, 78 [SEP] 15, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 101 [SEP] 16, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 101 [SEP] 17, Mug, 2.715, 1.283, -0.578, 0, 0, 0, 97 [SEP] 18, Apple, -2.019, 0.492, 1.290, 0, 270, 0, 95 [SEP] 19, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 101 [SEP] 20, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 97 [SEP] 21, Fork, 1.771, 0.772, -0.498, 0, 90, 0, 56 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.838, 0.764, -0.535, 0, 0, 0, 97 [SEP] 25, Kettle, 0.654, 2.154, 1.468, 0, 0, 0, 51 [SEP] 26, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 42 [SEP] 27, Cup, 2.900, 1.016, -0.709, 0, 0, 0, 97 [SEP] 28, Spatula, 2.156, 0.926, -0.515, 0, 0, 0, 42 [SEP] 29, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 101 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.912, 1.345, -0.613, 14.844, 5.052, 19.928, 97 [SEP] 32, SaltShaker, -0.142, 0.908, -0.302, 0, 0, 0, 42 [SEP] 33, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.193, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, 2.154, 1.650, 1.585, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, 2.715, 1.017, -0.644, 0, 0, 0, 97 [SEP] 38, DishSponge, 1.896, 0.114, 1.196, 0, 0, 0, 62 [SEP] 39, Spoon, 2.217, 0.772, 1.122, 0, 0, 0, 73 [SEP] 40, Mug, 0.284, 2.152, 1.467, 0, 0, 0, 76 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink | STEP 9: turn around, face stove, look upward to microwave | STEP 10: open microwave, microwave potato slice, remove potato from microwave, close microwave door | STEP 11: turn right, go to knife on the counter to the right | STEP 12: place potato slice to the right of the knife | END


Input: Put a apple in the sink from a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Kettle, 2.837, 0.115, 1.193, 0, 0, 0, 76 [SEP] 2, ButterKnife, 2.156, 0.911, -0.6, 0, 0, 0, 44 [SEP] 3, Fork, -0.911, 0.821, -1.257, 0, 90, 0, 103 [SEP] 4, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 44 [SEP] 5, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 101 [SEP] 6, Plate, 1.141, 0.914, -0.769, 0, 0, 0, 44 [SEP] 7, Egg, 1.902, 0.949, -0.430, 0, 0, 0, 44 [SEP] 8, Egg, 0.363, 1.822, 1.391, 0, 180, 0, 102 [SEP] 9, SoapBottle, 2.444, 0.120, 1.117, 0, 0, 0, 48 [SEP] 10, SoapBottle, -1.991, 0.429, 1.417, 0, 270, 0, 97 [SEP] 11, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 79 [SEP] 12, Bowl, 2.838, 1.286, -0.512, 0, 0, 0, 99 [SEP] 13, SaltShaker, 2.161, 0.111, -0.538, 0, 180, 0, 85 [SEP] 14, SaltShaker, -0.694, 0.817, -1.257, 0, 90, 0, 103 [SEP] 15, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 79 [SEP] 16, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 55 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 79 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 79 [SEP] 19, Mug, 2.838, 1.558, -0.578, 0, 0, 0, 99 [SEP] 20, Apple, 2.838, 0.794, -0.535, 0, 0, 0, 99 [SEP] 21, SoapBottle, -0.839, 0.826, -1.360, 0, 90, 0, 103 [SEP] 22, Plate, 1.141, 0.914, -0.430, 0, 0, 0, 44 [SEP] 23, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 2.653, 1.601, -0.578, 0, 0, 0, 99 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 103 [SEP] 29, Cup, 2.173, 1.653, -0.762, 0, 180, 0, 81 [SEP] 30, Spatula, 1.422, 0.926, 1.299, 0, 0, 0, 79 [SEP] 31, Apple, 0.518, 1.853, 1.423, 0, 180, 0, 102 [SEP] 32, Pan, 2.524, 1.655, 1.468, 0, 0, 0, 56 [SEP] 33, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.939, 0.817, -1.400, 0, 0, 0, 103 [SEP] 35, Knife, 0.026, 0.758, -0.592, 273.787, 317.657, 5.542, 101 [SEP] 36, Potato, 3.220, 0.875, -0.514, 0, 0, 0, 99 [SEP] 37, PepperShaker, 2.222, 1.650, 1.585, 0, 0, 0, 68 [SEP] 38, ButterKnife, 1.422, 0.911, 1.299, 0, 90, 0, 79 [SEP] 39, Bowl, 0.480, 1.652, -0.735, 0, 180, 0, 83 [SEP] 40, DishSponge, -1.056, 0.820, -1.411, 0, 90, 0, 103 [SEP] 41, Spoon, 1.524, 0.773, 1.160, 0, 0, 0, 62 [SEP] 42, Mug, 2.838, 1.014, -0.709, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Move to the stove to the left of the sink | STEP 2: Pick up a apple from the microwave above | STEP 3: Move to the sink behind you | STEP 4: Put the apple in the sink | END


Input: Move two butter knives to a round table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.0, 0, 0, 0,  [SEP] 1, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 83 [SEP] 2, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, 0.123, 0.766, -0.651, 0, 90, 0, 105 [SEP] 5, Spoon, 1.524, 0.773, -0.422, 0, 180, 0, 78 [SEP] 6, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.383, 0, 90, 0, 83 [SEP] 8, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 83 [SEP] 9, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 103 [SEP] 10, Cup, -0.621, 0.818, -1.155, 0, 90, 0, 107 [SEP] 11, Egg, 0.053, 0.803, -0.651, 0, 0, 0, 105 [SEP] 12, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 48 [SEP] 13, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 14, SoapBottle, 0.750, 1.661, -0.732, 0, 180, 0, 58 [SEP] 15, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 101 [SEP] 16, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 17, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 107 [SEP] 18, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 88 [SEP] 19, SaltShaker, 1.291, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 103 [SEP] 22, Mug, -0.983, 0.815, -1.308, 0, 90, 0, 107 [SEP] 23, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 24, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, -0.103, 0.912, 1.383, 0, 90, 0, 59 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.033, 0.974, -0.519, 0, 0, 17.743, 48 [SEP] 30, Egg, 2.715, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 107 [SEP] 33, Cup, 2.962, 0.724, -0.565, 0, 0, 0, 103 [SEP] 34, Spatula, 1.145, 0.929, -0.520, 0, 180, 9.660, 48 [SEP] 35, Apple, 2.653, 1.087, -0.644, 0, 0, 0, 103 [SEP] 36, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 83 [SEP] 37, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.637, 0.110, 1.044, 0, 0, 0, 77 [SEP] 39, Knife, 1.185, 0.906, -0.515, 90, 94.145, 0, 48 [SEP] 40, Potato, 2.715, 1.053, -0.840, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.053, 1.650, 1.355, 0, 0, 0, 74 [SEP] 42, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 1.842, 1.653, 1.468, 0, 0, 0, 60 [SEP] 44, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 107 [SEP] 45, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table. | STEP 4: Place the butter knife in front of the sponge onto the small round table. | STEP 5: Turn left and walk over to the section of counter across from the toaster. | STEP 6: Pick up the metal butter knife that is on the front edge of the counter. | STEP 7: Turn left and walk over to the small round table in the corner of the room. | STEP 8: Stick the butter knife into the table point down near the handle of the butter knife that is already there. | END


Input: put the two knife from the counter on the corner table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.0, 0, 0, 0,  [SEP] 1, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 83 [SEP] 2, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, 0.123, 0.766, -0.651, 0, 90, 0, 105 [SEP] 5, Spoon, 1.524, 0.773, -0.422, 0, 180, 0, 78 [SEP] 6, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.383, 0, 90, 0, 83 [SEP] 8, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 83 [SEP] 9, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 103 [SEP] 10, Cup, -0.621, 0.818, -1.155, 0, 90, 0, 107 [SEP] 11, Egg, 0.053, 0.803, -0.651, 0, 0, 0, 105 [SEP] 12, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 48 [SEP] 13, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 14, SoapBottle, 0.750, 1.661, -0.732, 0, 180, 0, 58 [SEP] 15, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 101 [SEP] 16, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 17, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 107 [SEP] 18, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 88 [SEP] 19, SaltShaker, 1.291, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 103 [SEP] 22, Mug, -0.983, 0.815, -1.308, 0, 90, 0, 107 [SEP] 23, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 24, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, -0.103, 0.912, 1.383, 0, 90, 0, 59 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.033, 0.974, -0.519, 0, 0, 17.743, 48 [SEP] 30, Egg, 2.715, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 107 [SEP] 33, Cup, 2.962, 0.724, -0.565, 0, 0, 0, 103 [SEP] 34, Spatula, 1.145, 0.929, -0.520, 0, 180, 9.660, 48 [SEP] 35, Apple, 2.653, 1.087, -0.644, 0, 0, 0, 103 [SEP] 36, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 83 [SEP] 37, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.637, 0.110, 1.044, 0, 0, 0, 77 [SEP] 39, Knife, 1.185, 0.906, -0.515, 90, 94.145, 0, 48 [SEP] 40, Potato, 2.715, 1.053, -0.840, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.053, 1.650, 1.355, 0, 0, 0, 74 [SEP] 42, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 1.842, 1.653, 1.468, 0, 0, 0, 60 [SEP] 44, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 107 [SEP] 45, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table | STEP 4: put the knife on the table | STEP 5: turn left, walk to the counter across the refrigerator | STEP 6: grab the knife on the counter | STEP 7: turn left, walk across the room to the corner table | STEP 8: put the knife on the table | END


Input: Put two knives on the table to the right of the sink. 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, 0.0, 0, 0, 0,  [SEP] 1, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 83 [SEP] 2, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, 0.123, 0.766, -0.651, 0, 90, 0, 105 [SEP] 5, Spoon, 1.524, 0.773, -0.422, 0, 180, 0, 78 [SEP] 6, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.383, 0, 90, 0, 83 [SEP] 8, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 83 [SEP] 9, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 103 [SEP] 10, Cup, -0.621, 0.818, -1.155, 0, 90, 0, 107 [SEP] 11, Egg, 0.053, 0.803, -0.651, 0, 0, 0, 105 [SEP] 12, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 48 [SEP] 13, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 14, SoapBottle, 0.750, 1.661, -0.732, 0, 180, 0, 58 [SEP] 15, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 101 [SEP] 16, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 17, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 107 [SEP] 18, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 88 [SEP] 19, SaltShaker, 1.291, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 103 [SEP] 22, Mug, -0.983, 0.815, -1.308, 0, 90, 0, 107 [SEP] 23, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 24, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, -0.103, 0.912, 1.383, 0, 90, 0, 59 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.033, 0.974, -0.519, 0, 0, 17.743, 48 [SEP] 30, Egg, 2.715, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 107 [SEP] 33, Cup, 2.962, 0.724, -0.565, 0, 0, 0, 103 [SEP] 34, Spatula, 1.145, 0.929, -0.520, 0, 180, 9.660, 48 [SEP] 35, Apple, 2.653, 1.087, -0.644, 0, 0, 0, 103 [SEP] 36, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 83 [SEP] 37, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.637, 0.110, 1.044, 0, 0, 0, 77 [SEP] 39, Knife, 1.185, 0.906, -0.515, 90, 94.145, 0, 48 [SEP] 40, Potato, 2.715, 1.053, -0.840, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.053, 1.650, 1.355, 0, 0, 0, 74 [SEP] 42, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 1.842, 1.653, 1.468, 0, 0, 0, 60 [SEP] 44, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 107 [SEP] 45, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the right of the fridge to the counter | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink | STEP 8: Place the knife on the table | END


Input: Place a soap bottle on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 90, 0,  [SEP] 1, Cloth, -1.635, 1.074, 2.157, 0, 0, 0, 28 [SEP] 2, Candle, -2.146, 1.088, -0.827, 0, 0, 0, 33 [SEP] 3, Candle, -2.343, 1.088, -0.644, 0, 0, 0, 33 [SEP] 4, SprayBottle, -2.080, 1.048, -0.736, 0, 0, 0, 33 [SEP] 5, SprayBottle, -0.980, 1.774, 2.067, 0, 0, 0, 26 [SEP] 6, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 23 [SEP] 7, Candle, -1.949, 1.088, -0.827, 0, 0, 0, 33 [SEP] 8, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 30 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.407, 1.010, -0.361, 0, 227.756, 0, 21 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -1.687, 0.083, -0.690, 0, 270, 0, 31 [SEP] 13, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 26 [SEP] 14, Cloth, 0.206, 0.048, -0.071, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 23 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -1.471, 1.071, 2.097, 0, 0, 0, 28 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Walk ahead and turn right, facing the sink. | STEP 2: Take a soap bottle out of the trash can on the floor. | STEP 3: Turn around and walk to the shelves on the right side of the wall. | STEP 4: Place the soap bottle on the bottom shelf, just right of center. | END


Input: Put the pan with knife on the small round 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, 0.25, 0, 90, 0,  [SEP] 1, Pan, 0.812, 2.153, 1.468, 0, 0, 0, 58 [SEP] 2, Pan, 2.188, 1.654, 1.470, 0, 0, 0, 74 [SEP] 3, Potato, -0.151, 0.946, 1.383, 0, 0, 0, 60 [SEP] 4, Potato, 2.754, 0.946, 1.044, 0, 0, 0, 84 [SEP] 5, DishSponge, 1.102, 0.114, 1.077, 0, 0, 0, 78 [SEP] 6, DishSponge, -2.019, 0.423, 1.375, 0, 270, 0, 102 [SEP] 7, ButterKnife, 1.155, 0.911, 1.383, 0, 0, 0, 84 [SEP] 8, Spoon, 1.175, 0.772, 1.122, 0, 0, 0, 94 [SEP] 9, Spoon, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 10, Fork, 1.626, 0.772, 1.122, 0, 90, 0, 67 [SEP] 11, Fork, 1.141, 0.912, -0.430, 0, 90, 0, 49 [SEP] 12, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 84 [SEP] 13, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 49 [SEP] 14, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 15, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 84 [SEP] 16, SoapBottle, -0.055, 0.917, 1.044, 0, 0, 0, 60 [SEP] 17, SoapBottle, 0.888, 0.917, -0.6, 0, 0, 0, 49 [SEP] 18, Tomato, 1.141, 0.942, -0.6, 0, 0, 0, 49 [SEP] 19, Bowl, -0.151, 0.909, 1.214, 0, 0, 0, 60 [SEP] 20, Bowl, 2.802, 0.112, 1.119, 0, 0, 0, 81 [SEP] 21, SaltShaker, 1.422, 0.908, 1.468, 0, 0, 0, 84 [SEP] 22, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 104 [SEP] 23, Mug, 0.518, 1.779, 1.455, 0, 180, 0, 107 [SEP] 24, Apple, 2.777, 1.087, -0.775, 0, 0, 0, 104 [SEP] 25, Apple, 1.902, 0.980, -0.430, 0, 0, 0, 49 [SEP] 26, SoapBottle, 1.487, 1.660, 1.432, 0, 0, 0, 72 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, 0.123, 0.766, -0.707, 0, 0, 0, 106 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 84 [SEP] 31, Egg, -0.017, 0.803, -0.651, 0, 0, 0, 106 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, 0.634, 0.942, -0.6, 0, 0, 0, 49 [SEP] 34, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 106 [SEP] 35, Spatula, -0.087, 0.780, -0.596, 0, 270, 0, 106 [SEP] 36, Apple, 2.715, 0.794, -0.473, 0, 0, 0, 104 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.872, 1.650, -0.734, 0, 180, 0, 86 [SEP] 40, Knife, 1.155, 0.944, 1.129, 0, 0, 0, 84 [SEP] 41, Potato, 2.962, 0.760, -0.535, 0, 0, 0, 104 [SEP] 42, PepperShaker, 0.825, 1.651, -0.732, 0, 180, 0, 88 [SEP] 43, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 84 [SEP] 44, Bowl, 2.221, 0.909, 1.468, 0, 0, 0, 84 [SEP] 45, DishSponge, 1.563, 0.114, 1.081, 0, 0, 0, 78 [SEP] 46, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 47, Mug, 2.777, 1.558, -0.775, 0, 0, 0, 104 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around and walk up to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan from the stove | STEP 6: Turn left and walk forward then left again and walk up to the small round table | STEP 7: Put the pan on the small round table | END


Input: Use a lamp to look at a watch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 6.25, 0, 270, 0,  [SEP] 1, Bowl, -0.484, 0.795, 6.357, 0, 270, 0, 45 [SEP] 2, Newspaper, -0.631, 0.365, 3.915, 0, 90, 0, 44 [SEP] 3, Watch, -0.845, 0.793, 5.928, 0, 0, 0, 45 [SEP] 4, Watch, -5.274, 0.533, 6.665, 0, 45, 0, 62 [SEP] 5, Watch, -6.053, 0.146, 3.757, 0, 0, 0, 51 [SEP] 6, KeyChain, -0.868, 0.439, 3.002, 0, 0, 0, 44 [SEP] 7, KeyChain, -3.099, 1.280, 7.045, 0, 270, 0, 60 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 44 [SEP] 9, CreditCard, -0.433, 0.793, 2.252, 0, 270, 0, 46 [SEP] 10, RemoteControl, -2.492, 0.536, 3.607, 0, 270, 0, 61 [SEP] 11, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 55 [SEP] 12, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 60 [SEP] 13, Vase, -3.328, 1.280, 7.045, 0, 90, 0, 60 [SEP] 14, Vase, -0.687, 0.802, 1.626, 0, 270, 0, 46 [SEP] 15, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 44 [SEP] 16, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 61 [SEP] 17, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 18, Vase, -5.985, 0.880, 4.547, 0, 0, 0, 54 [SEP] 19, CreditCard, -2.631, 0.533, 4.480, 0, 270, 0, 61 [SEP] 20, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 58 [SEP] 21, KeyChain, -0.710, 0.421, 3.915, 0, 180, 0, 44 [SEP] 22, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 56 [SEP] 23, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 56 [SEP] 24, Bowl, -3.462, 0.454, 7.221, 0, 90, 0, 53 [SEP] 25, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 44 [SEP] 26, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 58 [SEP] 27, RemoteControl, -2.640, 1.282, 7.361, 0, 90, 0, 60 [SEP] 28, Watch, -3.462, 0.880, 7.173, 0, 90, 0, 52 [SEP] 29, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 60 [SEP] 30, Statue, -3.557, 1.281, 7.171, 0, 270, 0, 60 [SEP] 31, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 61 [SEP] 32, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 60 [SEP] 33, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 34, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 35, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 36, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 37, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 38, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 39, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 40, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 41, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 42, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 43, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 44, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 45, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 46, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 47, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 48, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 49, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 50, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 51, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 52, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 55, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 56, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 57, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 58, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 59, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 60, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 61, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 62, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 63, NorthWall, , , , , , ,  [SEP] 64, SouthWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the table with the lamp in front of you. | STEP 2: Turn on the lamp. | STEP 3: Pick up the watch on the table. | END


Input: Move a CD from the dresser to the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.949, 0.5, 0, 270, 0,  [SEP] 1, CD, 2.235, 0.984, -2.212, 0, 270, 0, 37 [SEP] 2, CellPhone, 1.723, 0.610, -0.172, 0, 0, 0, 22 [SEP] 3, CellPhone, 0.116, 0.784, 3.143, 0, 180, 0, 44 [SEP] 4, Pen, -0.812, 0.591, 0.529, 0, 0, 0, 52 [SEP] 5, Pen, 3.377, 0.729, 1.397, 0, 180, 0, 62 [SEP] 6, CreditCard, -0.077, 0.475, 3.283, 0, 0, 0, 43 [SEP] 7, Laptop, 2.381, 0.607, 0.790, 0, 0, 0, 22 [SEP] 8, Laptop, 2.234, 0.986, -1.862, 0, 270, 0, 37 [SEP] 9, Book, 2.431, 0.180, -1.896, 0, 270, 0, 39 [SEP] 10, KeyChain, -0.812, 0.381, 0.028, 0, 0, 0, 55 [SEP] 11, CreditCard, 3.455, 0.723, 1.262, 0, 180, 0, 62 [SEP] 12, Pen, 2.803, 0.990, -2.037, 0, 270, 0, 37 [SEP] 13, Pencil, 3.087, 0.992, -1.949, 0, 270, 0, 37 [SEP] 14, Laptop, 1.888, 0.607, 0.068, 0, 0, 0, 22 [SEP] 15, Vase, 1.950, 0.990, -2.125, 0, 270, 0, 37 [SEP] 16, AlarmClock, -1.037, 0.786, 0.081, 0, 0, 0, 58 [SEP] 17, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 22 [SEP] 18, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 22 [SEP] 19, CellPhone, -0.776, 0.380, -0.338, 0, 0, 0, 54 [SEP] 20, CD, 3.012, 0.183, -1.835, 0, 270, 0, 36 [SEP] 21, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 44 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Walk around the bed to the dresser. | STEP 2: Grab the CD from the dresser. | STEP 3: Walk back around the bed to the shelf. | STEP 4: Place the CD on the top shelf. | END


Input: Put a purple spray bottle on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0,  [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Move to the shelf to the left of the tub on the right hand side. | STEP 2: Pick up the spray bottle from the shelf. | STEP 3: Move to the toilet behind you on the right side. | STEP 4: Place the bottle on the back of the toilet. | END


Input: Put a bottle on the back of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0,  [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Go forward and turn left to face the white shelf. | STEP 2: Pick up the purple bottle from the shelf. | STEP 3: Turn around and face the toilet. | STEP 4: Put the bottle on the back of the toilet. | END


Input: move spray bottle from shelf to back of toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0,  [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: walk towards tub, turn left, walk forward | STEP 2: pick up spray bottle from bottom shelf | STEP 3: turn left, walk towards the door, turn left, walk across the room | STEP 4: put the spray bottle on the back of the toilet | END


Input: Put the spray bottle on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0,  [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Walk forward and turn right to face the shelves. | STEP 2: Pick up the spray bottle from the bottom shelf. | STEP 3: Turn left and stand in front of the toilet. | STEP 4: Put the bottle on the back of the toilet. | END


Input: Place a slice of cooked potato onto the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 2, Potato, -0.734, 0.855, -1.400, 0, 0, 0, 108 [SEP] 3, Potato, 1.955, 0.946, 1.383, 0, 0, 0, 84 [SEP] 4, Potato, 0.888, 0.946, -0.684, 0, 0, 0, 49 [SEP] 5, DishSponge, -1.991, 0.423, 1.417, 0, 270, 0, 102 [SEP] 6, Kettle, 1.210, 0.115, -0.495, 0, 180, 0, 57 [SEP] 7, Kettle, -0.198, 0.912, 1.468, 0, 0, 0, 60 [SEP] 8, Fork, 2.221, 0.912, 1.044, 0, 0, 0, 84 [SEP] 9, Fork, -0.023, 0.771, 1.122, 0, 90, 0, 54 [SEP] 10, Spatula, -0.043, 0.926, -0.316, 0, 0, 0, 49 [SEP] 11, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 106 [SEP] 12, Plate, 2.221, 0.914, 1.383, 0, 0, 0, 84 [SEP] 13, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 49 [SEP] 14, Cup, 2.591, 1.561, -0.644, 0, 0, 0, 104 [SEP] 15, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 108 [SEP] 16, Bowl, -0.151, 0.909, 1.214, 0, 0, 0, 60 [SEP] 17, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 84 [SEP] 18, SaltShaker, 1.409, 1.651, -0.654, 0, 180, 0, 71 [SEP] 19, SaltShaker, -1.056, 0.817, -1.155, 0, 90, 0, 108 [SEP] 20, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 108 [SEP] 21, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 84 [SEP] 22, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 104 [SEP] 23, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 104 [SEP] 24, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 108 [SEP] 25, Mug, -0.164, 1.649, 1.432, 0, 0, 0, 107 [SEP] 26, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 84 [SEP] 27, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 74 [SEP] 28, Fork, 1.768, 0.771, 1.122, 0, 90, 0, 82 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 84 [SEP] 31, Egg, 2.488, 0.949, 1.468, 0, 0, 0, 84 [SEP] 32, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 33, Tomato, -1.056, 0.852, -1.411, 0, 90, 0, 108 [SEP] 34, Cup, 0.812, 2.151, 1.468, 0, 0, 0, 58 [SEP] 35, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 84 [SEP] 36, Apple, -0.887, 0.889, -1.183, 0, 0, 0, 108 [SEP] 37, Pan, 1.524, 1.654, 1.470, 0, 0, 0, 76 [SEP] 38, Lettuce, 2.777, 1.099, -0.709, 0, 0, 0, 104 [SEP] 39, SaltShaker, 0.178, 2.153, 1.583, 0, 0, 0, 83 [SEP] 40, Knife, -0.839, 0.853, -1.257, 0, 0, 0, 108 [SEP] 41, Potato, 2.900, 0.760, -0.473, 0, 0, 0, 104 [SEP] 42, PepperShaker, 0.634, 0.908, -0.6, 0, 0, 0, 49 [SEP] 43, ButterKnife, 1.422, 0.911, 1.214, 0, 0, 0, 84 [SEP] 44, Bowl, 1.872, 0.112, -0.421, 0, 180, 0, 95 [SEP] 45, DishSponge, 0.888, 0.911, -0.345, 0, 0, 0, 49 [SEP] 46, Spoon, 2.092, 0.773, 1.122, 0, 90, 0, 80 [SEP] 47, Mug, -0.621, 0.815, -1.308, 0, 90, 0, 108 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table. | STEP 7: Pick up a slice of potato from the table. | STEP 8: Turn left, move to the counter in front of the stove. | STEP 9: Put the potato slice into the microwave, cook it, pick it back up. | STEP 10: Turn right, move to the counter left of the bread. | STEP 11: Put the cooked potato slice on the counter. | END


Input: Pick up a box and turn the lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 5.25, 0, 180, 0,  [SEP] 1, Watch, -5.536, 0.533, 6.703, 0, 45, 0, 55 [SEP] 2, CreditCard, -6.002, 0.146, 3.954, 0, 0, 0, 44 [SEP] 3, CreditCard, -2.422, 0.533, 3.752, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -5.950, 0.147, 4.349, 0, 0, 0, 44 [SEP] 7, Vase, -0.636, 0.802, 2.252, 0, 270, 0, 39 [SEP] 8, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 37 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 11, Vase, -0.326, 0.794, 2.052, 0, 0, 0, 39 [SEP] 12, CreditCard, -2.283, 0.533, 3.752, 0, 270, 0, 54 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.947, 0.436, 4.219, 0, 0, 0, 37 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -5.274, 0.535, 6.665, 0, 45, 0, 55 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -0.868, 0.369, 3.915, 0, 0, 0, 37 [SEP] 21, Watch, -5.480, 0.533, 6.759, 0, 45, 0, 55 [SEP] 22, Statue, -2.811, 0.540, 4.169, 0, 0, 0, 54 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -0.687, 0.803, 5.726, 0, 270, 0, 38 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,

Output: STEP 1: Go to the right and face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small, round table with the lamp on it. | STEP 4: Turn the lamp on the table on. | END


Input: Examine a cardboard box using the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 5.25, 0, 180, 0,  [SEP] 1, Watch, -5.536, 0.533, 6.703, 0, 45, 0, 55 [SEP] 2, CreditCard, -6.002, 0.146, 3.954, 0, 0, 0, 44 [SEP] 3, CreditCard, -2.422, 0.533, 3.752, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -5.950, 0.147, 4.349, 0, 0, 0, 44 [SEP] 7, Vase, -0.636, 0.802, 2.252, 0, 270, 0, 39 [SEP] 8, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 37 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 11, Vase, -0.326, 0.794, 2.052, 0, 0, 0, 39 [SEP] 12, CreditCard, -2.283, 0.533, 3.752, 0, 270, 0, 54 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.947, 0.436, 4.219, 0, 0, 0, 37 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -5.274, 0.535, 6.665, 0, 45, 0, 55 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -0.868, 0.369, 3.915, 0, 0, 0, 37 [SEP] 21, Watch, -5.480, 0.533, 6.759, 0, 45, 0, 55 [SEP] 22, Statue, -2.811, 0.540, 4.169, 0, 0, 0, 54 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -0.687, 0.803, 5.726, 0, 270, 0, 38 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,

Output: STEP 1: Turn around completely, walk a few steps, then turn to the left and walk up to the wall.  | STEP 2: Pick up the cardboard box that is sitting on the floor.  | STEP 3: Turn around completely and walk straight across the room to the table.  | STEP 4: Turn on the lamp that is sitting on the table.  | END


Input: Put a chilled bowl away in the cabinet under the toaster.  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, 0.75, 0, 180, 0,  [SEP] 1, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 100 [SEP] 2, DishSponge, -1.056, 0.820, -1.360, 0, 90, 0, 101 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 77 [SEP] 5, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 53 [SEP] 6, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.634, 0.909, -0.345, 0, 0, 0, 42 [SEP] 8, Egg, -1.056, 0.858, -1.206, 0, 90, 0, 101 [SEP] 9, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 99 [SEP] 10, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 11, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 12, Tomato, -0.939, 0.852, -1.400, 0, 0, 0, 101 [SEP] 13, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 99 [SEP] 14, SaltShaker, -0.836, 0.817, -1.473, 0, 0, 0, 101 [SEP] 15, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 101 [SEP] 16, PepperShaker, 1.422, 0.908, 1.129, 0, 0, 0, 77 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 77 [SEP] 18, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.155, 0.917, 1.553, 0, 0, 0, 77 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.768, 0.772, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 77 [SEP] 24, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 99 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 101 [SEP] 27, Cup, -0.017, 0.763, -0.596, 0, 0, 0, 99 [SEP] 28, Spatula, 0.193, 0.780, -0.541, 0, 270, 0, 99 [SEP] 29, Apple, 0.888, 0.980, -0.854, 0, 0, 0, 42 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.246, 0.992, 1.214, 0, 0, 0, 53 [SEP] 32, SaltShaker, 0.054, 0.908, -0.316, 0, 0, 0, 42 [SEP] 33, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 101 [SEP] 36, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 101 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, 1.209, 0.771, 1.160, 0, 0, 0, 87 [SEP] 39, Spoon, -0.766, 0.822, -1.308, 0, 90, 0, 101 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Move to the counter right of the fridge in front of you. | STEP 2: Pick up the blue bowl on the counter, left of the fridge. | STEP 3: Bring the bowl to the fridge on the left. | STEP 4: Chill the bowl in the fridge.  | STEP 5: Bring the chilled bowl to the right, to the cabinet under the toaster. | STEP 6: Put the chilled bowl away in the cabinet under the toaster.  | END