Input: Put the chilled mug on the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.75, 0, 270, 0,  [SEP] 1, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 50 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 3, Pot, 1.422, 0.915, 1.383, 0, 0, 0, 74 [SEP] 4, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 98 [SEP] 5, Cup, -1.056, 0.818, -1.308, 0, 90, 0, 98 [SEP] 6, Cup, 2.653, 1.286, -0.709, 0, 0, 0, 94 [SEP] 7, Knife, 1.955, 0.944, 1.468, 0, 0, 0, 74 [SEP] 8, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 39 [SEP] 9, SoapBottle, 1.525, 0.120, 1.193, 0, 0, 0, 68 [SEP] 10, Tomato, -0.682, 0.852, -1.255, 0, 0, 0, 98 [SEP] 11, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 96 [SEP] 12, Bowl, 1.484, 1.653, -0.732, 0, 180, 0, 61 [SEP] 13, Bowl, 1.213, 0.112, 1.196, 0, 0, 0, 46 [SEP] 14, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 39 [SEP] 15, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 96 [SEP] 16, SoapBottle, 1.595, 0.120, -0.379, 0, 180, 0, 56 [SEP] 17, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 74 [SEP] 18, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 96 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 74 [SEP] 21, Egg, -0.682, 0.858, -1.038, 0, 0, 0, 98 [SEP] 22, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 39 [SEP] 23, Tomato, -0.911, 0.852, -1.308, 0, 90, 0, 98 [SEP] 24, Cup, 2.900, 0.723, -0.473, 0, 0, 0, 94 [SEP] 25, Spatula, 2.221, 0.926, 1.553, 0, 270, 0, 74 [SEP] 26, Apple, -0.198, 0.980, 1.129, 0, 0, 0, 50 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 50 [SEP] 29, SaltShaker, 1.688, 0.908, 1.553, 0, 0, 0, 74 [SEP] 30, Knife, 1.955, 0.944, 1.214, 0, 0, 0, 74 [SEP] 31, Potato, 1.688, 0.946, 1.299, 0, 0, 0, 74 [SEP] 32, PepperShaker, 2.488, 0.908, 1.129, 0, 0, 0, 74 [SEP] 33, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 74 [SEP] 34, Bowl, 2.838, 1.652, 1.432, 0, 0, 0, 40 [SEP] 35, DishSponge, 1.559, 1.655, -0.849, 0, 180, 0, 61 [SEP] 36, Spoon, 0.193, 0.766, -0.541, 0, 270, 0, 96 [SEP] 37, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 39 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Walk few steps then turn to your left then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn around to your right, then turn right head towards the fridge | STEP 4: Open the fridge put in and out the the mug then close the door | STEP 5: Turn to your right then turn left face the coffee maker | STEP 6: Put the mug on the coffee maker | END


Input: Put keys on top of drawers SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -1.25, 0, 180, 0,  [SEP] 1, CD, -3.750, 0.809, -3.790, 0, 0, 0, 37 [SEP] 2, CD, -3.687, 0.979, -3.874, 0, 0, 0, 39 [SEP] 3, Pencil, -0.657, 0.803, -3.811, 0, 0, 0, 36 [SEP] 4, Pencil, -0.774, 0.546, -3.657, 0, 0, 0, 30 [SEP] 5, CreditCard, -0.240, 0.542, -3.694, 0, 0, 0, 30 [SEP] 6, CreditCard, -3.470, 0.614, -4.255, 0, 0, 0, 45 [SEP] 7, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 21 [SEP] 8, Book, -3.191, 0.620, -1.218, 0, 0, 0, 21 [SEP] 9, CellPhone, -0.249, 0.800, -4.137, 0, 0, 0, 36 [SEP] 10, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.418, 0.542, -3.676, 0, 0, 0, 30 [SEP] 12, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 39 [SEP] 13, KeyChain, -3.834, 0.980, -3.673, 0, 0, 0, 39 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.908, 0.983, -3.271, 0, 0, 0, 39 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -3.638, 0.614, -4.348, 0, 0, 0, 45 [SEP] 19, Pen, -3.751, 0.424, -3.885, 0, 0, 0, 42 [SEP] 20, Mug, -1.066, 0.801, -4.029, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Move around the bed to the dresser | STEP 2: Pick up the keys from the top of the dresser | STEP 3: Turn around and go to the desk | STEP 4: Place the keys on the drawers under the desk | END


Input: Put a heated egg on 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, 0.75, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Potato, 2.653, 1.323, -0.840, 0, 0, 0, 99 [SEP] 2, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 44 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 1.872, 0.118, -0.458, 0, 180, 0, 90 [SEP] 5, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 74 [SEP] 6, Fork, -0.227, 0.771, 1.160, 0, 90, 0, 49 [SEP] 7, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 53 [SEP] 8, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 84 [SEP] 9, Egg, -0.887, 0.858, -1.328, 0, 0, 0, 103 [SEP] 10, Egg, 2.156, 0.949, -0.769, 0, 0, 0, 44 [SEP] 11, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 79 [SEP] 12, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 79 [SEP] 13, SoapBottle, 1.176, 0.120, 1.117, 0, 0, 0, 51 [SEP] 14, SoapBottle, 1.141, 0.917, -0.345, 0, 0, 0, 44 [SEP] 15, Tomato, 1.155, 0.942, 1.383, 0, 0, 0, 79 [SEP] 16, Bowl, -0.175, 1.652, -0.772, 0, 180, 0, 86 [SEP] 17, Bowl, 2.838, 1.286, -0.709, 0, 0, 0, 99 [SEP] 18, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 55 [SEP] 19, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 79 [SEP] 20, Apple, 1.141, 0.980, -0.769, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.694, 0.826, -1.308, 0, 90, 0, 103 [SEP] 22, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 1.799, 0.771, 1.198, 0, 270, 0, 77 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.955, 0.969, 1.383, 0, 0, 0, 79 [SEP] 26, Egg, 0.123, 0.803, -0.651, 0, 0, 0, 101 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, -0.983, 0.852, -1.360, 0, 90, 0, 103 [SEP] 29, Cup, -0.151, 0.909, 1.468, 0, 0, 0, 55 [SEP] 30, Spatula, 0.053, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 97 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.234, 0.111, 1.156, 0, 0, 0, 72 [SEP] 35, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, -0.734, 0.855, -1.183, 0, 0, 0, 103 [SEP] 37, PepperShaker, -0.887, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 55 [SEP] 39, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 44 [SEP] 40, DishSponge, 1.649, 0.911, -0.345, 0, 0, 0, 74 [SEP] 41, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 101 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Walk over to the oven that is behind you and look up at the microwave. | STEP 4: Open the microwave and put the egg inside, then close the door and turn on the microwave, after a couple seconds take the egg out of the microwave and close the door. | STEP 5: Turn left and walk towards the window, then hang a left and walk over to the round table. | STEP 6: Put the heated egg on the round table. | END


Input: To heat an egg and put it down on the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 180, 0,  [SEP] 1, Potato, 2.653, 1.323, -0.840, 0, 0, 0, 99 [SEP] 2, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 44 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 1.872, 0.118, -0.458, 0, 180, 0, 90 [SEP] 5, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 74 [SEP] 6, Fork, -0.227, 0.771, 1.160, 0, 90, 0, 49 [SEP] 7, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 53 [SEP] 8, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 84 [SEP] 9, Egg, -0.887, 0.858, -1.328, 0, 0, 0, 103 [SEP] 10, Egg, 2.156, 0.949, -0.769, 0, 0, 0, 44 [SEP] 11, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 79 [SEP] 12, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 79 [SEP] 13, SoapBottle, 1.176, 0.120, 1.117, 0, 0, 0, 51 [SEP] 14, SoapBottle, 1.141, 0.917, -0.345, 0, 0, 0, 44 [SEP] 15, Tomato, 1.155, 0.942, 1.383, 0, 0, 0, 79 [SEP] 16, Bowl, -0.175, 1.652, -0.772, 0, 180, 0, 86 [SEP] 17, Bowl, 2.838, 1.286, -0.709, 0, 0, 0, 99 [SEP] 18, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 55 [SEP] 19, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 79 [SEP] 20, Apple, 1.141, 0.980, -0.769, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.694, 0.826, -1.308, 0, 90, 0, 103 [SEP] 22, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 1.799, 0.771, 1.198, 0, 270, 0, 77 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.955, 0.969, 1.383, 0, 0, 0, 79 [SEP] 26, Egg, 0.123, 0.803, -0.651, 0, 0, 0, 101 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, -0.983, 0.852, -1.360, 0, 90, 0, 103 [SEP] 29, Cup, -0.151, 0.909, 1.468, 0, 0, 0, 55 [SEP] 30, Spatula, 0.053, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 97 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.234, 0.111, 1.156, 0, 0, 0, 72 [SEP] 35, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, -0.734, 0.855, -1.183, 0, 0, 0, 103 [SEP] 37, PepperShaker, -0.887, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 55 [SEP] 39, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 44 [SEP] 40, DishSponge, 1.649, 0.911, -0.345, 0, 0, 0, 74 [SEP] 41, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 101 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the sink on the left.  | STEP 2: Pick up the egg from the sink.  | STEP 3: Turn around and walk to the stove and look up at the microwave above the stove.  | STEP 4: Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the door, take the egg out of the microwave, and close the door.  | STEP 5: Turn left, turn left at the window, walk to the small table.  | STEP 6: Put the egg down on the table in front of the tomato.  | END


Input: Put a statue in front of a television. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 4.5, 0, 0, 0,  [SEP] 1, Bowl, -2.631, 0.535, 4.335, 0, 270, 0, 59 [SEP] 2, Bowl, -0.636, 0.795, 2.377, 0, 270, 0, 44 [SEP] 3, Watch, -5.949, 1.280, 4.808, 0, 0, 0, 56 [SEP] 4, Watch, -5.960, 0.453, 4.152, 0, 0, 0, 54 [SEP] 5, KeyChain, -2.561, 0.534, 3.752, 0, 270, 0, 59 [SEP] 6, CreditCard, -0.433, 0.793, 2.127, 0, 270, 0, 44 [SEP] 7, RemoteControl, -2.422, 0.536, 4.335, 0, 270, 0, 59 [SEP] 8, RemoteControl, -0.947, 0.369, 3.915, 0, 0, 0, 42 [SEP] 9, Box, -2.640, 1.443, 7.171, 0, 90, 0, 58 [SEP] 10, Statue, -3.557, 1.285, 7.171, 0, 90, 0, 58 [SEP] 11, Vase, -2.182, 1.280, 7.108, 0, 90, 0, 58 [SEP] 12, Vase, -6.075, 1.289, 4.120, 0, 0, 0, 56 [SEP] 13, Newspaper, -5.592, 0.532, 6.647, 0, 45, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -0.636, 0.794, 1.626, 0, 270, 0, 44 [SEP] 17, CreditCard, -1.026, 0.367, 4.524, 0, 0, 0, 42 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.552, 0.367, 3.306, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 60 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.636, 0.796, 5.726, 0, 270, 0, 43 [SEP] 26, Watch, -2.277, 0.453, 7.221, 0, 90, 0, 51 [SEP] 27, Statue, -5.998, 0.460, 4.547, 0, 0, 0, 54 [SEP] 28, Statue, -2.277, 0.881, 7.208, 0, 180, 0, 51 [SEP] 29, Statue, -2.716, 0.442, 7.115, 0, 0, 0, 51 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Turn left and face the black shelves to the left. | STEP 2: Pick the statue up from the shelf. | STEP 3: Turn to the right and face the television. | STEP 4: Put the statue down in front of the television | END


Input: Put a heated mug in the cabinet above the microwave.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.5, 0, 180, 0,  [SEP] 1, DishSponge, -0.432, 1.046, -1.505, 0, 0, 0, 46 [SEP] 2, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 57 [SEP] 3, Kettle, 1.068, 0.200, -1.339, 0, 0, 0, 57 [SEP] 4, Fork, 1.612, 1.043, 0.091, 0, 0, 0, 48 [SEP] 5, Spoon, 0.892, 1.054, 0.231, 0, 180, 0, 44 [SEP] 6, Spatula, 0.516, 1.058, 0.589, 0, 90, 0, 48 [SEP] 7, Spatula, 1.790, 1.058, 0.630, 0, 0, 0, 48 [SEP] 8, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 46 [SEP] 9, Plate, -0.517, 1.059, -1.289, 0, 0, 0, 46 [SEP] 10, Plate, -1.106, 2.041, -1.337, 0, 0, 0, 53 [SEP] 11, SoapBottle, 1.968, 1.044, 0.091, 0, 0, 0, 48 [SEP] 12, Bowl, -0.491, 0.202, -1.553, 0, 0, 0, 55 [SEP] 13, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 61 [SEP] 14, PepperShaker, 0.848, 1.038, 0.545, 0, 0, 0, 48 [SEP] 15, PepperShaker, -0.323, 1.560, -1.545, 0, 0, 0, 51 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 17, Mug, 1.347, 1.038, 0.763, 0, 0, 0, 48 [SEP] 18, Apple, 1.151, 0.936, 0.194, 0, 90, 0, 43 [SEP] 19, Apple, 1.879, 1.086, 0.091, 0, 0, 0, 48 [SEP] 20, SoapBottle, 0.936, 1.056, 0.331, 0, 90, 0, 44 [SEP] 21, Apple, -1.194, 1.759, -1.238, 0, 0, 0, 60 [SEP] 22, Potato, 1.882, 0.175, 2.358, 0, 270, 0, 62 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.268, 1.999, 2.242, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.760, 0.198, -1.625, 0, 0, 0, 55 [SEP] 28, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 60 [SEP] 29, Cup, -1.386, 1.713, 1.796, 0, 90, 0, 61 [SEP] 30, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 46 [SEP] 31, Knife, 0.446, 1.069, 0.630, 0, 90, 0, 48 [SEP] 32, Lettuce, -1.381, 1.548, 1.974, 0, 90, 0, 61 [SEP] 33, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 48 [SEP] 34, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 56 [SEP] 35, DishSponge, -0.670, 0.203, -1.337, 0, 0, 0, 55 [SEP] 36, Plate, -1.339, 0.215, -1.338, 0, 0, 0, 54 [SEP] 37, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.657, 1.048, -1.118, 0, 0, 0, 46 [SEP] 39, Pot, 0.000, 1.057, -1.4, 0, 0, 0, 45 [SEP] 40, Mug, 0.065, 1.038, 0.630, 0, 0, 0, 48 [SEP] 41, Bowl, 1.741, 0.203, -1.480, 0, 0, 0, 56 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine.  | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the cabinet above the microwave. | STEP 6: Put the heated mug in the cabinet above the microwave.  | END


Input: Place a heated mug in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.5, 0, 180, 0,  [SEP] 1, DishSponge, -0.432, 1.046, -1.505, 0, 0, 0, 46 [SEP] 2, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 57 [SEP] 3, Kettle, 1.068, 0.200, -1.339, 0, 0, 0, 57 [SEP] 4, Fork, 1.612, 1.043, 0.091, 0, 0, 0, 48 [SEP] 5, Spoon, 0.892, 1.054, 0.231, 0, 180, 0, 44 [SEP] 6, Spatula, 0.516, 1.058, 0.589, 0, 90, 0, 48 [SEP] 7, Spatula, 1.790, 1.058, 0.630, 0, 0, 0, 48 [SEP] 8, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 46 [SEP] 9, Plate, -0.517, 1.059, -1.289, 0, 0, 0, 46 [SEP] 10, Plate, -1.106, 2.041, -1.337, 0, 0, 0, 53 [SEP] 11, SoapBottle, 1.968, 1.044, 0.091, 0, 0, 0, 48 [SEP] 12, Bowl, -0.491, 0.202, -1.553, 0, 0, 0, 55 [SEP] 13, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 61 [SEP] 14, PepperShaker, 0.848, 1.038, 0.545, 0, 0, 0, 48 [SEP] 15, PepperShaker, -0.323, 1.560, -1.545, 0, 0, 0, 51 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 17, Mug, 1.347, 1.038, 0.763, 0, 0, 0, 48 [SEP] 18, Apple, 1.151, 0.936, 0.194, 0, 90, 0, 43 [SEP] 19, Apple, 1.879, 1.086, 0.091, 0, 0, 0, 48 [SEP] 20, SoapBottle, 0.936, 1.056, 0.331, 0, 90, 0, 44 [SEP] 21, Apple, -1.194, 1.759, -1.238, 0, 0, 0, 60 [SEP] 22, Potato, 1.882, 0.175, 2.358, 0, 270, 0, 62 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.268, 1.999, 2.242, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.760, 0.198, -1.625, 0, 0, 0, 55 [SEP] 28, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 60 [SEP] 29, Cup, -1.386, 1.713, 1.796, 0, 90, 0, 61 [SEP] 30, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 46 [SEP] 31, Knife, 0.446, 1.069, 0.630, 0, 90, 0, 48 [SEP] 32, Lettuce, -1.381, 1.548, 1.974, 0, 90, 0, 61 [SEP] 33, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 48 [SEP] 34, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 56 [SEP] 35, DishSponge, -0.670, 0.203, -1.337, 0, 0, 0, 55 [SEP] 36, Plate, -1.339, 0.215, -1.338, 0, 0, 0, 54 [SEP] 37, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.657, 1.048, -1.118, 0, 0, 0, 46 [SEP] 39, Pot, 0.000, 1.057, -1.4, 0, 0, 0, 45 [SEP] 40, Mug, 0.065, 1.038, 0.630, 0, 0, 0, 48 [SEP] 41, Bowl, 1.741, 0.203, -1.480, 0, 0, 0, 56 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk all the way to the wall and face left. | STEP 2: Pick up the mug out of the coffee maker. | STEP 3: Turn around and walk to the wall. Face the microwave on the left. | STEP 4: Heat the mug in the microwave. | STEP 5: Look up at the cabinet. | STEP 6: Place the mug in the right side of the cabinet. | END


Input: Place a bowl filled with a lettuce slice and a butterknife in a fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 2, Pan, 0.825, 1.655, -0.771, 0, 180, 0, 59 [SEP] 3, DishSponge, 1.522, 0.114, -0.498, 0, 180, 0, 66 [SEP] 4, DishSponge, 1.490, 0.771, 1.122, 0, 0, 0, 67 [SEP] 5, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 84 [SEP] 6, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 84 [SEP] 7, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 49 [SEP] 8, Fork, 2.488, 0.912, 1.129, 0, 0, 0, 84 [SEP] 9, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 60 [SEP] 10, Spatula, 1.955, 0.926, 1.299, 0, 90, 0, 84 [SEP] 11, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 89 [SEP] 12, Cup, 1.141, 0.909, -0.854, 0, 0, 0, 49 [SEP] 13, Cup, 2.124, 0.112, -0.458, 0, 180, 0, 90 [SEP] 14, Egg, 2.838, 1.056, -0.578, 0, 0, 0, 104 [SEP] 15, Egg, -1.933, 0.461, 1.375, 0, 270, 0, 102 [SEP] 16, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 84 [SEP] 17, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 108 [SEP] 18, Tomato, -0.246, 0.942, 1.044, 0, 0, 0, 60 [SEP] 19, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 84 [SEP] 20, PepperShaker, 2.767, 0.110, 1.081, 0, 0, 0, 81 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 76 [SEP] 22, Bread, 2.715, 1.346, -0.709, 0, 0, 0, 104 [SEP] 23, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 84 [SEP] 24, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 84 [SEP] 25, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 60 [SEP] 26, SoapBottle, -0.839, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, 2.155, 0.772, 1.198, 0, 270, 0, 80 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 49 [SEP] 31, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 84 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 102 [SEP] 34, Cup, 1.210, 0.112, -0.383, 0, 180, 0, 57 [SEP] 35, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 106 [SEP] 36, Apple, 2.653, 0.794, -0.535, 0, 0, 0, 104 [SEP] 37, Pan, 1.688, 0.911, 1.129, 0, 0, 0, 84 [SEP] 38, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.827, 0.111, 1.236, 0, 0, 0, 69 [SEP] 40, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 108 [SEP] 41, Potato, -0.983, 0.855, -1.257, 0, 90, 0, 108 [SEP] 42, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 43, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 108 [SEP] 44, Bowl, 1.872, 1.652, -0.811, 0, 180, 0, 86 [SEP] 45, DishSponge, 2.205, 0.770, -0.422, 0, 180, 0, 62 [SEP] 46, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [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 to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the cupboards | STEP 10: Place the lettuce in the bowl in the cupboards | STEP 11: Take the bowl out of the cupboard | STEP 12: Go to the fridge | STEP 13: Place the bowl in the fridge | END


Input: Put the blue bowl with the knife and cut lettuce in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 2, Pan, 0.825, 1.655, -0.771, 0, 180, 0, 59 [SEP] 3, DishSponge, 1.522, 0.114, -0.498, 0, 180, 0, 66 [SEP] 4, DishSponge, 1.490, 0.771, 1.122, 0, 0, 0, 67 [SEP] 5, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 84 [SEP] 6, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 84 [SEP] 7, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 49 [SEP] 8, Fork, 2.488, 0.912, 1.129, 0, 0, 0, 84 [SEP] 9, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 60 [SEP] 10, Spatula, 1.955, 0.926, 1.299, 0, 90, 0, 84 [SEP] 11, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 89 [SEP] 12, Cup, 1.141, 0.909, -0.854, 0, 0, 0, 49 [SEP] 13, Cup, 2.124, 0.112, -0.458, 0, 180, 0, 90 [SEP] 14, Egg, 2.838, 1.056, -0.578, 0, 0, 0, 104 [SEP] 15, Egg, -1.933, 0.461, 1.375, 0, 270, 0, 102 [SEP] 16, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 84 [SEP] 17, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 108 [SEP] 18, Tomato, -0.246, 0.942, 1.044, 0, 0, 0, 60 [SEP] 19, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 84 [SEP] 20, PepperShaker, 2.767, 0.110, 1.081, 0, 0, 0, 81 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 76 [SEP] 22, Bread, 2.715, 1.346, -0.709, 0, 0, 0, 104 [SEP] 23, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 84 [SEP] 24, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 84 [SEP] 25, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 60 [SEP] 26, SoapBottle, -0.839, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, 2.155, 0.772, 1.198, 0, 270, 0, 80 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 49 [SEP] 31, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 84 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 102 [SEP] 34, Cup, 1.210, 0.112, -0.383, 0, 180, 0, 57 [SEP] 35, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 106 [SEP] 36, Apple, 2.653, 0.794, -0.535, 0, 0, 0, 104 [SEP] 37, Pan, 1.688, 0.911, 1.129, 0, 0, 0, 84 [SEP] 38, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.827, 0.111, 1.236, 0, 0, 0, 69 [SEP] 40, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 108 [SEP] 41, Potato, -0.983, 0.855, -1.257, 0, 90, 0, 108 [SEP] 42, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 43, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 108 [SEP] 44, Bowl, 1.872, 1.652, -0.811, 0, 180, 0, 86 [SEP] 45, DishSponge, 2.205, 0.770, -0.422, 0, 180, 0, 62 [SEP] 46, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [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 around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce.  | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce. | STEP 9: Turn around and go back to the cabinet with the blue bowl. | STEP 10: Place the lettuce inside the blue bowl. | STEP 11: Take out the blue bowl with the knife and lettuce inside. | STEP 12: Turn left and go to the front of the refrigerator.  | STEP 13: Place the blue bowl with the knife and lettuce in it on the shelf next to the apple.  | END


Input: put both of the tissue boxes on top of the bathroom toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 0, 0,  [SEP] 1, TissueBox, -1.144, 0.289, 2.127, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 32 [SEP] 3, Cloth, 0.124, 0.048, 0.611, 0, 0, 0, 31 [SEP] 4, Cloth, 0.206, 0.048, -0.071, 0, 0, 0, 31 [SEP] 5, SoapBar, 0.206, 0.043, 0.384, 0, 0, 0, 31 [SEP] 6, SoapBar, 0.536, 0.043, 1.067, 0, 0, 0, 31 [SEP] 7, Candle, -1.471, 1.111, 2.067, 0, 0, 0, 32 [SEP] 8, Candle, -0.653, 1.814, 2.067, 0, 0, 0, 32 [SEP] 9, SprayBottle, -1.308, 0.289, 2.187, 0, 0, 0, 28 [SEP] 10, SprayBottle, -0.653, 1.774, 2.157, 0, 0, 0, 30 [SEP] 11, Candle, -0.817, 1.111, 2.097, 0, 0, 0, 32 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, 0.371, 0.043, -0.071, 0, 0, 0, 31 [SEP] 15, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 27 [SEP] 16, SoapBottle, -0.229, 0.611, -0.347, 0, 315, 0, 24 [SEP] 17, TissueBox, -1.471, 1.773, 2.097, 0, 0, 0, 30 [SEP] 18, Cloth, 0.453, 0.048, 1.295, 0, 0, 0, 31 [SEP] 19, ToiletPaper, -0.653, 1.066, 2.217, 0, 0, 0, 32 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -1.308, 1.774, 2.097, 0, 0, 0, 30 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet | STEP 4: put the box of tissues on top of the toilet | STEP 5: turn around and walk back over to the bathroom shelves | STEP 6: pick up the box of tissues off the top shelf | STEP 7: walk back over to the toilet | STEP 8: put the tissue box on its side next to the other tissue box | END


Input: Place both books on the bed.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.909, -3.75, 0, 90, 0,  [SEP] 1, Mug, -3.760, 0.977, -4.075, 0, 0, 0, 42 [SEP] 2, Mug, -0.862, 0.801, -4.029, 0, 90, 0, 39 [SEP] 3, CD, -0.426, 0.347, -3.779, 0, 0, 0, 32 [SEP] 4, CD, -3.687, 0.980, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.750, 0.225, -3.278, 0, 0, 0, 44 [SEP] 6, Pen, -0.507, 0.548, -3.713, 0, 0, 0, 33 [SEP] 7, Pencil, -0.685, 0.546, -3.657, 0, 0, 0, 33 [SEP] 8, Pencil, -0.596, 0.546, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -3.760, 0.981, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.804, -3.920, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.614, -4.163, 0, 0, 0, 48 [SEP] 12, CellPhone, -0.578, 0.189, -3.779, 0, 0, 0, 31 [SEP] 13, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.693, 0.044, -3.977, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 39 [SEP] 16, KeyChain, -3.539, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -1.474, 0.807, -4.137, 0, 0, 0, 39 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -3.908, 0.979, -3.673, 0, 0, 0, 42 [SEP] 22, Pen, -0.350, 0.036, -3.844, 0, 270, 0, 31 [SEP] 23, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the brown dresser.  | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed. | STEP 4: Place the book on the bed. | STEP 5: Turn around and move to the left to face the white desk. | STEP 6: Pick up the book from off of the desk.  | STEP 7: Turn around and move to the left to face the bed. | STEP 8: Place the book on the bed next to the other book. | END


Input: Put two textbooks on a bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.909, -3.75, 0, 90, 0,  [SEP] 1, Mug, -3.760, 0.977, -4.075, 0, 0, 0, 42 [SEP] 2, Mug, -0.862, 0.801, -4.029, 0, 90, 0, 39 [SEP] 3, CD, -0.426, 0.347, -3.779, 0, 0, 0, 32 [SEP] 4, CD, -3.687, 0.980, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.750, 0.225, -3.278, 0, 0, 0, 44 [SEP] 6, Pen, -0.507, 0.548, -3.713, 0, 0, 0, 33 [SEP] 7, Pencil, -0.685, 0.546, -3.657, 0, 0, 0, 33 [SEP] 8, Pencil, -0.596, 0.546, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -3.760, 0.981, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.804, -3.920, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.614, -4.163, 0, 0, 0, 48 [SEP] 12, CellPhone, -0.578, 0.189, -3.779, 0, 0, 0, 31 [SEP] 13, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.693, 0.044, -3.977, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 39 [SEP] 16, KeyChain, -3.539, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -1.474, 0.807, -4.137, 0, 0, 0, 39 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -3.908, 0.979, -3.673, 0, 0, 0, 42 [SEP] 22, Pen, -0.350, 0.036, -3.844, 0, 270, 0, 31 [SEP] 23, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed. | STEP 4: Put the textbook on the bed, in front of the pillow. | STEP 5: Turn right and walk forward to the desk on the right. | STEP 6: Pick up the textbook from the desk. | STEP 7: Turn right and walk forward to the front of the bed. | STEP 8: Put the textbook on the bed, to the left of the first textbook. | END


Input: Heat a potato and place it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Potato, 0.123, 0.800, -0.541, 0, 0, 0, 110 [SEP] 2, Potato, 1.155, 0.946, 1.129, 0, 0, 0, 88 [SEP] 3, Potato, -1.962, 0.458, 1.375, 0, 270, 0, 106 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 68 [SEP] 5, Spoon, -0.836, 0.822, -1.473, 0, 0, 0, 112 [SEP] 6, Spoon, 1.955, 0.912, 1.299, 0, 0, 0, 88 [SEP] 7, Fork, 1.141, 0.771, 1.122, 0, 90, 0, 98 [SEP] 8, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 110 [SEP] 9, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 110 [SEP] 10, Spatula, 1.141, 0.926, -0.345, 0, 0, 0, 53 [SEP] 11, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 75 [SEP] 12, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 88 [SEP] 13, Cup, 2.715, 0.724, -0.473, 0, 0, 0, 108 [SEP] 14, Cup, 0.103, 1.653, -0.693, 0, 180, 0, 93 [SEP] 15, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 88 [SEP] 16, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 88 [SEP] 17, SoapBottle, -0.197, 0.120, 1.196, 0, 0, 0, 81 [SEP] 18, Bowl, 1.141, 0.909, -0.769, 0, 0, 0, 53 [SEP] 19, Bowl, 1.141, 1.653, 1.429, 0, 0, 0, 80 [SEP] 20, SaltShaker, 1.797, 0.110, -0.458, 0, 180, 0, 99 [SEP] 21, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 112 [SEP] 22, PepperShaker, 0.750, 1.651, -0.771, 0, 180, 0, 92 [SEP] 23, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 88 [SEP] 24, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 88 [SEP] 25, Bread, 2.715, 1.077, -0.644, 0, 0, 0, 108 [SEP] 26, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 88 [SEP] 27, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 112 [SEP] 28, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 112 [SEP] 29, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 111 [SEP] 30, SoapBottle, 0.103, 1.661, -0.810, 0, 180, 0, 93 [SEP] 31, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 87 [SEP] 32, Fork, 1.626, 0.772, -0.460, 0, 270, 0, 83 [SEP] 33, Pot, 1.422, 0.915, 1.383, 0, 0, 0, 88 [SEP] 34, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 64 [SEP] 35, Egg, -0.911, 0.858, -1.103, 0, 90, 0, 112 [SEP] 36, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 91 [SEP] 37, Tomato, 2.488, 0.942, 1.299, 0, 0, 0, 88 [SEP] 38, Cup, 2.223, 0.112, 1.156, 0, 0, 0, 89 [SEP] 39, Spatula, 1.018, 0.918, 1.151, 0, 74.999, 0, 88 [SEP] 40, Apple, 2.653, 1.357, -0.578, 0, 0, 0, 108 [SEP] 41, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 56 [SEP] 42, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 53 [SEP] 43, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 112 [SEP] 44, Knife, -0.785, 0.853, -1.328, 0, 0, 0, 112 [SEP] 45, Potato, 3.381, 0.875, -0.514, 0, 0, 0, 108 [SEP] 46, PepperShaker, -0.246, 0.908, 1.383, 0, 0, 0, 64 [SEP] 47, ButterKnife, -0.836, 0.820, -1.183, 0, 180, 0, 112 [SEP] 48, Bowl, 1.688, 0.909, 1.129, 0, 0, 0, 88 [SEP] 49, DishSponge, 2.837, 0.770, 1.160, 0, 0, 0, 97 [SEP] 50, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 112 [SEP] 51, Mug, 1.955, 0.906, 1.468, 0, 0, 0, 88 [SEP] 52, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 53, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 54, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 56, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 57, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 60, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 64, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 65, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 68, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 69, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 71, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 75, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 76, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 80, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 81, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 84, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 88, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 89, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 91, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 92, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 94, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 95, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 96, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 97, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 98, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 99, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 100, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 103, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 104, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 105, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 106, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 107, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 108, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 109, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 110, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 111, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 112, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 113, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Turn around, then turn left and face the sink on the right. | STEP 2: Pick up the potato from inside the sink. | STEP 3: Hold the potato and turn around to the stove. Look up to the microwave.  | STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out the potato. | STEP 5: Carry the potato and turn to the left. Turn left again to move to the round table. | STEP 6: Place the potato on the table, to the left side. | END


Input: To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -3.25, 0, 90, 0,  [SEP] 1, CD, -0.502, 0.348, -3.747, 0, 0, 0, 31 [SEP] 2, CellPhone, -0.249, 0.800, -4.137, 0, 0, 0, 38 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 32 [SEP] 4, Pencil, -3.751, 0.422, -3.885, 0, 0, 0, 44 [SEP] 5, Pencil, -0.657, 0.803, -3.703, 0, 0, 0, 38 [SEP] 6, Book, -3.613, 0.981, -3.673, 0, 0, 0, 41 [SEP] 7, Book, -3.613, 0.981, -3.070, 0, 0, 0, 41 [SEP] 8, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 38 [SEP] 9, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 38 [SEP] 10, Book, -2.981, 0.620, -2.080, 0, 0, 0, 23 [SEP] 11, CellPhone, -2.770, 0.620, -1.218, 0, 0, 0, 23 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -0.655, 0.349, -3.811, 0, 0, 0, 32 [SEP] 14, AlarmClock, -3.687, 0.981, -4.276, 0, 0, 0, 41 [SEP] 15, KeyChain, -0.507, 0.543, -3.731, 0, 0, 0, 32 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -0.657, 0.803, -4.137, 0, 180, 0, 38 [SEP] 19, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 23 [SEP] 20, CD, -0.731, 0.029, -3.876, 0, 0, 0, 30 [SEP] 21, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 41 [SEP] 22, Mug, -3.834, 0.977, -3.673, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the computer desk. | STEP 2: Pick up the pencil on the computer desk. | STEP 3: Look down to face the space above the drawers on the left side of the desk. | STEP 4: Place the pencil in the space above the drawers on the left side of the desk. | END


Input: Put a cup with a pen in it on the dresser at the foot of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -2.25, 0, 270, 0,  [SEP] 1, CD, -0.249, 0.803, -4.137, 0, 0, 0, 36 [SEP] 2, CD, -0.685, 0.542, -3.713, 0, 0, 0, 30 [SEP] 3, CellPhone, -3.693, 0.045, -3.883, 0, 0, 0, 44 [SEP] 4, CreditCard, -3.524, 0.045, -4.164, 0, 0, 0, 44 [SEP] 5, KeyChain, -0.249, 0.800, -4.029, 0, 0, 0, 36 [SEP] 6, Book, -3.834, 0.980, -3.472, 0, 0, 0, 39 [SEP] 7, Pillow, -3.402, 0.722, -1.506, 0, 0, 0, 21 [SEP] 8, Book, -1.474, 0.804, -3.920, 0, 0, 0, 36 [SEP] 9, CellPhone, -3.834, 0.979, -4.276, 0, 0, 0, 39 [SEP] 10, Laptop, -2.770, 0.618, -1.218, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.657, 0.800, -4.354, 0, 0, 0, 36 [SEP] 12, AlarmClock, -3.834, 0.979, -4.075, 0, 0, 0, 39 [SEP] 13, KeyChain, -0.329, 0.543, -3.749, 0, 0, 0, 30 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -1.270, 0.803, -4.137, 0, 0, 0, 36 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -3.613, 0.979, -3.673, 0, 0, 0, 39 [SEP] 19, Pen, -0.453, 0.805, -4.354, 0, 0, 0, 36 [SEP] 20, Mug, -0.862, 0.801, -4.246, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 48, NorthWall, , , , , , ,  [SEP] 49, EastWall, , , , , , ,  [SEP] 50, SouthWall, , , , , , ,  [SEP] 51, WestWall, , , , , , ,

Output: STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right | STEP 4: Place the pen in a cup on the table | STEP 5: Pick up the cup from the table | STEP 6: Move to the dresser to the right of you | STEP 7: Place the cup on the dresser | END


Input: drop a cooked potato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.931, -0.5, 0, 270, 0,  [SEP] 1, Potato, 1.238, 1.100, -1.612, 0, 0, 0, 49 [SEP] 2, DishSponge, 0.065, 1.042, 0.630, 0, 0, 0, 51 [SEP] 3, ButterKnife, 0.255, 1.043, 0.522, 0, 0, 0, 51 [SEP] 4, ButterKnife, 1.514, 1.043, 0.763, 0, 0, 0, 51 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 45 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 7, Spoon, -0.689, 1.048, -1.289, 0, 0, 0, 49 [SEP] 8, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 49 [SEP] 9, Cup, -1.029, 2.028, -1.627, 0, 0, 0, 56 [SEP] 10, Cup, 0.890, 0.200, -1.484, 0, 0, 0, 60 [SEP] 11, Plate, 1.666, 1.032, -1.337, 0, 0, 0, 55 [SEP] 12, Plate, 1.068, 0.212, -1.267, 0, 0, 0, 60 [SEP] 13, Knife, 1.181, 1.069, 0.632, 0, 180, 0, 51 [SEP] 14, Tomato, -1.349, 1.764, 2.331, 0, 90, 0, 64 [SEP] 15, Tomato, -0.260, 1.097, -1.828, 0, 0, 0, 49 [SEP] 16, SoapBottle, -1.261, 0.203, -1.482, 0, 0, 0, 57 [SEP] 17, SoapBottle, 0.351, 1.044, 0.630, 0, 0, 0, 51 [SEP] 18, Bowl, 0.960, 1.563, -1.764, 0, 0, 0, 53 [SEP] 19, SaltShaker, -0.030, 1.038, 0.307, 0, 0, 0, 51 [SEP] 20, Lettuce, -1.366, 1.287, 2.063, 0, 90, 0, 64 [SEP] 21, Apple, 1.882, 0.166, 2.442, 0, 270, 0, 65 [SEP] 22, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 46 [SEP] 23, SoapBottle, 1.112, 1.565, -1.463, 0, 0, 0, 53 [SEP] 24, Apple, -1.312, 1.756, 1.974, 0, 90, 0, 64 [SEP] 25, Potato, 0.761, 1.106, 0.331, 0, 90, 0, 47 [SEP] 26, Fork, 0.848, 1.043, 0.807, 0, 0, 0, 51 [SEP] 27, Kettle, 1.741, 0.205, -1.480, 0, 0, 0, 59 [SEP] 28, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 49 [SEP] 29, Tomato, -1.381, 1.540, 2.063, 0, 90, 0, 64 [SEP] 30, SaltShaker, 1.263, 1.560, -1.463, 0, 0, 0, 53 [SEP] 31, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 46 [SEP] 32, Cup, -0.952, 2.028, -1.264, 0, 0, 0, 56 [SEP] 33, Spatula, 1.238, 1.061, -1.397, 0, 0, 0, 49 [SEP] 34, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 51 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.065, 1.043, 0.307, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.741, 0.199, -1.262, 0, 0, 0, 59 [SEP] 38, DishSponge, 1.247, 0.199, -1.628, 0, 0, 0, 60 [SEP] 39, Plate, -0.624, 1.577, -1.545, 0, 0, 0, 54 [SEP] 40, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 49 [SEP] 41, Spoon, 0.255, 1.044, 0.522, 0, 0, 0, 51 [SEP] 42, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 52 [SEP] 43, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 44, Bowl, -1.184, 2.027, -1.337, 0, 0, 0, 56 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: turn right to the sink | STEP 2: pick up a potato from the sink | STEP 3: head to the microwave | STEP 4: cook the  potato in the oven and take it out | STEP 5: turn around and head to the sink | STEP 6: drop the potato in the sink | END


Input: put a clean slice of apple in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, 1.216, 1.655, 1.390, 0, 0, 0, 79 [SEP] 2, Kettle, -0.160, 0.116, 1.196, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.983, 0.820, -1.206, 0, 90, 0, 111 [SEP] 4, ButterKnife, 2.754, 0.911, 1.129, 0, 0, 0, 87 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 67 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 7, Spatula, 2.754, 0.926, 1.468, 0, 0, 0, 87 [SEP] 8, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 87 [SEP] 9, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 64 [SEP] 10, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 86 [SEP] 11, Cup, 1.561, 1.652, 1.508, 0, 0, 0, 64 [SEP] 12, Cup, 2.715, 1.561, -0.578, 0, 0, 0, 107 [SEP] 13, SoapBottle, 1.422, 0.917, 1.299, 0, 0, 0, 87 [SEP] 14, SoapBottle, 2.221, 0.917, 1.553, 0, 0, 0, 87 [SEP] 15, Tomato, -0.839, 0.852, -1.308, 0, 90, 0, 111 [SEP] 16, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 105 [SEP] 17, Bowl, 2.653, 1.017, -0.775, 0, 0, 0, 107 [SEP] 18, Bowl, -0.983, 0.818, -1.308, 0, 90, 0, 111 [SEP] 19, SaltShaker, 0.759, 2.150, 1.584, 0, 0, 0, 86 [SEP] 20, SaltShaker, -0.990, 0.817, -1.038, 0, 0, 0, 111 [SEP] 21, PepperShaker, -0.887, 0.817, -1.473, 0, 0, 0, 111 [SEP] 22, PepperShaker, -0.766, 0.817, -1.206, 0, 90, 0, 111 [SEP] 23, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 52 [SEP] 24, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 52 [SEP] 25, Mug, 2.962, 1.014, -0.644, 0, 0, 0, 107 [SEP] 26, Apple, -0.198, 0.980, 1.299, 0, 0, 0, 63 [SEP] 27, Apple, 0.415, 1.853, 1.455, 0, 180, 0, 110 [SEP] 28, Apple, -1.991, 0.492, 1.332, 0, 270, 0, 105 [SEP] 29, SoapBottle, -0.198, 0.917, 1.129, 0, 0, 0, 63 [SEP] 30, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 87 [SEP] 31, Fork, -0.151, 0.912, 1.299, 0, 180, 0, 63 [SEP] 32, Pot, 1.141, 0.915, -0.6, 0, 0, 0, 52 [SEP] 33, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 87 [SEP] 34, Egg, -0.007, 0.949, 1.299, 0, 0, 0, 63 [SEP] 35, Kettle, 1.213, 0.116, 1.156, 0, 0, 0, 59 [SEP] 36, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 109 [SEP] 37, Cup, 1.792, 0.112, 1.236, 0, 0, 0, 81 [SEP] 38, Spatula, 1.155, 0.926, 1.214, 0, 0, 0, 87 [SEP] 39, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 111 [SEP] 40, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 55 [SEP] 41, Lettuce, 2.918, 1.345, -0.612, 15.903, 3.671, 14.806, 107 [SEP] 42, SaltShaker, 2.277, 1.651, -0.872, 0, 180, 0, 73 [SEP] 43, Knife, -0.087, 0.798, -0.707, 0, 90, 0, 109 [SEP] 44, Potato, 2.221, 0.946, 1.299, 0, 0, 0, 87 [SEP] 45, PepperShaker, -0.836, 0.817, -1.400, 0, 0, 0, 111 [SEP] 46, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 52 [SEP] 47, Bowl, 2.804, 1.652, 1.508, 0, 0, 0, 53 [SEP] 48, DishSponge, 1.179, 1.655, 1.546, 0, 0, 0, 79 [SEP] 49, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 109 [SEP] 50, Mug, 2.777, 0.721, -0.565, 0, 0, 0, 107 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 113, NorthWall, , , , , , ,  [SEP] 114, EastWall, , , , , , ,  [SEP] 115, SouthWall, , , , , , ,  [SEP] 116, WestWall, , , , , , ,

Output: STEP 1:  turn and walk to the counter   | STEP 2:  pick up the knife that is on the counter  | STEP 3:  turn and walk to the microwave  | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6:  take the Apple out of the microwave | STEP 7:  turn and walk  to the sink  | STEP 8:  put the Apple into the sink | STEP 9:  turn the water on  turn the water off | STEP 10:  take the Apple out of the  sink | STEP 11:   turn and walk to the microwave  | STEP 12: put the Apple into the microwave  | END


Input: Examine a small statue by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 0.75, 0, 180, 0,  [SEP] 1, Bowl, -2.277, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Bowl, -2.492, 0.535, 3.752, 0, 270, 0, 56 [SEP] 3, Watch, -2.352, 0.533, 3.752, 0, 270, 0, 56 [SEP] 4, Watch, -3.328, 1.280, 7.298, 0, 90, 0, 55 [SEP] 5, RemoteControl, -5.960, 0.455, 3.954, 0, 0, 0, 46 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 39 [SEP] 7, Statue, -0.585, 0.799, 6.357, 0, 270, 0, 40 [SEP] 8, Vase, -2.811, 0.534, 3.919, 0, 0, 0, 56 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -5.424, 0.532, 6.815, 0, 45, 0, 57 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -2.811, 0.533, 4.231, 0, 0, 0, 56 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.433, 0.794, 1.626, 0, 270, 0, 41 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.899, 0.148, 4.349, 0, 0, 0, 46 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -3.462, 0.882, 7.242, 0, 90, 0, 55 [SEP] 23, Watch, -5.950, 0.146, 4.152, 0, 0, 0, 46 [SEP] 24, Statue, -0.636, 0.800, 5.600, 0, 270, 0, 40 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.172, 0.543, 4.044, 0, 90, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 58, NorthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue. | STEP 2: Pick up the statue from the table. | STEP 3: Move very slightly to the lamp on that same table. | STEP 4: Turn on the lamp. | END


Input: Put a clean glass in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pan, 2.754, 0.911, 1.129, 0, 0, 0, 77 [SEP] 2, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 100 [SEP] 3, DishSponge, -0.682, 0.820, -1.255, 0, 0, 0, 101 [SEP] 4, Kettle, -0.090, 1.655, 1.508, 0, 0, 0, 68 [SEP] 5, Kettle, 0.759, 2.154, 1.468, 0, 0, 0, 51 [SEP] 6, Fork, 1.141, 0.912, -0.769, 0, 90, 0, 42 [SEP] 7, Fork, 2.488, 0.912, 1.044, 0, 0, 0, 77 [SEP] 8, Spatula, -0.007, 0.926, 1.129, 0, 90, 0, 53 [SEP] 9, Spatula, 1.422, 0.926, 1.044, 0, 0, 0, 77 [SEP] 10, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 52 [SEP] 11, Egg, 2.653, 1.601, -0.644, 0, 0, 0, 97 [SEP] 12, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 101 [SEP] 13, SoapBottle, 1.880, 1.661, 1.468, 0, 0, 0, 54 [SEP] 14, Tomato, 2.838, 1.594, -0.578, 0, 0, 0, 97 [SEP] 15, Tomato, -0.055, 0.942, 1.468, 0, 0, 0, 53 [SEP] 16, PepperShaker, 0.888, 0.908, -0.684, 0, 0, 0, 42 [SEP] 17, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 18, Mug, -0.123, 0.110, 1.236, 0, 0, 0, 70 [SEP] 19, SoapBottle, 1.254, 1.661, 1.468, 0, 0, 0, 69 [SEP] 20, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 77 [SEP] 21, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 42 [SEP] 22, Pot, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 23, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 42 [SEP] 24, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 95 [SEP] 25, Kettle, 2.156, 0.912, -0.684, 0, 0, 0, 42 [SEP] 26, Tomato, 2.900, 1.320, -0.709, 0, 0, 0, 97 [SEP] 27, Cup, -0.911, 0.818, -1.360, 0, 90, 0, 101 [SEP] 28, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 99 [SEP] 29, Apple, 2.754, 0.980, 1.468, 0, 0, 0, 77 [SEP] 30, Pan, 1.872, 1.654, -0.772, 0, 180, 0, 79 [SEP] 31, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 53 [SEP] 32, SaltShaker, 1.066, 1.651, 1.429, 0, 0, 0, 69 [SEP] 33, Knife, -0.836, 0.853, -1.255, 0, 90, 0, 101 [SEP] 34, Potato, -1.991, 0.458, 1.332, 0, 270, 0, 95 [SEP] 35, PepperShaker, 1.835, 0.110, -0.421, 0, 180, 0, 88 [SEP] 36, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 77 [SEP] 37, Bowl, 2.242, 1.653, -0.798, 0, 180, 0, 63 [SEP] 38, DishSponge, 2.512, 0.771, 1.198, 0, 0, 0, 58 [SEP] 39, Spoon, 1.768, 0.773, 1.122, 0, 90, 0, 75 [SEP] 40, Mug, 0.337, 2.152, 1.544, 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 left and walk until your a step from the window and turn left and walk to the table. | STEP 2: Pick up a glass to the right of the yellow handled knife. | STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it. | STEP 4: Put the glass in the sink and wash it before picking it back up. and closing the tap. | STEP 5: Turn left and walk to the fridge that will be on your right and face it. | STEP 6: Put the glass on the top shelf of the right side of the fridge. | END


Input: Place the washed potato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Potato, 0.466, 1.819, 1.488, 0, 0, 0, 104 [SEP] 2, Potato, -0.246, 0.946, 1.129, 0, 0, 0, 57 [SEP] 3, Potato, -0.911, 0.855, -1.308, 0, 90, 0, 105 [SEP] 4, Kettle, 1.872, 0.115, -0.421, 0, 180, 0, 92 [SEP] 5, Pot, 2.488, 0.915, 1.129, 0, 0, 0, 81 [SEP] 6, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 81 [SEP] 7, Spoon, 2.488, 0.912, 1.299, 0, 0, 0, 81 [SEP] 8, Spoon, -0.017, 0.766, -0.596, 0, 90, 0, 103 [SEP] 9, Fork, 2.221, 0.912, 1.214, 0, 0, 0, 81 [SEP] 10, Fork, 1.836, 0.771, -0.498, 0, 90, 0, 60 [SEP] 11, Spatula, -0.055, 0.926, 1.214, 0, 0, 0, 57 [SEP] 12, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 103 [SEP] 13, Cup, -0.049, 0.112, 1.196, 0, 0, 0, 74 [SEP] 14, Egg, 0.123, 0.803, -0.762, 0, 0, 0, 103 [SEP] 15, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 81 [SEP] 16, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 81 [SEP] 17, SoapBottle, 2.223, 0.120, 1.081, 0, 0, 0, 82 [SEP] 18, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 19, Tomato, -0.087, 0.797, -0.541, 0, 0, 0, 103 [SEP] 20, SaltShaker, 1.450, 1.650, 1.470, 0, 0, 0, 69 [SEP] 21, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 81 [SEP] 22, Bread, 2.777, 1.077, -0.709, 0, 0, 0, 101 [SEP] 23, SoapBottle, 0.581, 1.660, -0.735, 0, 180, 0, 85 [SEP] 24, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 58 [SEP] 25, Fork, 2.173, 0.771, -0.422, 0, 270, 0, 59 [SEP] 26, Pot, 2.221, 0.915, 1.383, 0, 0, 0, 81 [SEP] 27, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 2.838, 1.601, -0.644, 0, 0, 0, 101 [SEP] 29, Kettle, -0.103, 0.912, 1.468, 0, 0, 0, 57 [SEP] 30, Tomato, -1.056, 0.852, -1.257, 0, 90, 0, 105 [SEP] 31, Cup, -0.836, 0.818, -1.400, 0, 0, 0, 105 [SEP] 32, Spatula, 0.888, 0.926, -0.345, 0, 0, 0, 46 [SEP] 33, Apple, 0.888, 0.980, -0.854, 0, 0, 0, 46 [SEP] 34, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 49 [SEP] 35, Lettuce, 2.918, 1.345, -0.612, 15.987, 3.568, 14.457, 101 [SEP] 36, SaltShaker, 2.256, 1.650, 1.585, 0, 0, 0, 70 [SEP] 37, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 105 [SEP] 38, Potato, 0.415, 1.819, 1.391, 0, 180, 0, 104 [SEP] 39, PepperShaker, -0.839, 0.817, -1.206, 0, 90, 0, 105 [SEP] 40, ButterKnife, -0.785, 0.820, -1.473, 0, 0, 0, 105 [SEP] 41, Bowl, 1.139, 0.112, 1.156, 0, 0, 0, 53 [SEP] 42, DishSponge, 1.827, 0.114, 1.077, 0, 0, 0, 66 [SEP] 43, Spoon, 1.141, 0.912, -0.515, 0, 0, 0, 46 [SEP] 44, Mug, -0.246, 0.906, 1.468, 0, 0, 0, 57 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the potato in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the wall, turn left to face the fridge. | STEP 6: Open the fridge and place the potato on the top right shelf. | END