Input: Clean a coffee mug to return it to the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.0, 0, 90, 0,  [SEP] 1, Pan, 2.715, 1.018, -0.644, 0, 0, 0, 96 [SEP] 2, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 94 [SEP] 3, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 96 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 76 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 6, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 98 [SEP] 7, Spatula, -0.911, 0.835, -1.257, 0, 180, 0, 100 [SEP] 8, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 52 [SEP] 9, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 50 [SEP] 10, Cup, 2.653, 1.286, -0.709, 0, 0, 0, 96 [SEP] 11, Egg, 0.518, 1.822, 1.488, 0, 180, 0, 99 [SEP] 12, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 100 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 98 [SEP] 14, Tomato, 2.838, 1.320, -0.578, 0, 0, 0, 96 [SEP] 15, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 49 [SEP] 16, SaltShaker, -0.294, 0.908, 1.044, 0, 0, 0, 52 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 76 [SEP] 18, SoapBottle, 1.171, 1.660, -0.696, 0, 180, 0, 43 [SEP] 19, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 76 [SEP] 20, Fork, 2.303, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 76 [SEP] 23, Egg, 3.260, 0.878, -0.485, 0, 0, 0, 96 [SEP] 24, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 25, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 76 [SEP] 26, Cup, -1.056, 0.818, -1.257, 0, 90, 0, 100 [SEP] 27, Spatula, 1.141, 0.926, -0.684, 0, 180, 0, 41 [SEP] 28, Apple, 2.488, 0.980, 1.214, 0, 0, 0, 76 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.246, 0.992, 1.299, 0, 0, 0, 52 [SEP] 31, SaltShaker, 1.287, 0.111, 1.196, 0, 0, 0, 48 [SEP] 32, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 76 [SEP] 33, Potato, -0.621, 0.855, -1.308, 0, 90, 0, 100 [SEP] 34, PepperShaker, 1.872, 1.650, -0.658, 0, 180, 0, 78 [SEP] 35, ButterKnife, -0.151, 0.911, 1.299, 0, 0, 0, 52 [SEP] 36, Bowl, 0.140, 1.653, -0.810, 0, 180, 0, 81 [SEP] 37, DishSponge, -0.682, 0.820, -1.183, 0, 0, 0, 100 [SEP] 38, Spoon, -0.911, 0.822, -1.308, 0, 90, 0, 100 [SEP] 39, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter | STEP 3: Carry the coffee mug to the sink counter | STEP 4: Place the mug in the sink to wash it then pick up the coffee mug | STEP 5: Return to the coffee maker on top of the kitchen counter | STEP 6: Place the coffee mug on the coffee maker where the mug goes | END


Input: Put a cooked slice of tomato 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, 2.0, 0.900, 0.5, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 39 [SEP] 2, Kettle, -0.123, 0.116, 1.196, 0, 0, 0, 64 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 42 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 71 [SEP] 5, Spoon, 1.688, 0.912, 1.468, 0, 0, 0, 71 [SEP] 6, Spatula, 1.155, 0.926, 1.299, 0, 0, 0, 71 [SEP] 7, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 95 [SEP] 8, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 46 [SEP] 9, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 71 [SEP] 10, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 95 [SEP] 11, Egg, -1.962, 0.461, 1.459, 0, 270, 0, 89 [SEP] 12, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 47 [SEP] 13, SoapBottle, 1.872, 1.660, -0.696, 0, 180, 0, 73 [SEP] 14, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 76 [SEP] 15, Fork, 1.209, 0.772, 1.198, 0, 270, 0, 81 [SEP] 16, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 71 [SEP] 17, Bread, 1.03, 0.953, -0.518, 0, 0, 0, 36 [SEP] 18, Egg, 2.488, 0.949, 1.553, 0, 0, 0, 71 [SEP] 19, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 74 [SEP] 20, Tomato, 1.688, 0.942, 1.299, 0, 0, 0, 71 [SEP] 21, Cup, -0.785, 0.818, -1.110, 0, 0, 0, 95 [SEP] 22, Spatula, 1.141, 0.926, -0.345, 0, 180, 0, 36 [SEP] 23, Apple, 2.900, 1.087, -0.709, 0, 0, 0, 91 [SEP] 24, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 36 [SEP] 25, Lettuce, 2.715, 1.099, -0.644, 0, 0, 0, 91 [SEP] 26, SaltShaker, 1.597, 1.651, -0.654, 0, 180, 0, 58 [SEP] 27, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 71 [SEP] 28, Potato, -0.055, 0.946, 1.214, 0, 0, 0, 47 [SEP] 29, PepperShaker, -0.294, 0.908, 1.044, 0, 0, 0, 47 [SEP] 30, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 71 [SEP] 31, Bowl, 2.156, 0.909, -0.430, 0, 0, 0, 36 [SEP] 32, DishSponge, -0.127, 1.654, 1.546, 0, 0, 0, 62 [SEP] 33, Spoon, -0.682, 0.822, -1.183, 0, 270, 0, 95 [SEP] 34, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 36 [SEP] 35, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 36, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 37, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 38, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 39, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 40, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 41, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 42, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 45, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 47, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 48, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 50, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 52, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 55, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 58, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 59, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 71, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 72, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 74, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 75, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 76, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 77, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 78, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 80, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 83, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 84, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 85, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 86, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 88, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 89, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 90, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 91, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 92, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 93, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 94, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 95, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 96, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter. | STEP 8: Take a piece of tomato from the counter. | STEP 9: Go right to the tomato on the counter. | STEP 10: Cook the tomato in the microwave. Take the tomato from the microwave. | STEP 11: Turn right, go to the wall, turn right to the fridge. | STEP 12: Put the tomato on the middle shelf of the right compartment of the fridge. | END


Input: Move a chilled tomato to the kitchen sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 88 [SEP] 2, Pan, 0.514, 1.654, -0.773, 0, 180, 0, 89 [SEP] 3, Potato, -0.887, 0.855, -1.328, 0, 0, 0, 109 [SEP] 4, Potato, 1.955, 0.946, 1.129, 0, 0, 0, 85 [SEP] 5, DishSponge, 2.186, 0.771, 1.236, 0, 0, 0, 81 [SEP] 6, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 107 [SEP] 7, Kettle, 1.487, 1.655, 1.508, 0, 0, 0, 73 [SEP] 8, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 85 [SEP] 9, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 85 [SEP] 10, Fork, 2.303, 0.771, -0.498, 0, 90, 0, 63 [SEP] 11, Fork, -0.017, 0.766, -0.596, 0, 180, 0, 107 [SEP] 12, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 85 [SEP] 13, Cup, 0.888, 0.909, -0.6, 0, 0, 0, 50 [SEP] 14, Cup, 0.466, 1.782, 1.488, 0, 180, 0, 108 [SEP] 15, Egg, 0.263, 0.803, -0.541, 0, 0, 0, 107 [SEP] 16, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 109 [SEP] 17, Knife, -0.766, 0.853, -1.308, 0, 90, 0, 109 [SEP] 18, Tomato, -0.734, 0.852, -1.400, 0, 0, 0, 109 [SEP] 19, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 107 [SEP] 20, SaltShaker, 1.525, 0.110, 1.268, 0, 0, 0, 79 [SEP] 21, PepperShaker, 1.634, 1.650, 1.394, 0, 0, 0, 73 [SEP] 22, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 85 [SEP] 23, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 85 [SEP] 24, Mug, 2.653, 0.720, -0.565, 0, 0, 0, 105 [SEP] 25, Mug, 0.634, 0.906, -0.6, 0, 0, 0, 50 [SEP] 26, Apple, -1.962, 0.492, 1.417, 0, 270, 0, 103 [SEP] 27, SoapBottle, -0.911, 0.826, -1.206, 0, 90, 0, 109 [SEP] 28, Plate, 2.838, 1.291, -0.644, 0, 0, 0, 105 [SEP] 29, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 61 [SEP] 30, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 31, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 85 [SEP] 32, Egg, -0.887, 0.858, -1.473, 0, 0, 0, 109 [SEP] 33, Kettle, 2.513, 0.116, 1.156, 0, 0, 0, 54 [SEP] 34, Tomato, 1.141, 0.942, -0.430, 0, 0, 0, 50 [SEP] 35, Cup, 0.178, 1.653, -0.810, 0, 180, 0, 90 [SEP] 36, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 50 [SEP] 37, Apple, -0.103, 0.980, 1.214, 0, 0, 0, 61 [SEP] 38, Pan, -0.141, 1.654, -0.772, 0, 180, 0, 92 [SEP] 39, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 105 [SEP] 40, SaltShaker, 2.488, 0.908, 1.044, 0, 0, 0, 85 [SEP] 41, Knife, 1.155, 0.944, 1.044, 0, 0, 0, 85 [SEP] 42, Potato, 2.653, 1.598, -0.775, 0, 0, 0, 105 [SEP] 43, PepperShaker, 2.277, 1.651, -0.688, 0, 180, 0, 71 [SEP] 44, ButterKnife, -0.983, 0.820, -1.308, 0, 90, 0, 109 [SEP] 45, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 85 [SEP] 46, DishSponge, -0.621, 0.820, -1.257, 0, 90, 0, 109 [SEP] 47, Spoon, -0.125, 0.772, 1.160, 0, 0, 0, 55 [SEP] 48, Mug, 2.653, 1.283, -0.840, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 111, NorthWall, , , , , , ,  [SEP] 112, EastWall, , , , , , ,  [SEP] 113, SouthWall, , , , , , ,  [SEP] 114, WestWall, , , , , , ,

Output: STEP 1: Move to stand at the counter between the coffee maker and dishwasher.  | STEP 2: Pick up the tomato from the counter.  | STEP 3: Carry the tomato to the refrigerator.  | STEP 4: Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds.  | STEP 5: Carry the chilled tomato to the kitchen sink.  | STEP 6: Place the tomato in the kitchen sink. | END


Input: place microwaved potato slice in blue bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, Potato, -2.019, 0.458, 1.290, 0, 270, 0, 95 [SEP] 2, Potato, 2.653, 0.760, -0.565, 0, 0, 0, 97 [SEP] 3, DishSponge, -0.734, 0.820, -1.473, 0, 0, 0, 101 [SEP] 4, DishSponge, -0.091, 0.771, 1.198, 0, 0, 0, 47 [SEP] 5, Fork, 1.422, 0.912, 1.214, 0, 0, 0, 77 [SEP] 6, Fork, 2.754, 0.912, 1.044, 0, 0, 0, 77 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 77 [SEP] 8, Spatula, 0.053, 0.780, -0.651, 0, 180, 0, 99 [SEP] 9, Cup, 2.653, 1.286, -0.840, 0, 0, 0, 97 [SEP] 10, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 77 [SEP] 11, SoapBottle, -0.198, 0.917, 1.129, 0, 0, 0, 53 [SEP] 12, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 95 [SEP] 13, Bowl, 0.787, 1.653, -0.771, 0, 180, 0, 52 [SEP] 14, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 77 [SEP] 15, SaltShaker, 1.637, 0.110, 1.119, 0, 0, 0, 71 [SEP] 16, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 101 [SEP] 17, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 77 [SEP] 18, Apple, 2.715, 1.357, -0.578, 0, 0, 0, 97 [SEP] 19, SoapBottle, 1.896, 0.120, 1.117, 0, 0, 0, 62 [SEP] 20, Plate, 0.888, 0.914, -0.430, 0, 0, 0, 42 [SEP] 21, Fork, 1.831, 0.772, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 53 [SEP] 24, Egg, 1.688, 0.949, 1.214, 0, 0, 0, 77 [SEP] 25, Kettle, 2.156, 0.912, -0.769, 0, 0, 0, 42 [SEP] 26, Tomato, 2.591, 0.756, -0.442, 0, 0, 0, 97 [SEP] 27, Cup, 1.688, 0.909, 1.468, 0, 0, 0, 77 [SEP] 28, Spatula, -0.983, 0.835, -1.155, 0, 270, 0, 101 [SEP] 29, Apple, 2.488, 0.980, 1.044, 0, 0, 0, 77 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 32, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 101 [SEP] 33, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 53 [SEP] 34, Potato, -0.017, 0.800, -0.596, 0, 0, 0, 99 [SEP] 35, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 101 [SEP] 36, ButterKnife, -0.836, 0.820, -1.183, 0, 0, 0, 101 [SEP] 37, Bowl, -0.911, 0.818, -1.360, 0, 90, 0, 101 [SEP] 38, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 77 [SEP] 39, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 86 [SEP] 40, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 99 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin | STEP 8: pick up potato slice from blue bin | STEP 9: turn right, go to microwave above stove to the left | STEP 10: open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave | STEP 11: turn left, go to blue bin in corner | STEP 12: place potato slice in right side of blue bin | END


Input: Put a piece of cooked pepper on the gray table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.25, 0, 0, 0,  [SEP] 1, Potato, -0.087, 0.800, -0.651, 0, 90, 0, 107 [SEP] 2, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 105 [SEP] 3, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 85 [SEP] 4, ButterKnife, 0.123, 0.765, -0.651, 0, 0, 0, 107 [SEP] 5, Pot, 2.488, 0.915, 1.468, 0, 0, 0, 85 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 7, Spoon, 1.276, 0.773, -0.460, 0, 270, 0, 69 [SEP] 8, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 107 [SEP] 9, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 107 [SEP] 10, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 84 [SEP] 11, Cup, 2.777, 0.723, -0.565, 0, 0, 0, 105 [SEP] 12, Cup, 1.141, 1.653, 1.429, 0, 0, 0, 77 [SEP] 13, Egg, 2.156, 0.949, -0.854, 0, 0, 0, 50 [SEP] 14, Egg, 1.422, 0.949, 1.553, 0, 0, 0, 85 [SEP] 15, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 50 [SEP] 16, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 85 [SEP] 17, SoapBottle, 1.597, 1.660, 1.394, 0, 0, 0, 73 [SEP] 18, Tomato, -0.055, 0.942, 1.383, 0, 0, 0, 61 [SEP] 19, SaltShaker, -0.990, 0.817, -1.473, 0, 0, 0, 109 [SEP] 20, SaltShaker, -0.072, 1.650, -0.696, 0, 180, 0, 92 [SEP] 21, PepperShaker, -0.911, 0.817, -1.411, 0, 90, 0, 109 [SEP] 22, PepperShaker, 0.825, 1.651, -0.849, 0, 180, 0, 52 [SEP] 23, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 61 [SEP] 24, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 50 [SEP] 25, Mug, 1.797, 0.109, -0.495, 0, 180, 0, 96 [SEP] 26, Apple, 2.777, 1.357, -0.775, 0, 0, 0, 105 [SEP] 27, SoapBottle, -0.210, 1.660, -0.734, 0, 180, 0, 92 [SEP] 28, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 50 [SEP] 29, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 109 [SEP] 30, Pot, 2.188, 0.118, 1.156, 0, 0, 0, 82 [SEP] 31, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 85 [SEP] 32, Egg, 2.591, 1.326, -0.512, 0, 0, 0, 105 [SEP] 33, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 34, Tomato, -0.766, 0.852, -1.257, 0, 90, 0, 109 [SEP] 35, Cup, 1.945, 1.652, -0.772, 0, 180, 0, 87 [SEP] 36, Spatula, 2.488, 0.926, 1.214, 0, 270, 0, 85 [SEP] 37, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 105 [SEP] 38, Pan, 2.838, 1.018, -0.709, 0, 0, 0, 105 [SEP] 39, Lettuce, 1.422, 0.992, 1.214, 0, 0, 0, 85 [SEP] 40, SaltShaker, 0.812, 2.150, 1.584, 0, 0, 0, 84 [SEP] 41, Knife, 1.955, 0.944, 1.044, 0, 0, 0, 85 [SEP] 42, Potato, 1.955, 0.946, 1.299, 0, 0, 0, 85 [SEP] 43, PepperShaker, 0.888, 0.908, -0.6, 0, 0, 0, 50 [SEP] 44, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 85 [SEP] 45, Bowl, -0.836, 0.818, -1.110, 0, 180, 0, 109 [SEP] 46, DishSponge, -0.887, 0.820, -1.328, 0, 0, 0, 109 [SEP] 47, Spoon, 0.634, 0.912, -0.515, 0, 0, 0, 50 [SEP] 48, Mug, 0.415, 1.779, 1.423, 0, 180, 0, 108 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 111, NorthWall, , , , , , ,  [SEP] 112, EastWall, , , , , , ,  [SEP] 113, SouthWall, , , , , , ,  [SEP] 114, WestWall, , , , , , ,

Output: STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper. | STEP 8: Pick up a piece of the pepper from the counter. | STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave. | STEP 10: Put the pepper in the microwave and cook it, then take it out again. | STEP 11: Bring the cooked pepper over to the gray table where you put the knife. | STEP 12: Put the pepper down on the table in front of the knife. | END


Input: Put a cup with a pen on the dresser to the left 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, -2.75, 0.909, -3.75, 0, 90, 0,  [SEP] 1, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 43 [SEP] 2, Pen, -3.834, 0.986, -3.874, 0, 0, 0, 46 [SEP] 3, Pen, -0.329, 0.548, -3.657, 0, 0, 0, 37 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 46 [SEP] 5, Pencil, -1.066, 0.803, -4.137, 0, 0, 0, 43 [SEP] 6, Pencil, -3.750, 0.812, -3.184, 0, 0, 0, 53 [SEP] 7, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 37 [SEP] 8, CreditCard, -0.655, 0.188, -3.844, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.418, 0.543, -3.749, 0, 0, 0, 37 [SEP] 10, Book, -0.862, 0.804, -4.137, 0, 0, 0, 43 [SEP] 11, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 28 [SEP] 12, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 28 [SEP] 13, AlarmClock, -3.760, 0.981, -4.276, 0, 0, 0, 46 [SEP] 14, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 43 [SEP] 15, Book, -1.270, 0.800, -4.029, 0, 0, 0, 43 [SEP] 16, CellPhone, -1.066, 0.803, -4.354, 0, 0, 0, 43 [SEP] 17, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 46 [SEP] 18, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 43 [SEP] 19, AlarmClock, -3.834, 0.981, -3.673, 0, 0, 0, 46 [SEP] 20, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 46 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.617, -3.978, 0, 0, 0, 52 [SEP] 24, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 28 [SEP] 25, CD, -3.582, 0.226, -4.070, 0, 0, 0, 50 [SEP] 26, Pen, -0.596, 0.548, -3.676, 0, 0, 0, 37 [SEP] 27, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 43 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser | STEP 3: Move to the desk behind you | STEP 4: Put the pen in a cup on the desk | STEP 5: Pick up the cup from the desk | STEP 6: Move to the dresser to the right of you | STEP 7: Put the cup on the dresser | END


Input: grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.75, 0, 90, 0,  [SEP] 1, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 43 [SEP] 2, Pen, -3.834, 0.986, -3.874, 0, 0, 0, 46 [SEP] 3, Pen, -0.329, 0.548, -3.657, 0, 0, 0, 37 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 46 [SEP] 5, Pencil, -1.066, 0.803, -4.137, 0, 0, 0, 43 [SEP] 6, Pencil, -3.750, 0.812, -3.184, 0, 0, 0, 53 [SEP] 7, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 37 [SEP] 8, CreditCard, -0.655, 0.188, -3.844, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.418, 0.543, -3.749, 0, 0, 0, 37 [SEP] 10, Book, -0.862, 0.804, -4.137, 0, 0, 0, 43 [SEP] 11, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 28 [SEP] 12, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 28 [SEP] 13, AlarmClock, -3.760, 0.981, -4.276, 0, 0, 0, 46 [SEP] 14, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 43 [SEP] 15, Book, -1.270, 0.800, -4.029, 0, 0, 0, 43 [SEP] 16, CellPhone, -1.066, 0.803, -4.354, 0, 0, 0, 43 [SEP] 17, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 46 [SEP] 18, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 43 [SEP] 19, AlarmClock, -3.834, 0.981, -3.673, 0, 0, 0, 46 [SEP] 20, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 46 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.617, -3.978, 0, 0, 0, 52 [SEP] 24, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 28 [SEP] 25, CD, -3.582, 0.226, -4.070, 0, 0, 0, 50 [SEP] 26, Pen, -0.596, 0.548, -3.676, 0, 0, 0, 37 [SEP] 27, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 43 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 55, NorthWall, , , , , , ,  [SEP] 56, EastWall, , , , , , ,  [SEP] 57, SouthWall, , , , , , ,  [SEP] 58, WestWall, , , , , , ,

Output: STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table | STEP 4: put the pen in the cup on the table | STEP 5: grab the cup with the pencil | STEP 6: turn right, walk to the cabinet | STEP 7: put the cup on the cabinet | END


Input: Put the keys on the filing 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, 0.909, -3.25, 0, 270, 0,  [SEP] 1, Mug, -3.466, 0.979, -4.276, 0, 0, 0, 37 [SEP] 2, Mug, -1.270, 0.801, -4.246, 0, 0, 0, 34 [SEP] 3, CellPhone, -1.270, 0.803, -3.703, 0, 0, 0, 34 [SEP] 4, Book, -3.687, 0.981, -3.673, 0, 0, 0, 37 [SEP] 5, Book, -2.559, 0.620, -2.080, 0, 0, 0, 19 [SEP] 6, Book, -2.770, 0.620, -0.643, 0, 0, 0, 19 [SEP] 7, CellPhone, -3.466, 0.981, -3.271, 0, 0, 0, 37 [SEP] 8, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 34 [SEP] 9, CreditCard, -3.466, 0.981, -4.075, 0, 0, 0, 37 [SEP] 10, AlarmClock, -1.474, 0.803, -4.029, 0, 0, 0, 34 [SEP] 11, KeyChain, -1.474, 0.804, -3.811, 0, 0, 0, 34 [SEP] 12, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 19 [SEP] 13, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 14, Pencil, -0.507, 0.546, -3.713, 0, 0, 0, 28 [SEP] 15, Pillow, -3.191, 0.722, -1.506, 0, 0, 0, 19 [SEP] 16, CD, -3.834, 0.980, -3.673, 0, 0, 0, 37 [SEP] 17, Pen, -3.760, 0.985, -3.070, 0, 0, 0, 37 [SEP] 18, Mug, -0.862, 0.801, -4.137, 0, 0, 0, 34 [SEP] 19, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 20, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 21, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 22, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 23, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 24, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 25, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 26, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 27, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 28, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 29, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 30, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 31, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 32, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 34, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 35, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 36, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 37, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 38, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 39, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 40, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn to the table on your left .  | STEP 2: Pick up the keys on the right corner of the table.  | STEP 3: Turn to your left and go to the small filing cabinet, underneath the table, on your right.  | STEP 4: Place the keys on the small filing cabinet, under the table.  | END


Input: Place two smartphones 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, 3.25, 0.949, 1.0, 0, 0, 0,  [SEP] 1, CD, -0.415, 0.475, 3.253, 0, 0, 0, 44 [SEP] 2, CD, 2.519, 0.984, -1.774, 0, 270, 0, 38 [SEP] 3, CellPhone, 1.382, 0.988, -1.774, 0, 270, 0, 38 [SEP] 4, CreditCard, 3.687, 0.723, 1.307, 0, 180, 0, 63 [SEP] 5, CreditCard, -0.776, 0.174, -0.017, 0, 0, 0, 52 [SEP] 6, Book, 1.666, 0.985, -1.862, 0, 270, 0, 38 [SEP] 7, Book, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 8, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 23 [SEP] 9, Laptop, 1.950, 0.986, -2.037, 0, 270, 0, 38 [SEP] 10, Book, 1.975, 0.184, -1.835, 0, 270, 0, 33 [SEP] 11, KeyChain, -0.838, 0.785, -0.338, 0, 0, 0, 59 [SEP] 12, CreditCard, -0.776, 0.379, -0.748, 0, 0, 0, 58 [SEP] 13, Pen, -0.776, 0.385, 0.120, 0, 0, 0, 56 [SEP] 14, Pencil, -1.037, 0.788, 0.501, 0, 0, 0, 59 [SEP] 15, Laptop, 2.052, 0.607, 0.308, 0, 0, 0, 23 [SEP] 16, Vase, -1.037, 0.789, 0.291, 0, 0, 0, 59 [SEP] 17, AlarmClock, -0.838, 0.786, -0.548, 0, 0, 0, 59 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, -1.103, 0.784, -0.548, 0, 0, 0, 59 [SEP] 21, CD, 2.519, 0.984, -2.037, 0, 270, 0, 38 [SEP] 22, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 45 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. | STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally. | STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser. | STEP 6: Pick up the smartphone. | STEP 7: Turn left and take ten steps and turn right, facing the bed. | STEP 8: Place the smartphone on the bed to the right of the first smartphone, horizontally. | END


Input: Put two phones 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, 3.25, 0.949, 1.0, 0, 0, 0,  [SEP] 1, CD, -0.415, 0.475, 3.253, 0, 0, 0, 44 [SEP] 2, CD, 2.519, 0.984, -1.774, 0, 270, 0, 38 [SEP] 3, CellPhone, 1.382, 0.988, -1.774, 0, 270, 0, 38 [SEP] 4, CreditCard, 3.687, 0.723, 1.307, 0, 180, 0, 63 [SEP] 5, CreditCard, -0.776, 0.174, -0.017, 0, 0, 0, 52 [SEP] 6, Book, 1.666, 0.985, -1.862, 0, 270, 0, 38 [SEP] 7, Book, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 8, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 23 [SEP] 9, Laptop, 1.950, 0.986, -2.037, 0, 270, 0, 38 [SEP] 10, Book, 1.975, 0.184, -1.835, 0, 270, 0, 33 [SEP] 11, KeyChain, -0.838, 0.785, -0.338, 0, 0, 0, 59 [SEP] 12, CreditCard, -0.776, 0.379, -0.748, 0, 0, 0, 58 [SEP] 13, Pen, -0.776, 0.385, 0.120, 0, 0, 0, 56 [SEP] 14, Pencil, -1.037, 0.788, 0.501, 0, 0, 0, 59 [SEP] 15, Laptop, 2.052, 0.607, 0.308, 0, 0, 0, 23 [SEP] 16, Vase, -1.037, 0.789, 0.291, 0, 0, 0, 59 [SEP] 17, AlarmClock, -0.838, 0.786, -0.548, 0, 0, 0, 59 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, -1.103, 0.784, -0.548, 0, 0, 0, 59 [SEP] 21, CD, 2.519, 0.984, -2.037, 0, 270, 0, 38 [SEP] 22, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 45 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. | STEP 4: Put the phone on the bed under the left laptop. | STEP 5: Turn right and walk to the wall then turn left. | STEP 6: Pick up the cell phone that's in front of you. | STEP 7: Walk back to where you put the first phone. | STEP 8: Put this phone to the right of the first phone. | END


Input: Put a chilled egg in the trash can in the corner.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, 1.0, 0, 270, 0,  [SEP] 1, Pan, 1.820, 1.019, -1.337, 0, 90, 0, 60 [SEP] 2, Potato, -1.303, 1.542, 2.063, 0, 90, 0, 69 [SEP] 3, Potato, -1.095, 1.017, 2.331, 0, 90, 0, 69 [SEP] 4, ButterKnife, 0.065, 1.043, 0.522, 0, 0, 0, 56 [SEP] 5, Kettle, -0.491, 0.204, -1.337, 0, 0, 0, 63 [SEP] 6, Pot, -1.106, 2.029, -1.264, 0, 90, 0, 61 [SEP] 7, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 55 [SEP] 8, Fork, 0.065, 1.043, 0.738, 0, 0, 0, 56 [SEP] 9, Spoon, -0.517, 1.048, -1.397, 0, 270, 0, 54 [SEP] 10, Spatula, 0.906, 1.061, -1.289, 0, 0, 0, 54 [SEP] 11, Egg, 1.879, 1.097, 0.738, 0, 0, 0, 56 [SEP] 12, Egg, -1.047, 1.770, -1.300, 0, 0, 0, 68 [SEP] 13, Egg, 1.882, 0.177, 2.442, 0, 270, 0, 70 [SEP] 14, Cup, -1.300, 1.228, 2.331, 0, 90, 0, 69 [SEP] 15, Cup, -1.194, 1.716, -1.269, 0, 0, 0, 68 [SEP] 16, Plate, -1.027, 0.215, -1.265, 0, 0, 0, 62 [SEP] 17, Knife, 1.701, 1.069, 0.738, 0, 0, 0, 56 [SEP] 18, Tomato, -1.431, 1.279, 2.063, 0, 90, 0, 69 [SEP] 19, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 52 [SEP] 20, PepperShaker, -0.760, 0.198, -1.625, 0, 0, 0, 63 [SEP] 21, PepperShaker, 0.379, 1.041, -1.118, 0, 0, 0, 54 [SEP] 22, Lettuce, -1.095, 1.023, 1.974, 0, 90, 0, 69 [SEP] 23, Lettuce, -1.169, 1.287, 1.974, 0, 90, 0, 69 [SEP] 24, Mug, -1.103, 1.223, 2.153, 0, 90, 0, 69 [SEP] 25, Mug, -1.339, 2.023, -1.555, 0, 0, 0, 61 [SEP] 26, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 51 [SEP] 27, Apple, -1.458, 1.532, 2.063, 0, 90, 0, 69 [SEP] 28, SoapBottle, 1.523, 1.044, 0.415, 0, 0, 0, 56 [SEP] 29, Apple, 0.892, 1.097, 0.281, 0, 90, 0, 52 [SEP] 30, Potato, -1.419, 1.542, 1.885, 0, 90, 0, 69 [SEP] 31, Fork, 0.848, 1.043, 0.763, 0, 0, 0, 56 [SEP] 32, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 53 [SEP] 33, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 54 [SEP] 34, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 69 [SEP] 35, SaltShaker, -0.260, 1.041, -1.612, 0, 0, 0, 54 [SEP] 36, Egg, 0.717, 1.108, 0.181, 0, 90, 0, 52 [SEP] 37, Cup, -0.222, 0.203, -1.553, 0, 0, 0, 63 [SEP] 38, Spatula, -0.517, 1.061, -1.289, 0, 0, 0, 54 [SEP] 39, Knife, 0.100, 1.072, -1.086, 0, 180, 0, 54 [SEP] 40, Lettuce, 1.155, 1.106, -1.289, 0, 0, 0, 54 [SEP] 41, ButterKnife, -0.177, 1.046, -1.140, 0, 0, 0, 54 [SEP] 42, PepperShaker, 1.743, 1.014, -1.630, 0, 0, 0, 60 [SEP] 43, DishSponge, 0.740, 1.046, -1.505, 0, 0, 0, 54 [SEP] 44, Plate, -1.349, 1.726, 1.974, 0, 90, 0, 69 [SEP] 45, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 56 [SEP] 46, Spoon, -0.177, 1.048, -1.118, 0, 0, 0, 54 [SEP] 47, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 57 [SEP] 48, Mug, -0.699, 1.560, -1.767, 0, 0, 0, 59 [SEP] 49, Bowl, 1.188, 1.563, -1.764, 0, 0, 0, 58 [SEP] 50, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 51, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 52, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 53, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 54, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 55, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 56, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 57, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 58, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 59, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 60, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 63, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 64, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 65, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 66, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 67, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 68, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 69, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 70, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 71, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 72, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 73, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 74, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 75, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 76, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 77, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 78, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 79, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 80, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 81, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: Move to the trash can in the corner. | STEP 2: Pick up the egg in the trash can. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the chilled egg to the trash can in the corner. | STEP 6: Put the chilled egg in the trash can in the corner.  | END


Input: Move two pencils to a cabinet beneath the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -0.25, 0, 0, 0,  [SEP] 1, Mug, -3.466, 0.979, -4.276, 0, 0, 0, 42 [SEP] 2, Mug, -3.466, 0.977, -3.472, 0, 0, 0, 42 [SEP] 3, CellPhone, -3.750, 0.045, -3.091, 0, 0, 0, 41 [SEP] 4, Pen, -3.834, 0.985, -3.271, 0, 0, 0, 42 [SEP] 5, Pencil, -0.453, 0.803, -3.811, 0, 0, 0, 39 [SEP] 6, Pencil, -3.694, 0.422, -4.163, 0, 0, 0, 45 [SEP] 7, KeyChain, -0.657, 0.804, -4.246, 0, 0, 0, 39 [SEP] 8, KeyChain, -3.760, 0.980, -3.472, 0, 0, 0, 42 [SEP] 9, Book, -1.474, 0.804, -3.920, 0, 0, 0, 39 [SEP] 10, AlarmClock, -1.474, 0.800, -3.703, 0, 0, 0, 39 [SEP] 11, Book, -3.834, 0.981, -3.673, 0, 0, 0, 42 [SEP] 12, CellPhone, -1.270, 0.800, -4.354, 0, 0, 0, 39 [SEP] 13, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.582, 0.614, -3.978, 0, 0, 0, 48 [SEP] 15, AlarmClock, -3.834, 0.981, -4.276, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.687, 0.982, -4.075, 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, -0.453, 0.807, -3.920, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.694, 0.418, -3.000, 0, 0, 0, 50 [SEP] 22, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 23, Mug, -0.418, 0.541, -3.713, 0, 0, 0, 33 [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 cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil. | STEP 4: Place the pencil on top of the small cabinet beneath the table. | STEP 5: Step closer to the table. | STEP 6: Pick up the remaining pencil from the table. | STEP 7: Move a step back from the table again.  | STEP 8: Place the other pencil on top of the cabinet beneath the white table. | END


Input: Set a cold coffee cup on the island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, 2.0, 0, 180, 0,  [SEP] 1, Potato, -1.095, 1.017, 1.885, 0, 90, 0, 61 [SEP] 2, DishSponge, -1.339, 2.027, -1.337, 0, 0, 0, 53 [SEP] 3, DishSponge, -0.760, 0.203, -1.337, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.160, 1.032, 0.415, 0, 0, 0, 48 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 42 [SEP] 6, Spoon, 1.612, 1.044, 0.522, 0, 90, 0, 48 [SEP] 7, Spoon, 1.181, 1.044, 0.632, 0, 0, 0, 48 [SEP] 8, Egg, -1.250, 2.002, 2.242, 0, 90, 0, 61 [SEP] 9, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 43 [SEP] 10, Cup, 1.158, 0.200, -1.339, 0, 0, 0, 57 [SEP] 11, Knife, 0.379, 1.072, -1.107, 0, 0, 0, 46 [SEP] 12, Knife, 0.100, 1.072, -1.107, 0, 180, 0, 46 [SEP] 13, SoapBottle, -0.775, 1.047, -1.505, 0, 0, 0, 46 [SEP] 14, Bowl, -0.699, 1.563, -1.619, 0, 0, 0, 51 [SEP] 15, Bowl, -1.339, 2.027, -1.482, 0, 0, 0, 53 [SEP] 16, Lettuce, 1.072, 1.106, -1.397, 0, 0, 0, 46 [SEP] 17, Mug, 0.848, 1.038, 0.632, 0, 0, 0, 48 [SEP] 18, Apple, -1.312, 1.756, 1.885, 0, 90, 0, 61 [SEP] 19, Apple, -1.235, 1.271, 1.974, 0, 90, 0, 61 [SEP] 20, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 44 [SEP] 21, Apple, 0.823, 1.090, -1.289, 0, 0, 0, 46 [SEP] 22, Potato, -0.603, 1.100, -1.397, 0, 0, 0, 46 [SEP] 23, Fork, 0.657, 1.047, -1.118, 0, 0, 0, 46 [SEP] 24, Kettle, -1.339, 0.203, -1.555, 0, 0, 0, 54 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.268, 1.999, 2.063, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.222, 0.198, -1.409, 0, 0, 0, 55 [SEP] 28, Egg, -1.243, 1.770, -1.362, 0, 0, 0, 60 [SEP] 29, Cup, -1.106, 2.028, -1.627, 0, 0, 0, 53 [SEP] 30, Spatula, 1.701, 1.058, 0.415, 0, 0, 0, 48 [SEP] 31, Knife, 0.255, 1.069, 0.091, 0, 0, 0, 48 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 0.065, 1.043, 0.630, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.312, 0.198, -1.409, 0, 0, 0, 55 [SEP] 35, DishSponge, 1.514, 1.042, 0.676, 0, 0, 0, 48 [SEP] 36, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 55 [SEP] 37, Bread, 0.407, 1.104, 0.353, 0, 337.142, 0, 48 [SEP] 38, Spoon, -0.260, 1.048, -1.505, 0, 90, 0, 46 [SEP] 39, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 40, Mug, 0.885, 1.560, -1.388, 0, 270, 0, 50 [SEP] 41, Bowl, -1.300, 1.227, 2.153, 0, 90, 0, 61 [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: Go to the island behind the sink. | STEP 2: Pick up the coffee cup on the island. | STEP 3: Take the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn and go past the fridge on the right to the end of the island. | STEP 6: Set the cold coffee cup on the island. | END


Input: Wash a kettle and put away in cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.5, 0, 0, 0,  [SEP] 1, Potato, -1.419, 1.542, 2.331, 0, 90, 0, 57 [SEP] 2, DishSponge, 0.160, 1.042, 0.738, 0, 0, 0, 44 [SEP] 3, DishSponge, 1.523, 1.042, 0.522, 0, 0, 0, 44 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 45 [SEP] 5, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 44 [SEP] 6, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 44 [SEP] 7, Spatula, -0.775, 1.061, -1.181, 0, 180, 0, 42 [SEP] 8, Egg, -1.235, 1.282, 1.974, 0, 90, 0, 57 [SEP] 9, Egg, 0.518, 1.101, -1.118, 0, 0, 0, 42 [SEP] 10, Knife, 1.015, 1.069, 0.720, 0, 0, 0, 44 [SEP] 11, SoapBottle, 1.238, 1.047, -1.505, 0, 0, 0, 42 [SEP] 12, PepperShaker, -0.030, 1.038, 0.307, 0, 0, 0, 44 [SEP] 13, PepperShaker, -0.775, 1.041, -1.289, 0, 0, 0, 42 [SEP] 14, Mug, 1.238, 1.041, -1.181, 0, 0, 0, 42 [SEP] 15, Apple, 0.657, 1.090, -1.118, 0, 0, 0, 42 [SEP] 16, SoapBottle, -0.603, 1.047, -1.289, 0, 0, 0, 42 [SEP] 17, Apple, 1.015, 1.086, 0.589, 0, 0, 0, 44 [SEP] 18, Potato, -0.603, 1.100, -1.505, 0, 0, 0, 42 [SEP] 19, Fork, 0.245, 1.033, 0.305, 358.707, 1.009, 0, 44 [SEP] 20, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 41 [SEP] 21, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 42 [SEP] 22, Tomato, 0.065, 1.094, 0.091, 0, 0, 0, 44 [SEP] 23, SaltShaker, 0.848, 1.038, 0.676, 0, 90, 0, 44 [SEP] 24, Egg, 0.823, 1.101, -1.181, 0, 0, 0, 42 [SEP] 25, Cup, 0.740, 1.047, -1.505, 0, 0, 0, 42 [SEP] 26, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 42 [SEP] 27, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 44 [SEP] 28, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 40 [SEP] 29, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 44 [SEP] 30, PepperShaker, 0.848, 1.038, 0.545, 0, 0, 0, 44 [SEP] 31, DishSponge, -0.432, 1.046, -1.289, 0, 0, 0, 42 [SEP] 32, Plate, 0.989, 1.059, -1.289, 0, 0, 0, 42 [SEP] 33, Bread, 0.418, 1.104, 0.353, 0, 337.641, 0, 44 [SEP] 34, Spoon, 1.181, 1.044, 0.763, 0, 0, 0, 44 [SEP] 35, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 54 [SEP] 36, Mug, -1.349, 1.708, 2.063, 0, 90, 0, 57 [SEP] 37, Bowl, -1.342, 1.488, 1.974, 0, 90, 0, 57 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. | STEP 2: Pick up the kettle on the right side of the stove. | STEP 3: Turn left, walk forward and then turn left to face the sink. | STEP 4: Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle. | STEP 5: Turn left and step forward, turn left to face the kitchen counter with a apple and eggs. | STEP 6: Open the bottom cabinet door , place the kettle inside, close the door. | END


Input: Place a cleaned glass cup on the top right shelf inside the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, 2.962, 0.761, -0.565, 0, 0, 0, 91 [SEP] 2, Potato, -0.198, 0.946, 1.129, 0, 0, 0, 47 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 42 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 74 [SEP] 5, Spoon, -0.198, 0.912, 1.044, 0, 0, 0, 47 [SEP] 6, Spoon, 1.893, 0.772, 1.122, 0, 0, 0, 69 [SEP] 7, Spatula, 2.221, 0.926, 1.214, 0, 0, 0, 71 [SEP] 8, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 47 [SEP] 9, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 71 [SEP] 10, Egg, -1.933, 0.461, 1.375, 0, 270, 0, 89 [SEP] 11, Egg, -2.019, 0.461, 1.417, 0, 270, 0, 89 [SEP] 12, PepperShaker, 2.802, 0.110, 1.156, 0, 0, 0, 68 [SEP] 13, SoapBottle, 2.754, 0.917, 1.214, 0, 0, 0, 71 [SEP] 14, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 91 [SEP] 15, Fork, -0.911, 0.821, -1.308, 0, 180, 0, 95 [SEP] 16, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 51 [SEP] 17, Bread, 1.155, 0.969, 1.214, 0, 0, 0, 71 [SEP] 18, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 93 [SEP] 19, Kettle, 2.488, 0.912, 1.468, 0, 0, 0, 71 [SEP] 20, Tomato, 0.888, 0.942, -0.854, 0, 0, 0, 36 [SEP] 21, Cup, 0.750, 1.653, -0.693, 0, 180, 0, 46 [SEP] 22, Spatula, -0.103, 0.926, 1.383, 0, 0, 0, 47 [SEP] 23, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 93 [SEP] 24, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 39 [SEP] 25, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 71 [SEP] 26, SaltShaker, -0.887, 0.817, -1.110, 0, 0, 0, 95 [SEP] 27, Knife, 2.156, 0.944, -0.684, 0, 0, 0, 36 [SEP] 28, Potato, -0.682, 0.855, -1.255, 0, 0, 0, 95 [SEP] 29, PepperShaker, 1.281, 1.650, -0.849, 0, 180, 0, 38 [SEP] 30, ButterKnife, 1.422, 0.911, 1.299, 0, 0, 0, 71 [SEP] 31, Bowl, 2.777, 1.286, -0.775, 0, 0, 0, 91 [SEP] 32, DishSponge, 1.558, 0.114, -0.498, 0, 180, 0, 53 [SEP] 33, Spoon, -1.056, 0.822, -1.206, 0, 90, 0, 95 [SEP] 34, Mug, 2.777, 1.014, -0.775, 0, 0, 0, 91 [SEP] 35, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 36, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 37, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 38, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 39, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 40, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 41, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 42, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 43, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 44, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 45, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 47, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 48, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 50, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 52, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 55, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 58, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 59, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 71, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 72, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 74, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 75, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 76, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 77, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 78, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 79, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 80, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 83, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 84, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 85, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 86, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 87, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 88, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 89, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 90, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 91, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 92, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 93, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 94, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 95, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 96, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. | STEP 2: Take out the glass cup from the cabinet. | STEP 3: Take a step to the right towards the sink. | STEP 4: Place the cup in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the fridge to your right. | STEP 6: Place the cup on the top right shelf in the fridge. | END


Input: To move a pen to the top of the drawers.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.909, -1.75, 0, 90, 0,  [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 34 [SEP] 2, CD, -0.426, 0.029, -3.779, 0, 0, 0, 32 [SEP] 3, CellPhone, -3.613, 0.620, -0.356, 0, 0, 0, 25 [SEP] 4, Pencil, -1.882, 0.065, -3.944, 0, 9.990, 0, 29 [SEP] 5, Pencil, -0.418, 0.546, -3.768, 0, 0, 0, 34 [SEP] 6, CreditCard, -3.470, 0.614, -3.276, 0, 0, 0, 44 [SEP] 7, CreditCard, -0.731, 0.188, -3.844, 0, 0, 0, 35 [SEP] 8, KeyChain, -3.539, 0.980, -3.874, 0, 0, 0, 43 [SEP] 9, KeyChain, -0.862, 0.804, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.249, 0.800, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -1.066, 0.804, -3.811, 0, 0, 0, 40 [SEP] 13, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 40 [SEP] 14, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 43 [SEP] 15, CreditCard, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 16, AlarmClock, -3.760, 0.979, -3.673, 0, 0, 0, 43 [SEP] 17, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.750, 0.048, -3.558, 0, 0, 0, 42 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.453, 0.799, -4.354, 0, 0, 0, 40 [SEP] 23, Pen, -1.066, 0.805, -4.354, 0, 0, 0, 40 [SEP] 24, Mug, -0.862, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn right at the window and walk to the desk.  | STEP 2: Pick up the pen to the left of the lamp.  | STEP 3: Move over to the left side of the desk and face the drawers below the desk.  | STEP 4: Put the pen down on the top of the drawers below the desk.  | END


Input: move the pen from the desk to a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.909, -1.75, 0, 90, 0,  [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 34 [SEP] 2, CD, -0.426, 0.029, -3.779, 0, 0, 0, 32 [SEP] 3, CellPhone, -3.613, 0.620, -0.356, 0, 0, 0, 25 [SEP] 4, Pencil, -1.882, 0.065, -3.944, 0, 9.990, 0, 29 [SEP] 5, Pencil, -0.418, 0.546, -3.768, 0, 0, 0, 34 [SEP] 6, CreditCard, -3.470, 0.614, -3.276, 0, 0, 0, 44 [SEP] 7, CreditCard, -0.731, 0.188, -3.844, 0, 0, 0, 35 [SEP] 8, KeyChain, -3.539, 0.980, -3.874, 0, 0, 0, 43 [SEP] 9, KeyChain, -0.862, 0.804, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.249, 0.800, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -1.066, 0.804, -3.811, 0, 0, 0, 40 [SEP] 13, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 40 [SEP] 14, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 43 [SEP] 15, CreditCard, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 16, AlarmClock, -3.760, 0.979, -3.673, 0, 0, 0, 43 [SEP] 17, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.750, 0.048, -3.558, 0, 0, 0, 42 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.453, 0.799, -4.354, 0, 0, 0, 40 [SEP] 23, Pen, -1.066, 0.805, -4.354, 0, 0, 0, 40 [SEP] 24, Mug, -0.862, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: turn right, walk to the table | STEP 2: pick up the pen that is on the desk | STEP 3: take a few steps to the left | STEP 4: put the pen on top of the small table under the desk | END


Input: Put a cup with a knife in 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, -0.5, 0.900, 0.25, 0, 0, 0,  [SEP] 1, Potato, 2.962, 1.323, -0.775, 0, 0, 0, 106 [SEP] 2, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 104 [SEP] 3, DishSponge, 2.512, 0.770, 1.236, 0, 0, 0, 67 [SEP] 4, DishSponge, -0.836, 0.820, -1.183, 0, 0, 0, 110 [SEP] 5, Kettle, 1.488, 0.115, 1.119, 0, 0, 0, 80 [SEP] 6, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 86 [SEP] 7, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 110 [SEP] 8, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 62 [SEP] 9, Spoon, -0.694, 0.822, -1.257, 0, 90, 0, 110 [SEP] 10, Fork, -0.839, 0.821, -1.411, 0, 180, 0, 110 [SEP] 11, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 86 [SEP] 12, Cup, 1.141, 0.909, -0.430, 0, 0, 0, 51 [SEP] 13, Cup, 2.962, 1.561, -0.709, 0, 0, 0, 106 [SEP] 14, Cup, 2.715, 1.561, -0.709, 0, 0, 0, 106 [SEP] 15, Egg, -1.991, 0.461, 1.290, 0, 270, 0, 104 [SEP] 16, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 109 [SEP] 17, Knife, 0.123, 0.798, -0.651, 0, 0, 0, 108 [SEP] 18, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 110 [SEP] 19, SoapBottle, 1.931, 0.120, 1.117, 0, 0, 0, 71 [SEP] 20, Tomato, 2.838, 0.756, -0.565, 0, 0, 0, 106 [SEP] 21, Tomato, 2.591, 1.320, -0.775, 0, 0, 0, 106 [SEP] 22, Bowl, 1.155, 0.909, 1.383, 0, 0, 0, 86 [SEP] 23, SaltShaker, 1.931, 0.111, 1.276, 0, 0, 0, 71 [SEP] 24, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 86 [SEP] 25, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 86 [SEP] 26, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 106 [SEP] 27, Apple, 2.653, 0.794, -0.473, 0, 0, 0, 106 [SEP] 28, SoapBottle, 0.888, 0.917, -0.684, 0, 0, 0, 51 [SEP] 29, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 86 [SEP] 30, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 108 [SEP] 31, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 66 [SEP] 32, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 106 [SEP] 33, Egg, 0.193, 0.803, -0.541, 0, 0, 0, 108 [SEP] 34, Kettle, 1.917, 1.656, 1.507, 0, 0, 0, 75 [SEP] 35, Tomato, -0.836, 0.852, -1.328, 0, 0, 0, 110 [SEP] 36, Cup, 0.570, 1.782, 1.488, 0, 180, 0, 109 [SEP] 37, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 62 [SEP] 38, Apple, -0.246, 0.980, 1.129, 0, 0, 0, 62 [SEP] 39, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 54 [SEP] 40, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 62 [SEP] 41, SaltShaker, -0.151, 0.908, 1.214, 0, 0, 0, 62 [SEP] 42, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 51 [SEP] 43, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 110 [SEP] 44, PepperShaker, 2.221, 0.908, 1.468, 0, 0, 0, 86 [SEP] 45, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 51 [SEP] 46, Bowl, 1.561, 1.652, 1.470, 0, 0, 0, 74 [SEP] 47, DishSponge, 1.558, 0.770, 1.083, 0, 0, 0, 69 [SEP] 48, Spoon, 2.173, 0.773, -0.460, 0, 180, 0, 64 [SEP] 49, Mug, -0.246, 0.906, 1.553, 0, 0, 0, 62 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output:
STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup | STEP 3: put the knife int the cup | STEP 4: pick up the cup with the knife in it
 | STEP 5: carry the knife and cup across the room to the right corner  | STEP 6: place the cup with the knife still in it on the table  | END


Input: Put the 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, 1.75, 0.931, -0.5, 0, 90, 0,  [SEP] 1, DishSponge, 1.155, 1.046, -1.289, 0, 0, 0, 46 [SEP] 2, ButterKnife, 1.155, 1.046, -1.720, 0, 0, 0, 46 [SEP] 3, Pot, -0.624, 1.566, -1.619, 0, 270, 0, 51 [SEP] 4, Fork, 1.155, 1.047, -1.397, 0, 0, 0, 46 [SEP] 5, Spoon, 0.740, 1.048, -1.289, 0, 270, 0, 46 [SEP] 6, Spoon, 0.823, 1.048, -1.181, 0, 0, 0, 46 [SEP] 7, Egg, -1.264, 1.543, 2.242, 0, 90, 0, 61 [SEP] 8, Cup, -0.323, 1.565, -1.396, 0, 0, 0, 51 [SEP] 9, Tomato, -1.095, 1.014, 1.974, 0, 90, 0, 61 [SEP] 10, Tomato, 1.155, 1.097, -1.181, 0, 0, 0, 46 [SEP] 11, SoapBottle, 0.712, 0.200, -1.267, 0, 0, 0, 57 [SEP] 12, SaltShaker, -1.416, 2.023, -1.337, 0, 0, 0, 53 [SEP] 13, SaltShaker, 1.263, 1.560, -1.538, 0, 0, 0, 50 [SEP] 14, PepperShaker, 1.435, 1.014, -1.191, 0, 0, 0, 52 [SEP] 15, Lettuce, -0.030, 1.103, 0.630, 0, 0, 0, 48 [SEP] 16, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 46 [SEP] 17, Mug, 0.936, 1.050, 0.331, 0, 90, 0, 44 [SEP] 18, Apple, -1.349, 1.756, 2.242, 0, 90, 0, 61 [SEP] 19, Apple, -1.243, 1.759, -1.331, 0, 0, 0, 60 [SEP] 20, SoapBottle, -0.580, 0.204, -1.409, 0, 0, 0, 55 [SEP] 21, Apple, -1.145, 1.759, -1.362, 0, 0, 0, 60 [SEP] 22, Potato, -1.366, 1.281, 2.153, 0, 90, 0, 61 [SEP] 23, Fork, 1.181, 1.043, 0.720, 0, 0, 0, 48 [SEP] 24, Kettle, -0.401, 0.204, -1.553, 0, 0, 0, 55 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, 0.848, 1.104, 0.131, 0, 90, 0, 44 [SEP] 27, SaltShaker, -1.029, 2.023, -1.482, 0, 0, 0, 53 [SEP] 28, Egg, 1.211, 0.947, 0.158, 0, 90, 0, 43 [SEP] 29, Cup, -1.349, 1.713, 1.796, 0, 90, 0, 61 [SEP] 30, Spatula, -0.517, 1.061, -1.397, 0, 180, 0, 46 [SEP] 31, Knife, 0.682, 1.069, 0.720, 0, 0, 0, 48 [SEP] 32, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 48 [SEP] 33, ButterKnife, 0.848, 1.043, 0.632, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.548, 1.560, -1.396, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.160, 1.042, 0.630, 0, 0, 0, 48 [SEP] 36, Plate, 1.036, 1.577, -1.614, 0, 0, 0, 50 [SEP] 37, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 48 [SEP] 39, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 42 [SEP] 40, Mug, 1.665, 0.199, -1.480, 0, 0, 0, 56 [SEP] 41, Bowl, 1.589, 1.018, -1.411, 0, 0, 0, 52 [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 to the cabinet on the right.  | STEP 2: Open up the bottom cabinet and pick up the mug in there.  | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave for a few seconds.  | STEP 5: Take the mug out of the microwave. | STEP 6: Open the cabinet above the microwave and put the mug in there.  | END


Input: Place a rinsed knife on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Potato, 2.900, 1.323, -0.447, 0, 0, 0, 94 [SEP] 2, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 3, Pot, 2.488, 0.915, 1.468, 0, 0, 0, 74 [SEP] 4, Spoon, 1.141, 0.912, -0.684, 0, 0, 0, 39 [SEP] 5, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 6, Knife, 1.155, 0.944, 1.299, 0, 0, 0, 74 [SEP] 7, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 92 [SEP] 8, SoapBottle, 0.178, 1.661, -0.771, 0, 180, 0, 79 [SEP] 9, Bowl, 2.777, 1.286, -0.775, 0, 0, 0, 94 [SEP] 10, PepperShaker, 1.955, 0.908, 1.553, 0, 0, 0, 74 [SEP] 11, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 98 [SEP] 12, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 74 [SEP] 13, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 94 [SEP] 14, Mug, 1.792, 0.110, 1.077, 0, 90, 0, 59 [SEP] 15, Mug, -0.198, 0.906, 1.468, 0, 270, 0, 50 [SEP] 16, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 98 [SEP] 17, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 74 [SEP] 18, Fork, -0.839, 0.821, -1.411, 0, 180, 0, 98 [SEP] 19, Pot, 1.141, 0.915, -0.515, 0, 0, 0, 39 [SEP] 20, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 94 [SEP] 21, Egg, -0.087, 0.803, -0.651, 0, 0, 0, 96 [SEP] 22, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 74 [SEP] 23, Tomato, -0.785, 0.852, -1.110, 0, 0, 0, 98 [SEP] 24, Cup, 2.838, 0.723, -0.565, 0, 0, 0, 94 [SEP] 25, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 96 [SEP] 26, Apple, 1.422, 0.980, 1.299, 0, 0, 0, 74 [SEP] 27, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 28, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 50 [SEP] 29, SaltShaker, -0.049, 0.111, 1.037, 0, 0, 0, 67 [SEP] 30, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 74 [SEP] 31, Potato, 3.341, 0.875, -0.543, 0, 0, 0, 94 [SEP] 32, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 98 [SEP] 33, ButterKnife, 2.488, 0.911, 1.214, 0, 0, 0, 74 [SEP] 34, Bowl, 2.154, 1.652, 1.432, 0, 0, 0, 63 [SEP] 35, DishSponge, 1.451, 0.114, 1.193, 0, 0, 0, 68 [SEP] 36, Spoon, -0.983, 0.822, -1.360, 0, 90, 0, 98 [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: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the knife at the far back area of the counter to the left of the apple. | STEP 3: Turn around, take a right and walk to the sink on the left. | STEP 4: Put the knife inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and hang a left at the wall to reach the gray table. | STEP 6: Put the rinsed knife on the table in front of the tomato. | END