Input: Place a bucket filled with water in front of the toaster on the counter. 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, -0.75, 0, 90, 0,  [SEP] 1, DishSponge, -1.339, 2.027, -1.627, 0, 0, 0, 52 [SEP] 2, DishSponge, 1.826, 0.122, 2.358, 0, 270, 0, 61 [SEP] 3, ButterKnife, 0.065, 1.043, 0.091, 0, 180, 0, 47 [SEP] 4, ButterKnife, 1.181, 1.043, 0.676, 0, 0, 0, 47 [SEP] 5, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 44 [SEP] 6, Fork, 0.542, 1.043, 0.415, 0, 90, 0, 47 [SEP] 7, Spoon, 0.682, 1.044, 0.589, 0, 0, 0, 47 [SEP] 8, Spatula, 0.657, 1.061, -1.118, 0, 0, 0, 45 [SEP] 9, Spatula, 1.015, 1.058, 0.632, 0, 0, 0, 47 [SEP] 10, Plate, 0.960, 1.577, -1.463, 0, 0, 0, 49 [SEP] 11, Plate, -1.349, 1.726, 2.063, 0, 90, 0, 60 [SEP] 12, Knife, 0.160, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 47 [SEP] 14, Tomato, 1.238, 1.097, -1.397, 0, 0, 0, 45 [SEP] 15, Tomato, -0.030, 1.094, 0.630, 0, 0, 0, 47 [SEP] 16, SoapBottle, 1.612, 1.044, 0.199, 0, 270, 0, 47 [SEP] 17, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 43 [SEP] 18, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 45 [SEP] 19, SoapBottle, 1.436, 0.205, -1.190, 0, 90, 0, 55 [SEP] 20, Apple, -1.145, 1.759, -1.362, 0, 0, 0, 59 [SEP] 21, Potato, -1.268, 2.001, 2.153, 0, 90, 0, 60 [SEP] 22, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 23, Kettle, -1.183, 0.203, -1.555, 0, 0, 0, 53 [SEP] 24, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 25, Tomato, 0.542, 1.094, 0.091, 0, 0, 0, 47 [SEP] 26, SaltShaker, 0.989, 1.041, -1.181, 0, 0, 0, 45 [SEP] 27, Egg, -1.047, 1.770, -1.269, 0, 0, 0, 59 [SEP] 28, Cup, 0.761, 1.053, 0.131, 0, 90, 0, 43 [SEP] 29, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 45 [SEP] 30, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 45 [SEP] 31, Lettuce, 0.906, 1.106, -1.720, 0, 0, 0, 45 [SEP] 32, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 47 [SEP] 33, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 45 [SEP] 34, DishSponge, 0.712, 0.199, -1.484, 0, 0, 0, 56 [SEP] 35, Plate, -0.473, 1.577, -1.470, 0, 0, 0, 50 [SEP] 36, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 0.160, 1.044, 0.630, 0, 270, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, 1.588, 0.203, -1.335, 0, 0, 0, 55 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. | STEP 2: Pick up the bucket from the lower cabinet. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the bucket in the sink, fill it with water and then pick the bucket up from the sink. | STEP 5: Turn left and walk to the toaster. | STEP 6: Place the bucket in front of the toaster on the counter. | END


Input: Place a chilled egg in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 79 [SEP] 2, DishSponge, -0.017, 0.765, -0.596, 0, 0, 0, 101 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 79 [SEP] 5, Fork, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 6, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 55 [SEP] 7, Spatula, 0.123, 0.780, -0.596, 0, 270, 0, 101 [SEP] 8, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 44 [SEP] 9, Cup, 2.653, 1.016, -0.578, 0, 0, 0, 99 [SEP] 10, Egg, -0.157, 0.803, -0.596, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 101 [SEP] 12, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 55 [SEP] 13, SoapBottle, 0.634, 0.917, -0.6, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.887, 0.826, -1.400, 0, 0, 0, 103 [SEP] 15, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 16, Bowl, 2.900, 1.286, -0.644, 0, 0, 0, 99 [SEP] 17, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 18, PepperShaker, 1.688, 0.908, 1.129, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 99 [SEP] 23, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 79 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.214, 0, 0, 0, 79 [SEP] 26, Egg, 0.363, 1.822, 1.520, 0, 180, 0, 102 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, 2.900, 1.050, -0.447, 0, 0, 0, 99 [SEP] 29, Cup, 2.900, 0.724, -0.565, 0, 0, 0, 99 [SEP] 30, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 103 [SEP] 31, Apple, 2.900, 1.632, -0.775, 0, 0, 0, 99 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 55 [SEP] 34, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 55 [SEP] 35, Knife, -0.836, 0.853, -1.473, 0, 180, 0, 103 [SEP] 36, Potato, -1.933, 0.458, 1.290, 0, 270, 0, 97 [SEP] 37, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 79 [SEP] 39, Bowl, 1.909, 0.112, -0.421, 0, 180, 0, 90 [SEP] 40, DishSponge, 1.487, 1.654, 1.432, 0, 0, 0, 67 [SEP] 41, Spoon, 1.422, 0.772, 1.122, 0, 90, 0, 62 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the black stove ahead. | STEP 2: Open the microwave above the stove, remove the egg from inside and close the door. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Put the egg inside the fridge on the second shelf in front of the glass, chill it for seven seconds, remove it and close the door. | STEP 5: Turn right and walk to the stove on the right. | STEP 6: Put the chilled egg inside the microwave and close the door. | END


Input: Put a chilled egg in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 180, 0,  [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 79 [SEP] 2, DishSponge, -0.017, 0.765, -0.596, 0, 0, 0, 101 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 79 [SEP] 5, Fork, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 6, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 55 [SEP] 7, Spatula, 0.123, 0.780, -0.596, 0, 270, 0, 101 [SEP] 8, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 44 [SEP] 9, Cup, 2.653, 1.016, -0.578, 0, 0, 0, 99 [SEP] 10, Egg, -0.157, 0.803, -0.596, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 101 [SEP] 12, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 55 [SEP] 13, SoapBottle, 0.634, 0.917, -0.6, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.887, 0.826, -1.400, 0, 0, 0, 103 [SEP] 15, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 16, Bowl, 2.900, 1.286, -0.644, 0, 0, 0, 99 [SEP] 17, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 18, PepperShaker, 1.688, 0.908, 1.129, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 99 [SEP] 23, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 79 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.214, 0, 0, 0, 79 [SEP] 26, Egg, 0.363, 1.822, 1.520, 0, 180, 0, 102 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, 2.900, 1.050, -0.447, 0, 0, 0, 99 [SEP] 29, Cup, 2.900, 0.724, -0.565, 0, 0, 0, 99 [SEP] 30, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 103 [SEP] 31, Apple, 2.900, 1.632, -0.775, 0, 0, 0, 99 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 55 [SEP] 34, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 55 [SEP] 35, Knife, -0.836, 0.853, -1.473, 0, 180, 0, 103 [SEP] 36, Potato, -1.933, 0.458, 1.290, 0, 270, 0, 97 [SEP] 37, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 79 [SEP] 39, Bowl, 1.909, 0.112, -0.421, 0, 180, 0, 90 [SEP] 40, DishSponge, 1.487, 1.654, 1.432, 0, 0, 0, 67 [SEP] 41, Spoon, 1.422, 0.772, 1.122, 0, 90, 0, 62 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: move to the stove behind you | STEP 2: pick up a egg from the microwave | STEP 3: move to the fridge to the right of you | STEP 4: chill the egg in the fridge for a moment | STEP 5: move to the stove to the right of you | STEP 6: put the egg in the microwave | END


Input: Turn a lamp on with a computer in hand. 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, -1.25, 0, 270, 0,  [SEP] 1, CellPhone, -3.613, 0.981, -4.075, 0, 0, 0, 42 [SEP] 2, Pen, -0.249, 0.809, -3.703, 0, 0, 0, 39 [SEP] 3, Pencil, -3.908, 0.983, -3.070, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.453, 0.800, -3.920, 0, 0, 0, 39 [SEP] 5, KeyChain, -1.066, 0.800, -4.137, 0, 0, 0, 39 [SEP] 6, KeyChain, -0.862, 0.804, -4.354, 0, 0, 0, 39 [SEP] 7, Book, -3.638, 0.614, -4.070, 0, 0, 0, 48 [SEP] 8, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 24 [SEP] 9, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 24 [SEP] 10, Laptop, -3.191, 0.618, -0.931, 0, 0, 0, 24 [SEP] 11, Book, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 12, CellPhone, -0.862, 0.800, -3.811, 0, 0, 0, 39 [SEP] 13, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -1.066, 0.800, -3.920, 0, 0, 0, 39 [SEP] 15, AlarmClock, -3.687, 0.981, -3.874, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.453, 0.800, -4.029, 0, 0, 0, 39 [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, -3.539, 0.983, -3.070, 0, 0, 0, 42 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -0.657, 0.799, -3.811, 0, 0, 0, 39 [SEP] 22, Pen, -3.694, 0.620, -3.276, 0, 0, 0, 43 [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: Go left and then right to stand at the side of the bed. | STEP 2: Close the computer on the right and pick it up from the bed. | STEP 3: Go right and then stand at the white table with the lamp. | STEP 4: Turn the lamp on. | END


Input: Pick up apple, warm in microwave, put apple in sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.931, -0.25, 0, 270, 0,  [SEP] 1, DishSponge, 0.848, 1.054, 0.331, 0, 90, 0, 46 [SEP] 2, DishSponge, -1.339, 0.202, -1.482, 0, 0, 0, 56 [SEP] 3, ButterKnife, 1.514, 1.043, 0.545, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.936, 1.053, 0.281, 0, 90, 0, 46 [SEP] 5, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 60 [SEP] 6, Fork, -0.432, 1.047, -1.181, 0, 0, 0, 48 [SEP] 7, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 48 [SEP] 8, Spoon, 0.936, 1.056, 0.281, 0, 90, 0, 46 [SEP] 9, Spatula, 0.657, 1.061, -1.118, 0, 0, 0, 48 [SEP] 10, Cup, -1.419, 1.489, 1.885, 0, 90, 0, 63 [SEP] 11, Plate, -1.027, 0.215, -1.338, 0, 0, 0, 56 [SEP] 12, Tomato, 0.160, 1.094, 0.522, 0, 0, 0, 50 [SEP] 13, Tomato, -1.268, 1.999, 1.974, 0, 90, 0, 63 [SEP] 14, Bowl, -1.029, 2.027, -1.409, 0, 0, 0, 55 [SEP] 15, Bowl, 1.820, 1.018, -1.411, 0, 0, 0, 54 [SEP] 16, PepperShaker, 1.247, 0.194, -1.484, 0, 0, 0, 59 [SEP] 17, PepperShaker, 1.741, 0.199, -1.553, 0, 0, 0, 58 [SEP] 18, Mug, 1.036, 1.560, -1.764, 0, 0, 0, 52 [SEP] 19, Apple, 0.980, 1.097, 0.381, 0, 90, 0, 46 [SEP] 20, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 21, Apple, 0.848, 1.086, 0.632, 0, 0, 0, 50 [SEP] 22, SoapBottle, 1.514, 1.044, 0.632, 0, 0, 0, 50 [SEP] 23, Apple, -1.366, 1.271, 2.153, 0, 90, 0, 63 [SEP] 24, Potato, -1.386, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 50 [SEP] 26, Kettle, 1.188, 1.566, -1.463, 0, 0, 0, 52 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.169, 1.279, 1.796, 0, 90, 0, 63 [SEP] 29, SaltShaker, 1.238, 1.041, -1.397, 0, 0, 0, 48 [SEP] 30, Egg, -1.103, 1.282, 1.974, 0, 90, 0, 63 [SEP] 31, Cup, 1.512, 0.205, -1.625, 0, 0, 0, 58 [SEP] 32, Spatula, 0.848, 1.058, 0.807, 0, 180, 0, 50 [SEP] 33, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 48 [SEP] 34, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 46 [SEP] 35, ButterKnife, 1.514, 1.043, 0.763, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.473, 1.560, -1.841, 0, 0, 0, 53 [SEP] 37, DishSponge, 1.790, 1.042, 0.738, 0, 0, 0, 50 [SEP] 38, Plate, 1.588, 0.217, -1.335, 0, 0, 0, 58 [SEP] 39, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 1.181, 1.044, 0.589, 0, 0, 0, 50 [SEP] 41, Pot, -0.689, 1.048, -1.397, 0, 270, 0, 48 [SEP] 42, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 62 [SEP] 43, Bowl, -1.349, 1.712, 1.974, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Proceed to area to the left of the sink on your right.  Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon. | STEP 3: Turn left, go to wall.  Turn left, go to oven and microwave. | STEP 4: Open microwave door, place apple to right of mug, close door.  Wait three seconds, open microwave door, remove apple, close door. | STEP 5: Turn left, proceed to sink on right, turn left to face sink. | STEP 6: Place apple in sink below other apple. | END


Input: place a kettle filled with water on the gas SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.25, 0, 180, 0,  [SEP] 1, DishSponge, 1.174, 0.771, -0.460, 0, 180, 0, 61 [SEP] 2, Pot, 1.155, 0.915, 1.129, 0, 0, 0, 77 [SEP] 3, Pot, 1.955, 0.915, 1.214, 0, 0, 0, 77 [SEP] 4, Spoon, -0.103, 0.912, 1.299, 0, 0, 0, 53 [SEP] 5, Fork, 1.955, 0.912, 1.468, 0, 0, 0, 77 [SEP] 6, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 55 [SEP] 7, Spatula, 2.754, 0.926, 1.299, 0, 0, 0, 77 [SEP] 8, Cup, 2.591, 1.286, -0.840, 0, 0, 0, 97 [SEP] 9, Cup, 0.812, 2.151, 1.545, 0, 0, 0, 51 [SEP] 10, SoapBottle, 1.842, 1.661, 1.390, 0, 0, 0, 54 [SEP] 11, SoapBottle, 1.688, 0.917, 1.553, 0, 0, 0, 77 [SEP] 12, Bowl, 2.715, 0.724, -0.504, 0, 0, 0, 97 [SEP] 13, Bowl, 1.688, 0.909, 1.129, 0, 0, 0, 77 [SEP] 14, SaltShaker, -0.175, 1.650, -0.849, 0, 180, 0, 84 [SEP] 15, SaltShaker, -0.682, 0.817, -1.255, 0, 0, 0, 101 [SEP] 16, Lettuce, -0.151, 0.992, 1.129, 0, 0, 0, 53 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Apple, 3.260, 0.909, -0.485, 0, 0, 0, 97 [SEP] 19, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 20, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 67 [SEP] 21, Fork, 1.626, 0.772, 1.122, 0, 90, 0, 60 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 77 [SEP] 24, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 100 [SEP] 25, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 26, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 97 [SEP] 27, Cup, -0.983, 0.818, -1.360, 0, 90, 0, 101 [SEP] 28, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 77 [SEP] 29, Apple, 0.888, 0.980, -0.769, 0, 0, 0, 42 [SEP] 30, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 42 [SEP] 31, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 53 [SEP] 32, SaltShaker, -0.201, 1.650, 1.470, 0, 0, 0, 68 [SEP] 33, Knife, -0.734, 0.853, -1.328, 0, 90, 0, 101 [SEP] 34, Potato, 0.466, 1.819, 1.520, 0, 180, 0, 100 [SEP] 35, PepperShaker, 0.446, 1.650, -0.849, 0, 180, 0, 81 [SEP] 36, ButterKnife, -0.839, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 2.900, 1.561, -0.512, 0, 0, 0, 97 [SEP] 38, DishSponge, 2.156, 0.911, -0.854, 0, 0, 0, 42 [SEP] 39, Spoon, 1.175, 0.772, 1.198, 0, 0, 0, 87 [SEP] 40, Mug, 2.838, 1.014, -0.775, 0, 0, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: move around to the gas | STEP 2: pick up the kettle from the gas | STEP 3: turn around to the sink | STEP 4: fill the kettle with water | STEP 5: turn around to the gas | STEP 6: place the kettle on the gas | END


Input: Clean the dirty place setting, and put it back on the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Potato, -0.087, 0.800, -0.541, 0, 0, 0, 102 [SEP] 2, Potato, 2.156, 0.946, -0.430, 0, 0, 0, 45 [SEP] 3, DishSponge, 1.558, 0.770, -0.498, 0, 180, 0, 75 [SEP] 4, DishSponge, -0.734, 0.820, -1.110, 0, 0, 0, 104 [SEP] 5, Kettle, 0.759, 2.154, 1.429, 0, 0, 0, 54 [SEP] 6, Kettle, 1.485, 0.116, -0.498, 0, 180, 0, 53 [SEP] 7, ButterKnife, -0.836, 0.820, -1.328, 0, 0, 0, 104 [SEP] 8, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 80 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Pot, 1.955, 0.915, 1.383, 0, 0, 0, 80 [SEP] 11, Spoon, 1.902, 0.912, -0.345, 0, 0, 0, 59 [SEP] 12, Spatula, -0.294, 0.926, 1.553, 0, 270, 0, 56 [SEP] 13, Plate, -0.151, 0.914, 1.214, 0, 0, 0, 56 [SEP] 14, Cup, 2.479, 0.112, 1.077, 0, 0, 0, 49 [SEP] 15, Cup, 1.141, 0.909, -0.769, 0, 0, 0, 45 [SEP] 16, Cup, 1.447, 1.653, -0.693, 0, 180, 0, 82 [SEP] 17, Bowl, 1.872, 1.652, -0.734, 0, 180, 0, 82 [SEP] 18, SaltShaker, -0.694, 0.817, -1.308, 0, 90, 0, 104 [SEP] 19, SaltShaker, 2.256, 1.650, 1.470, 0, 0, 0, 69 [SEP] 20, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 80 [SEP] 21, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.839, 0.826, -1.155, 0, 90, 0, 104 [SEP] 23, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 25, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 45 [SEP] 26, Bread, 2.715, 1.077, -0.644, 0, 0, 0, 100 [SEP] 27, Egg, 3.180, 0.878, -0.543, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 98 [SEP] 30, Cup, -0.983, 0.818, -1.308, 0, 90, 0, 104 [SEP] 31, Spatula, 1.955, 0.926, 1.129, 0, 0, 0, 80 [SEP] 32, Apple, -0.151, 0.980, 1.553, 0, 0, 0, 56 [SEP] 33, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 34, Lettuce, 2.488, 0.992, 1.129, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.862, 0.111, 1.236, 0, 0, 0, 65 [SEP] 36, Knife, -0.983, 0.853, -1.257, 0, 90, 0, 104 [SEP] 37, Potato, 2.838, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, 1.447, 1.651, -0.810, 0, 180, 0, 67 [SEP] 39, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 45 [SEP] 40, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.178, 2.156, 1.428, 0, 0, 0, 79 [SEP] 42, Spoon, 2.488, 0.912, 1.299, 0, 0, 0, 80 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table.  | STEP 2: Pick up the the glass and the utensils from the table. | STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right. | STEP 4: Place the utensils and glass in the sink, rinse them off, and pick them up again. | STEP 5: Turn around, walk to the window,. then turn left and walk to the table.  | STEP 6: Place the clean utensils and glass on the table. | END


Input: Put two remote on the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.25, 0, 0, 0,  [SEP] 1, Watch, 1.891, 0.871, 0.643, 0, 90, 0, 40 [SEP] 2, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 34 [SEP] 3, Newspaper, 1.808, 0.869, 0.114, 0, 90, 0, 40 [SEP] 4, Newspaper, 1.724, 0.868, 0.537, 0, 90, 0, 40 [SEP] 5, KeyChain, -0.712, 0.202, -0.577, 0, 90, 0, 35 [SEP] 6, KeyChain, -0.288, 0.326, -1.990, 0, 90, 0, 36 [SEP] 7, CreditCard, 1.766, 0.870, 0.326, 0, 90, 0, 40 [SEP] 8, CreditCard, -0.5, 0.293, -1.624, 0, 0, 0, 36 [SEP] 9, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 34 [SEP] 10, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 42 [SEP] 11, KeyChain, 1.601, 0.316, -0.588, 0, 0, 0, 42 [SEP] 12, Watch, -0.841, 0.199, -0.217, 0, 270, 0, 32 [SEP] 13, Newspaper, 1.601, 0.276, -0.742, 0, 180, 0, 42 [SEP] 14, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 36 [SEP] 15, CreditCard, 1.807, 0.869, 0.643, 0, 90, 0, 40 [SEP] 16, RemoteControl, 1.849, 0.871, 0.008, 0, 90, 0, 40 [SEP] 17, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 34 [SEP] 18, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 34 [SEP] 19, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 34 [SEP] 20, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 21, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 22, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 23, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 24, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 25, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 26, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 27, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 28, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 29, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 30, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 31, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 32, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 33, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 34, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 35, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 36, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 37, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 38, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 39, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 40, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 41, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 42, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, WestWall, , , , , , ,

Output: STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table | STEP 4: Put the remote on the edge of the couch | STEP 5: Turn right  move forward then turn right face the center table  | STEP 6: Pick up the remote on the center table | STEP 7: Turn right move forward then head to the same couch  | STEP 8: Place the remote right beside the first remote | END


Input: Heat up a slice of apple in the microwave to put in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 102 [SEP] 2, Potato, 2.838, 1.598, -0.447, 0, 0, 0, 100 [SEP] 3, DishSponge, -0.983, 0.820, -1.308, 0, 90, 0, 104 [SEP] 4, DishSponge, -0.734, 0.820, -1.473, 0, 0, 0, 104 [SEP] 5, Kettle, 1.524, 1.655, 1.508, 0, 0, 0, 68 [SEP] 6, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 7, ButterKnife, 0.888, 0.911, -0.769, 0, 0, 0, 45 [SEP] 8, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 9, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 80 [SEP] 10, Spatula, 0.152, 0.926, -0.330, 0, 0, 0, 45 [SEP] 11, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 102 [SEP] 12, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 80 [SEP] 13, SoapBottle, -0.198, 0.917, 1.468, 0, 0, 0, 56 [SEP] 14, Tomato, 3.220, 0.871, -0.543, 0, 0, 0, 100 [SEP] 15, SaltShaker, 2.583, 0.111, 1.196, 0, 0, 0, 49 [SEP] 16, SaltShaker, 1.525, 0.110, 1.268, 0, 0, 0, 74 [SEP] 17, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 80 [SEP] 19, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 56 [SEP] 20, Mug, -0.621, 0.815, -1.308, 0, 90, 0, 104 [SEP] 21, Apple, 1.395, 0.980, -0.345, 0, 0, 0, 45 [SEP] 22, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 98 [SEP] 23, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 100 [SEP] 24, Fork, 2.092, 0.771, 1.122, 0, 90, 0, 76 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, -0.990, 0.858, -1.183, 0, 0, 0, 104 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.839, 0.852, -1.257, 0, 90, 0, 104 [SEP] 30, Cup, -0.072, 1.652, -0.811, 0, 180, 0, 87 [SEP] 31, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 80 [SEP] 32, Apple, 0.634, 0.980, -0.6, 0, 0, 0, 45 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 100 [SEP] 35, SaltShaker, 2.488, 0.908, 1.468, 0, 0, 0, 80 [SEP] 36, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 45 [SEP] 37, Potato, 2.715, 0.760, -0.535, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.872, 1.650, 1.585, 0, 0, 0, 70 [SEP] 39, ButterKnife, 2.488, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, 2.487, 1.653, 1.429, 0, 0, 0, 70 [SEP] 41, DishSponge, 1.955, 0.911, 1.383, 0, 0, 0, 80 [SEP] 42, Spoon, 1.836, 0.772, -0.460, 0, 180, 0, 59 [SEP] 43, Mug, 0.415, 1.779, 1.423, 0, 180, 0, 103 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Turn to face the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn left to walk to the sink. | STEP 12: Put the apple slice in the sink. | END


Input: Set a clean bar of soap on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 0, 0,  [SEP] 1, TissueBox, -1.561, 0.069, 3.793, 0, 0, 0, 31 [SEP] 2, SoapBar, -1.560, 0.067, 2.240, 0, 0, 0, 25 [SEP] 3, SoapBar, -1.219, 0.994, 2.269, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.322, 0.068, 2.857, 0, 0, 0, 23 [SEP] 5, SprayBottle, -1.284, 0.995, 2.118, 0, 0, 0, 30 [SEP] 6, SprayBottle, 0.313, 0.048, 3.865, 0, 0, 0, 33 [SEP] 7, SoapBottle, -1.379, 0.067, 3.176, 0, 0, 0, 29 [SEP] 8, SoapBottle, -1.441, 0.068, 2.908, 0, 0, 0, 29 [SEP] 9, ToiletPaper, -1.284, 0.991, 2.982, 0, 0, 0, 30 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.613, 0.994, 2.269, 0, 0, 0, 30 [SEP] 13, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 38 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, -1.382, 0.068, 2.807, 0, 0, 0, 23 [SEP] 16, TissueBox, -1.561, 0.069, 2.807, 0, 0, 0, 23 [SEP] 17, SoapBottle, -1.500, 0.067, 2.341, 0, 0, 0, 25 [SEP] 18, ToiletPaper, 0.351, 0.889, 1.618, 0, 0, 0, 36 [SEP] 19, SprayBottle, -1.613, 0.995, 3.842, 0, 0, 0, 30 [SEP] 20, Cloth, -1.350, 0.994, 3.873, 0, 0, 0, 30 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink. | STEP 3: Go to the sink. | STEP 4: Rinse off the soap in the sink. | STEP 5: Take the rinsed soap to the toilet across the room. | STEP 6: Set the rinsed soap down on the back of the toilet. | END


Input: Slice some lettuce and cool it in the refrigerator for disposal  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 0, 0,  [SEP] 1, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 106 [SEP] 2, Potato, 2.900, 1.323, -0.512, 0, 0, 0, 103 [SEP] 3, DishSponge, 0.053, 0.765, -0.596, 0, 0, 0, 105 [SEP] 4, ButterKnife, -0.621, 0.820, -1.257, 0, 90, 0, 107 [SEP] 5, ButterKnife, 2.754, 0.911, 1.214, 0, 0, 0, 83 [SEP] 6, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.129, 0, 0, 0, 83 [SEP] 8, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 48 [SEP] 9, Egg, -1.933, 0.461, 1.247, 0, 270, 0, 101 [SEP] 10, Egg, -0.734, 0.858, -1.328, 0, 0, 0, 107 [SEP] 11, Knife, -0.055, 0.944, 1.299, 0, 90, 0, 59 [SEP] 12, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 105 [SEP] 13, SoapBottle, 1.216, 1.661, 1.546, 0, 0, 0, 75 [SEP] 14, SoapBottle, 2.754, 0.917, 1.468, 0, 0, 0, 83 [SEP] 15, Tomato, 0.349, 0.942, -0.316, 0, 0, 0, 48 [SEP] 16, Tomato, -0.990, 0.852, -1.328, 0, 0, 0, 107 [SEP] 17, Bowl, 1.155, 0.909, 1.383, 0, 0, 0, 83 [SEP] 18, SaltShaker, 2.221, 0.908, 1.044, 0, 0, 0, 83 [SEP] 19, PepperShaker, -0.682, 0.817, -1.473, 0, 0, 0, 107 [SEP] 20, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 83 [SEP] 21, Bread, 2.777, 1.621, -0.709, 0, 0, 0, 103 [SEP] 22, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 83 [SEP] 23, Mug, -0.839, 0.815, -1.360, 0, 270, 0, 107 [SEP] 24, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 103 [SEP] 25, SoapBottle, 2.524, 1.661, 1.468, 0, 0, 0, 73 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, 1.072, 0.771, -0.422, 0, 270, 0, 67 [SEP] 28, Pot, 0.888, 0.915, -0.515, 0, 0, 0, 48 [SEP] 29, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 83 [SEP] 30, Egg, -1.933, 0.461, 1.417, 0, 270, 0, 101 [SEP] 31, Kettle, 1.422, 0.912, 1.299, 0, 0, 0, 83 [SEP] 32, Tomato, -0.198, 0.942, 1.044, 0, 0, 0, 59 [SEP] 33, Cup, 2.962, 1.561, -0.512, 0, 0, 0, 103 [SEP] 34, Spatula, -0.911, 0.835, -1.206, 0, 180, 0, 107 [SEP] 35, Apple, 0.518, 1.853, 1.455, 0, 180, 0, 106 [SEP] 36, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 37, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 59 [SEP] 38, SaltShaker, 0.480, 1.650, -0.849, 0, 180, 0, 87 [SEP] 39, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 107 [SEP] 40, Potato, 2.838, 1.053, -0.775, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.142, 0.908, -0.316, 0, 0, 0, 48 [SEP] 42, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.223, 0.112, 1.119, 0, 0, 0, 84 [SEP] 44, DishSponge, 1.597, 1.655, -0.810, 0, 180, 0, 70 [SEP] 45, Spoon, 1.688, 0.912, 1.214, 0, 0, 0, 83 [SEP] 46, Mug, 2.900, 1.283, -0.840, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top | STEP 9: return to the refrigerator  | STEP 10: place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator | STEP 11: go to the window on the other side of the room and face the  bin | STEP 12: throw the lettuce in the bin | END


Input: Put two slices of bread from two different loaves on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Kettle, 2.488, 0.912, 1.383, 0, 0, 0, 82 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 3, ButterKnife, 1.155, 0.911, 1.383, 0, 0, 0, 82 [SEP] 4, ButterKnife, 2.238, 0.771, -0.460, 0, 270, 0, 60 [SEP] 5, Fork, 2.418, 0.772, 1.160, 0, 90, 0, 63 [SEP] 6, Fork, 2.156, 0.912, -0.684, 0, 0, 0, 47 [SEP] 7, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 104 [SEP] 8, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 104 [SEP] 9, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 82 [SEP] 10, Cup, 2.962, 1.016, -0.709, 0, 0, 0, 102 [SEP] 11, Cup, 2.962, 1.286, -0.840, 0, 0, 0, 102 [SEP] 12, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 104 [SEP] 13, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 58 [SEP] 14, SoapBottle, -0.151, 0.917, 1.214, 0, 0, 0, 58 [SEP] 15, SoapBottle, -1.962, 0.429, 1.332, 0, 270, 0, 100 [SEP] 16, Tomato, 2.591, 1.320, -0.512, 0, 0, 0, 102 [SEP] 17, SaltShaker, -0.007, 0.908, 1.129, 0, 0, 0, 58 [SEP] 18, SaltShaker, 0.284, 2.153, 1.467, 0, 0, 0, 81 [SEP] 19, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 82 [SEP] 20, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 82 [SEP] 21, Lettuce, 2.777, 1.099, -0.709, 0, 0, 0, 102 [SEP] 22, Mug, 1.909, 0.109, -0.421, 0, 180, 0, 93 [SEP] 23, Apple, 2.777, 0.794, -0.473, 0, 0, 0, 102 [SEP] 24, SoapBottle, 1.104, 1.661, 1.507, 0, 0, 0, 74 [SEP] 25, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 47 [SEP] 26, Fork, 2.205, 0.772, -0.422, 0, 270, 0, 60 [SEP] 27, Pot, 0.634, 0.915, -0.6, 0, 0, 0, 47 [SEP] 28, Bread, 1.955, 0.969, 1.383, 0, 0, 0, 82 [SEP] 29, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 106 [SEP] 30, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 82 [SEP] 31, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 106 [SEP] 32, Cup, 2.591, 1.016, -0.644, 0, 0, 0, 102 [SEP] 33, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 82 [SEP] 34, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 106 [SEP] 35, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 36, Lettuce, 2.715, 1.644, -0.578, 0, 0, 0, 102 [SEP] 37, SaltShaker, 2.221, 0.908, 1.468, 0, 0, 0, 82 [SEP] 38, Knife, -0.785, 0.853, -1.328, 0, 0, 0, 106 [SEP] 39, Potato, 2.591, 0.760, -0.535, 0, 0, 0, 102 [SEP] 40, PepperShaker, 1.291, 1.651, 1.429, 0, 0, 0, 74 [SEP] 41, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 82 [SEP] 42, Bowl, 2.777, 1.286, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, 2.161, 0.114, -0.498, 0, 180, 0, 88 [SEP] 44, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 104 [SEP] 45, Mug, -0.621, 0.815, -1.360, 0, 90, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table. | STEP 15: Pick up the knife again. | STEP 16: Go back to the bread | STEP 17: Pick up a slice of bread from the bottom loaf. | STEP 18: Go back to the circular table. | STEP 19: Put the slice of bread on the able. | END


Input: place a purple spray bottle on to the reservoir of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.5, 0, 270, 0,  [SEP] 1, TissueBox, -1.471, 1.070, 2.157, 0, 0, 0, 32 [SEP] 2, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 30 [SEP] 3, Cloth, 0.206, 0.048, 1.295, 0, 0, 0, 31 [SEP] 4, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 31 [SEP] 5, SoapBar, -1.635, 1.069, 2.097, 0, 0, 0, 32 [SEP] 6, SoapBar, 0.017, 0.609, 1.775, 0, 0, 0, 24 [SEP] 7, SoapBottle, -1.144, 0.291, 2.097, 0, 0, 0, 28 [SEP] 8, SoapBottle, -1.144, 0.291, 2.217, 0, 0, 0, 28 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 33 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 27 [SEP] 11, Candle, -0.129, 0.650, -0.409, 0, 315, 0, 24 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, -0.868, 1.010, -0.328, 0, 306.598, 0, 25 [SEP] 15, ToiletPaper, -1.707, 0.078, -0.655, 0, 270, 0, 27 [SEP] 16, SoapBottle, -0.227, 0.611, -0.426, 0, 315, 0, 24 [SEP] 17, TissueBox, -1.308, 0.289, 2.097, 0, 0, 0, 28 [SEP] 18, Cloth, -0.980, 1.074, 2.127, 0, 0, 0, 32 [SEP] 19, ToiletPaper, -2.277, 1.043, -0.705, 0, 0, 0, 37 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -0.817, 1.774, 2.097, 0, 0, 0, 30 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: turn right and walk to the shelves along the wall and look up | STEP 2: pick up the purple spray bottle on the top shelf | STEP 3: look back down turn left and walk to the toilet | STEP 4: place the purple spray bottle on to the reservoir of the toilet | END


Input: Move two spray bottles to the top of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.5, 0, 270, 0,  [SEP] 1, TissueBox, -1.284, 0.994, 3.873, 0, 0, 0, 26 [SEP] 2, Cloth, -1.441, 0.068, 3.693, 0, 0, 0, 27 [SEP] 3, SoapBar, 0.258, 0.047, 3.865, 0, 0, 0, 29 [SEP] 4, SprayBottle, -1.284, 0.995, 2.148, 0, 0, 0, 26 [SEP] 5, SoapBottle, -1.620, 0.067, 3.377, 0, 0, 0, 25 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.620, 0.067, 3.126, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 21 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, 0.329, 0.892, 1.881, 0, 0, 0, 32 [SEP] 12, TissueBox, -1.319, 0.068, 3.276, 0, 0, 0, 25 [SEP] 13, SoapBottle, -1.501, 0.068, 2.757, 0, 0, 0, 21 [SEP] 14, ToiletPaper, -1.620, 0.065, 2.706, 0, 0, 0, 19 [SEP] 15, SprayBottle, 0.286, 0.048, 3.810, 0, 0, 0, 29 [SEP] 16, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet | STEP 4: Put the spray bottle on top of toilet | STEP 5: Go to the sink | STEP 6: Pick up the spray bottle | STEP 7: Go to the toilet | STEP 8: Put the spray bottle on top of toilet | END


Input: pick up the credit cards and set them on the coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -1.25, 0, 90, 0,  [SEP] 1, Watch, -0.323, 0.201, -0.609, 0, 90, 0, 38 [SEP] 2, Watch, -1.163, 0.552, -0.106, 0, 270, 0, 29 [SEP] 3, CreditCard, -0.711, 0.335, -1.844, 0, 0, 0, 31 [SEP] 4, CreditCard, 1.807, 0.869, 0.537, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, 1.364, 0.310, -0.512, 0, 270, 0, 37 [SEP] 7, Watch, -1.163, 0.552, -0.537, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.411, 0.550, -0.537, 0, 270, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, 1.724, 0.869, 0.325, 0, 90, 0, 35 [SEP] 11, RemoteControl, -0.711, 0.334, -1.771, 0, 0, 0, 31 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.808, 0.880, 0.220, 0, 270, 0, 35 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, , , , , , , ,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table | STEP 4: place the credit card on the coffee table | STEP 5: turn around to the couch behind the coffee table | STEP 6: pick up the credit card under the remote sitting on the couch | STEP 7: turn back around to the coffee table in front of the couch | STEP 8: set the card on the coffee table beside the other card | END


Input: Wash a soap bar to use in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.25, 0, 270, 0,  [SEP] 1, TissueBox, -1.308, 1.773, 2.127, 0, 0, 0, 29 [SEP] 2, Cloth, 0.289, 0.048, 0.156, 0, 0, 0, 30 [SEP] 3, Cloth, 0.206, 0.048, 0.384, 0, 0, 0, 30 [SEP] 4, SoapBar, -0.653, 0.288, 2.157, 0, 0, 0, 27 [SEP] 5, SoapBar, -1.666, 0.081, -0.620, 0, 270, 0, 28 [SEP] 6, Candle, -2.212, 1.088, -0.827, 0, 0, 0, 36 [SEP] 7, Candle, -2.212, 1.088, -0.766, 0, 0, 0, 36 [SEP] 8, SoapBottle, -0.293, 0.611, 1.661, 0, 45, 0, 23 [SEP] 9, SoapBottle, -1.949, 1.049, -0.766, 0, 0, 0, 36 [SEP] 10, Candle, -0.319, 0.650, -0.259, 0, 0, 0, 23 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -1.409, 1.010, -0.330, 0, 227.756, 0, 24 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -1.144, 0.291, 2.097, 0, 0, 0, 27 [SEP] 16, TissueBox, -2.080, 1.047, -0.705, 0, 0, 0, 36 [SEP] 17, Cloth, 0.371, 0.048, -0.071, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -2.343, 1.048, -0.705, 0, 0, 0, 36 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Walk to the edge of the kitchen sink on your left. | STEP 2: Grab a soap bar from the trash can. | STEP 3: Put the soap bar under the faucet, wash it, then grab it. | STEP 4: Walk to the tub on your left. | STEP 5: Place the soap bar in the tub. | END


Input: Put a heated tomato in the fridge.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 104 [SEP] 2, Potato, -0.151, 0.946, 1.044, 0, 0, 0, 56 [SEP] 3, DishSponge, 1.175, 0.770, 1.236, 0, 0, 0, 90 [SEP] 4, DishSponge, 2.217, 0.770, 1.122, 0, 0, 0, 76 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 6, Kettle, 1.141, 0.912, -0.684, 0, 0, 0, 45 [SEP] 7, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 8, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 80 [SEP] 9, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 10, Spatula, 1.955, 0.926, 1.553, 0, 270, 0, 80 [SEP] 11, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 12, Cup, 2.653, 0.723, -0.565, 0, 0, 0, 100 [SEP] 13, Cup, 2.449, 1.653, 1.390, 0, 0, 0, 70 [SEP] 14, Egg, -2.019, 0.461, 1.375, 0, 270, 0, 98 [SEP] 15, SaltShaker, 1.422, 0.908, 1.553, 0, 0, 0, 80 [SEP] 16, SaltShaker, 1.798, 1.650, -0.849, 0, 180, 0, 82 [SEP] 17, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 56 [SEP] 19, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 100 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 80 [SEP] 21, Mug, -0.151, 0.906, 1.214, 0, 0, 0, 56 [SEP] 22, SoapBottle, 1.835, 0.120, -0.458, 0, 180, 0, 91 [SEP] 23, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 102 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 80 [SEP] 27, Egg, -0.157, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 2.156, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, 1.155, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 1.141, 0.909, -0.515, 0, 0, 0, 45 [SEP] 31, Spatula, -0.785, 0.835, -1.328, 0, 0, 0, 104 [SEP] 32, Apple, 2.900, 0.794, -0.473, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 35, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 104 [SEP] 36, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 56 [SEP] 37, Potato, 2.838, 1.598, -0.775, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.754, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.514, 1.652, -0.735, 0, 180, 0, 84 [SEP] 41, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 45 [SEP] 42, Spoon, 1.155, 0.912, 1.299, 0, 0, 0, 80 [SEP] 43, Mug, 2.804, 1.649, 1.432, 0, 0, 0, 46 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn around, go to the counter right of the stove. | STEP 2: Pick up the tomato on the counter.  | STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right.  | STEP 4: Heat the tomato in the mike above the stove.  | STEP 5: Bring the heated tomato back and to the right, to the fridge.  | STEP 6: Put the tomato in the fridge.  | END


Input: To heat a tomato as well as store it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 104 [SEP] 2, Potato, -0.151, 0.946, 1.044, 0, 0, 0, 56 [SEP] 3, DishSponge, 1.175, 0.770, 1.236, 0, 0, 0, 90 [SEP] 4, DishSponge, 2.217, 0.770, 1.122, 0, 0, 0, 76 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 6, Kettle, 1.141, 0.912, -0.684, 0, 0, 0, 45 [SEP] 7, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 8, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 80 [SEP] 9, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 10, Spatula, 1.955, 0.926, 1.553, 0, 270, 0, 80 [SEP] 11, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 12, Cup, 2.653, 0.723, -0.565, 0, 0, 0, 100 [SEP] 13, Cup, 2.449, 1.653, 1.390, 0, 0, 0, 70 [SEP] 14, Egg, -2.019, 0.461, 1.375, 0, 270, 0, 98 [SEP] 15, SaltShaker, 1.422, 0.908, 1.553, 0, 0, 0, 80 [SEP] 16, SaltShaker, 1.798, 1.650, -0.849, 0, 180, 0, 82 [SEP] 17, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 56 [SEP] 19, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 100 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 80 [SEP] 21, Mug, -0.151, 0.906, 1.214, 0, 0, 0, 56 [SEP] 22, SoapBottle, 1.835, 0.120, -0.458, 0, 180, 0, 91 [SEP] 23, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 102 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 80 [SEP] 27, Egg, -0.157, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 2.156, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, 1.155, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 1.141, 0.909, -0.515, 0, 0, 0, 45 [SEP] 31, Spatula, -0.785, 0.835, -1.328, 0, 0, 0, 104 [SEP] 32, Apple, 2.900, 0.794, -0.473, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 35, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 104 [SEP] 36, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 56 [SEP] 37, Potato, 2.838, 1.598, -0.775, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.754, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.514, 1.652, -0.735, 0, 180, 0, 84 [SEP] 41, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 45 [SEP] 42, Spoon, 1.155, 0.912, 1.299, 0, 0, 0, 80 [SEP] 43, Mug, 2.804, 1.649, 1.432, 0, 0, 0, 46 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Take a step to the left and face the microwave above the stove. | STEP 4: Heat the tomato in the microwave and then remove it. | STEP 5: Turn right and walk across the room, then turn right to face the fridge. | STEP 6: Place the tomato in the fridge. | END


Input: Place a piece of rinsed lettuce on the table with the gray tablecloth. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Kettle, 0.231, 2.158, 1.467, 0, 0, 0, 76 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 4, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 101 [SEP] 5, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 42 [SEP] 6, Spatula, -0.682, 0.835, -1.328, 0, 90, 0, 101 [SEP] 7, Cup, 0.862, 1.653, -0.810, 0, 180, 0, 52 [SEP] 8, Cup, 2.838, 1.561, -0.578, 0, 0, 0, 97 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 95 [SEP] 10, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 100 [SEP] 11, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 12, SoapBottle, 2.118, 0.120, 1.193, 0, 0, 0, 78 [SEP] 13, SaltShaker, 1.896, 0.111, 1.037, 0, 0, 0, 62 [SEP] 14, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 15, PepperShaker, 1.102, 0.111, 1.117, 0, 0, 0, 71 [SEP] 16, PepperShaker, 1.488, 0.110, 1.156, 0, 0, 0, 71 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 19, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 81 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 101 [SEP] 22, Pot, 2.221, 0.915, 1.468, 0, 0, 0, 77 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 101 [SEP] 25, Kettle, 1.210, 0.115, -0.421, 0, 180, 0, 50 [SEP] 26, Tomato, 2.591, 1.594, -0.644, 0, 0, 0, 97 [SEP] 27, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 97 [SEP] 28, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 77 [SEP] 29, Apple, 2.900, 0.795, -0.535, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 53 [SEP] 32, SaltShaker, 2.156, 0.908, -0.769, 0, 0, 0, 42 [SEP] 33, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 77 [SEP] 34, Potato, 2.591, 1.323, -0.709, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.043, 0.908, -0.302, 0, 0, 0, 42 [SEP] 36, ButterKnife, -1.056, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 1.842, 1.653, 1.429, 0, 0, 0, 54 [SEP] 38, DishSponge, 0.634, 0.911, -0.769, 0, 0, 0, 42 [SEP] 39, Spoon, 1.955, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.591, 0.720, -0.565, 0, 90, 0, 97 [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 and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the  oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth. | STEP 8: Pick up a piece of lettuce from the table. | STEP 9: Turn around and walk to the sink on your right. | STEP 10: Rinse the lettuce in the sink and then pick the piece of lettuce up. | STEP 11: Turn right and walk to the table with the gray tablecloth. | STEP 12: Place the piece of lettuce on the table. | END