Input: place microwaved apple in front of coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 270, 0,  [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 2, DishSponge, 1.909, 0.114, -0.383, 0, 180, 0, 91 [SEP] 3, ButterKnife, 2.156, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.198, 0.911, 1.044, 0, 0, 0, 56 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 6, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 45 [SEP] 7, Spatula, 1.422, 0.926, 1.214, 0, 0, 0, 80 [SEP] 8, Spatula, 1.422, 0.926, 1.553, 0, 270, 0, 80 [SEP] 9, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 10, Cup, 2.838, 0.724, -0.535, 0, 0, 0, 100 [SEP] 11, Cup, 0.123, 0.763, -0.596, 0, 0, 0, 102 [SEP] 12, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 13, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 103 [SEP] 14, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 80 [SEP] 15, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 104 [SEP] 16, SoapBottle, -2.019, 0.429, 1.290, 0, 270, 0, 98 [SEP] 17, Tomato, -0.694, 0.852, -1.411, 0, 90, 0, 104 [SEP] 18, Bowl, 2.562, 1.653, 1.507, 0, 0, 0, 70 [SEP] 19, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 45 [SEP] 20, Mug, 1.908, 1.649, -0.849, 0, 180, 0, 82 [SEP] 21, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 102 [SEP] 22, SoapBottle, 2.754, 0.917, 1.129, 0, 0, 0, 80 [SEP] 23, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 80 [SEP] 24, Fork, 1.902, 0.772, -0.498, 0, 90, 0, 59 [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, -1.933, 0.461, 1.459, 0, 270, 0, 98 [SEP] 28, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 102 [SEP] 29, Tomato, 2.777, 1.050, -0.775, 0, 0, 0, 100 [SEP] 30, Cup, -0.694, 0.818, -1.206, 0, 90, 0, 104 [SEP] 31, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 45 [SEP] 32, Apple, 2.838, 1.632, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.299, 0, 270, 0, 80 [SEP] 35, SaltShaker, 1.931, 0.111, 1.276, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 2.962, 0.761, -0.504, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.983, 0.817, -1.308, 0, 90, 0, 104 [SEP] 39, ButterKnife, -0.198, 0.911, 1.383, 0, 0, 0, 56 [SEP] 40, Bowl, 1.827, 0.112, 1.156, 0, 0, 0, 65 [SEP] 41, DishSponge, -0.103, 0.911, 1.214, 0, 0, 0, 56 [SEP] 42, Spoon, -1.056, 0.822, -1.308, 0, 90, 0, 104 [SEP] 43, Mug, 0.570, 1.779, 1.520, 0, 270, 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 left, face sink with apple to the left | STEP 2: pick up red apple from counter | STEP 3: turn around, go to microwave above stove | STEP 4: open microwave, put apple in microwave, microwave apple, open microwave, pick up apple, close microwave | STEP 5: turn around, go to counter with coffee maker to the left | STEP 6: place apple on counter in front of coffee maker | END


Input: Turn the lamp on while holding the keys. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 5.5, 0, 90, 0,  [SEP] 1, Watch, -5.923, 0.453, 4.547, 0, 0, 0, 50 [SEP] 2, KeyChain, -0.484, 0.794, 5.852, 0, 270, 0, 39 [SEP] 3, KeyChain, -0.535, 0.794, 6.231, 0, 0, 0, 39 [SEP] 4, RemoteControl, -0.868, 0.441, 3.002, 0, 0, 0, 38 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -0.535, 0.794, 5.600, 0, 270, 0, 39 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -0.947, 0.365, 3.002, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 12, Vase, -6.002, 0.147, 4.942, 0, 0, 0, 45 [SEP] 13, CreditCard, -0.631, 0.367, 3.002, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -0.947, 0.367, 3.306, 0, 0, 0, 38 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -5.218, 0.535, 6.721, 0, 45, 0, 56 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.277, 0.882, 7.208, 0, 90, 0, 47 [SEP] 22, Watch, -0.535, 0.793, 6.357, 0, 270, 0, 39 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -2.277, 0.454, 7.259, 0, 180, 0, 47 [SEP] 25, Statue, -5.899, 0.156, 4.547, 0, 0, 0, 45 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,

Output: STEP 1: Head straight to the end table next to the sofa. | STEP 2: Pick the keys up from off of the end table. | STEP 3: Go to the right past the door and stand in front of the lamp. | STEP 4: Turn the lamp on. | END


Input: Put a microwaved slice of tomato on the counter next to the wall oven SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.5, 0, 270, 0,  [SEP] 1, DishSponge, -1.416, 0.202, -1.193, 0, 0, 0, 55 [SEP] 2, DishSponge, 1.436, 0.204, -1.480, 0, 0, 0, 57 [SEP] 3, ButterKnife, -0.177, 1.046, -1.097, 0, 0, 0, 47 [SEP] 4, ButterKnife, 0.682, 1.043, 0.589, 0, 0, 0, 49 [SEP] 5, Pot, 1.665, 0.206, -1.480, 0, 180, 0, 57 [SEP] 6, Fork, 0.823, 1.047, -1.289, 0, 0, 0, 47 [SEP] 7, Spoon, -0.030, 1.044, 0.630, 0, 90, 0, 49 [SEP] 8, Egg, 1.241, 0.947, 0.158, 0, 90, 0, 44 [SEP] 9, Cup, 1.879, 1.043, 0.738, 0, 0, 0, 49 [SEP] 10, Cup, -1.194, 1.716, -1.331, 0, 0, 0, 61 [SEP] 11, Plate, 1.512, 1.032, -1.411, 0, 0, 0, 53 [SEP] 12, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 45 [SEP] 13, Tomato, 0.160, 1.094, 0.630, 0, 0, 0, 49 [SEP] 14, Tomato, 0.936, 1.104, 0.331, 0, 90, 0, 45 [SEP] 15, Bowl, -1.381, 1.488, 2.063, 0, 90, 0, 62 [SEP] 16, Bowl, 1.820, 1.018, -1.411, 0, 0, 0, 53 [SEP] 17, SaltShaker, 1.820, 1.014, -1.191, 0, 0, 0, 53 [SEP] 18, PepperShaker, 1.665, 0.199, -1.625, 0, 0, 0, 75 [SEP] 19, Lettuce, 1.181, 1.103, 0.676, 0, 0, 0, 49 [SEP] 20, Lettuce, -1.235, 1.287, 2.063, 0, 90, 0, 62 [SEP] 21, SoapBottle, -0.548, 1.565, -1.396, 0, 0, 0, 52 [SEP] 22, Apple, 0.717, 1.097, 0.331, 0, 90, 0, 45 [SEP] 23, Potato, -1.034, 1.017, 2.153, 0, 180, 0, 62 [SEP] 24, Fork, 0.446, 1.043, 0.630, 0, 90, 0, 49 [SEP] 25, Kettle, -0.473, 1.566, -1.619, 0, 0, 0, 52 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.312, 1.764, 2.153, 0, 90, 0, 62 [SEP] 28, SaltShaker, 1.158, 0.194, -1.412, 0, 0, 0, 58 [SEP] 29, Egg, 0.516, 1.097, 0.763, 0, 0, 0, 49 [SEP] 30, Cup, -0.603, 1.047, -1.505, 0, 0, 0, 47 [SEP] 31, Spatula, 0.717, 1.068, 0.181, 0, 90, 0, 45 [SEP] 32, Knife, 0.848, 1.069, 0.807, 0, 180, 0, 49 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.848, 1.043, 0.589, 0, 0, 0, 49 [SEP] 35, PepperShaker, -0.580, 0.198, -1.409, 0, 0, 0, 56 [SEP] 36, DishSponge, 0.351, 1.042, 0.738, 0, 0, 0, 49 [SEP] 37, Plate, -0.689, 1.059, -1.289, 0, 0, 0, 47 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.065, 1.044, 0.522, 0, 0, 0, 49 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -1.071, 0.702, 1.796, 0, 90, 0, 62 [SEP] 42, Bowl, -1.029, 2.027, -1.482, 0, 0, 0, 54 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 75, , , , , , , ,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, EastWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,  [SEP] 79, WestWall, , , , , , ,

Output: STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink | STEP 8: Pick up a slice of tomato | STEP 9: Turn left and go to the wall, then turn left and go to the wall oven with the microwave above it | STEP 10: Microwave the slice of tomato then remove it from the microwave | STEP 11: Turn left then turn right and go to the counter to the left of the wall oven | STEP 12: Put the tomato slice on the counter to the left of the plate | END


Input: Get fork, wash fork, put in drawer. 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, 0.0, 0, 180, 0,  [SEP] 1, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 75 [SEP] 2, Spoon, 2.173, 0.773, -0.422, 0, 180, 0, 53 [SEP] 3, Spatula, 2.488, 0.926, 1.468, 0, 0, 0, 75 [SEP] 4, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 40 [SEP] 5, Cup, 2.777, 1.016, -0.775, 0, 0, 0, 95 [SEP] 6, Egg, -0.151, 0.949, 1.383, 0, 0, 0, 51 [SEP] 7, Egg, -0.017, 0.803, -0.596, 0, 0, 0, 97 [SEP] 8, Knife, -0.621, 0.853, -1.308, 0, 90, 0, 99 [SEP] 9, Knife, -0.836, 0.853, -1.328, 0, 180, 0, 99 [SEP] 10, Tomato, 2.653, 1.050, -0.644, 0, 0, 0, 95 [SEP] 11, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 93 [SEP] 12, Bowl, 0.284, 2.154, 1.505, 0, 0, 0, 74 [SEP] 13, Bowl, 2.513, 0.112, 1.156, 0, 0, 0, 44 [SEP] 14, SaltShaker, -0.043, 0.908, -0.316, 0, 0, 0, 40 [SEP] 15, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 51 [SEP] 16, Mug, 1.139, 0.110, 1.236, 0, 0, 0, 47 [SEP] 17, SoapBottle, -0.127, 1.660, 1.546, 0, 0, 0, 66 [SEP] 18, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.839, 0.821, -1.206, 0, 180, 0, 99 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 75 [SEP] 22, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 97 [SEP] 23, Kettle, 1.488, 0.115, 1.156, 0, 0, 0, 69 [SEP] 24, Tomato, 2.715, 0.756, -0.565, 0, 0, 0, 95 [SEP] 25, Cup, 0.363, 1.782, 1.423, 0, 180, 0, 98 [SEP] 26, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.715, 1.357, -0.775, 0, 0, 0, 95 [SEP] 28, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 43 [SEP] 29, Lettuce, 1.422, 0.992, 1.129, 0, 0, 0, 75 [SEP] 30, SaltShaker, 0.888, 0.908, -0.430, 0, 0, 0, 40 [SEP] 31, Knife, -0.983, 0.853, -1.308, 0, 90, 0, 99 [SEP] 32, Potato, 2.777, 1.053, -0.578, 0, 0, 0, 95 [SEP] 33, PepperShaker, 0.888, 0.908, -0.854, 0, 0, 0, 40 [SEP] 34, ButterKnife, 1.141, 0.911, -0.430, 0, 0, 0, 40 [SEP] 35, Bowl, 1.522, 0.112, -0.498, 0, 180, 0, 57 [SEP] 36, DishSponge, -0.887, 0.820, -1.400, 0, 0, 0, 99 [SEP] 37, Spoon, 1.155, 0.912, 1.214, 0, 0, 0, 75 [SEP] 38, Mug, -0.246, 0.906, 1.383, 0, 0, 0, 51 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Turn right, go past counter on left.  Turn left and proceed to table. | STEP 2: Remove fork from in front of yellow handle knife and sponge from table. | STEP 3: Turn around, go to end of counter.  Turn right, go to sink on right.  Turn right to face sink. | STEP 4: Place fork in sink to right of egg, fill with water, empty water, pick up fork. | STEP 5: Turn around, go to counter with bread on it. | STEP 6: Open drawer under bread, put fork in drawer, in the center.   | END


Input: Put a knife on the table in the kitchen as well at the bowl on top. 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, 90, 0,  [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [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: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door. | STEP 4: Place the knife on the table. | STEP 5: Move to the counter across and slightly to the left of the fridge. | STEP 6: Pick up the butter knife from the counter space. | STEP 7: Move to the table to the left around the wall, across from the door. | STEP 8: Place the knife on the table inside the bowl. | END


Input: Put two knifes on the table to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 90, 0,  [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [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: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the counter to the right of the stove | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink | STEP 8: Place the knife in the bowl on the table | END


Input: Put two knives on a round table, placing one of them in a blue bowl. 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, 90, 0,  [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [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: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table. | STEP 4: Put the knife on the table, to the right of the blue bowl. | STEP 5: Turn left and go back between the counters to the end of the counter on the left, then face the counter. | STEP 6: Pick up the knife that does not have a yellow handle. | STEP 7: Carry the knife back to the round table. | STEP 8: Put the knife in the blue bowl. | END


Input: Move two butter knives to the round table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 90, 0,  [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [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: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter.  | STEP 3: Turn around and go to the round table.  | STEP 4: Put the butter on the round table.  | STEP 5: Turn around and go to the end of the counter.  | STEP 6: Pick up a butter knife on the counter.  | STEP 7: Turn around and go to the round table.  | STEP 8: Put the butter in the bowl on the round table.  | END


Input: Put a heated tomato slice on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.25, 0, 270, 0,  [SEP] 1, DishSponge, 2.222, 1.654, 1.508, 0, 0, 0, 70 [SEP] 2, DishSponge, 2.238, 0.770, -0.536, 0, 180, 0, 59 [SEP] 3, ButterKnife, 2.221, 0.911, 1.214, 0, 0, 0, 81 [SEP] 4, ButterKnife, -0.766, 0.820, -1.360, 0, 180, 0, 105 [SEP] 5, Spoon, -0.151, 0.912, 1.383, 0, 180, 0, 57 [SEP] 6, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 57 [SEP] 7, Fork, 0.263, 0.766, -0.707, 0, 90, 0, 103 [SEP] 8, Fork, 1.558, 0.772, -0.422, 0, 270, 0, 76 [SEP] 9, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 46 [SEP] 11, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 81 [SEP] 13, Egg, 2.591, 0.762, -0.504, 0, 0, 0, 101 [SEP] 14, Egg, 2.962, 0.762, -0.473, 0, 0, 0, 101 [SEP] 15, SoapBottle, 1.155, 0.917, 1.299, 0, 0, 0, 81 [SEP] 16, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 17, Tomato, 2.591, 1.594, -0.775, 0, 0, 0, 101 [SEP] 18, SaltShaker, -0.007, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, SaltShaker, 1.522, 1.651, -0.771, 0, 180, 0, 68 [SEP] 20, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 105 [SEP] 21, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 105 [SEP] 22, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 99 [SEP] 23, SoapBottle, 1.098, 0.120, -0.421, 0, 180, 0, 54 [SEP] 24, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 81 [SEP] 25, Fork, -1.056, 0.821, -1.206, 0, 90, 0, 105 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.03, 0.953, -0.518, 0, 0, 0, 46 [SEP] 28, Egg, -0.198, 0.949, 1.299, 0, 0, 0, 57 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 103 [SEP] 31, Cup, 1.688, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.694, 0.835, -1.360, 0, 90, 0, 105 [SEP] 33, Apple, -1.962, 0.492, 1.290, 0, 270, 0, 99 [SEP] 34, Pan, 0.053, 0.765, -0.707, 0, 0, 0, 103 [SEP] 35, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 101 [SEP] 36, SaltShaker, -0.887, 0.817, -1.255, 0, 0, 0, 105 [SEP] 37, Knife, -0.939, 0.853, -1.328, 0, 270, 0, 105 [SEP] 38, Potato, 2.838, 1.323, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.792, 0.111, 1.196, 0, 0, 0, 66 [SEP] 40, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.653, 1.286, -0.512, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.983, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 105 [SEP] 44, Mug, 0.415, 1.779, 1.455, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink. | STEP 9: Turn around to face the oven and the microwave. | STEP 10: Put the tomato slice in the microwave and microwave it.  Take the slice out. | STEP 11: Turn left, walk across the room, turn left toward the table. | STEP 12: Set the tomato slice in front of the sponge on the table. | END


Input: Put a heated pepper slice on the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.25, 0, 270, 0,  [SEP] 1, DishSponge, 2.222, 1.654, 1.508, 0, 0, 0, 70 [SEP] 2, DishSponge, 2.238, 0.770, -0.536, 0, 180, 0, 59 [SEP] 3, ButterKnife, 2.221, 0.911, 1.214, 0, 0, 0, 81 [SEP] 4, ButterKnife, -0.766, 0.820, -1.360, 0, 180, 0, 105 [SEP] 5, Spoon, -0.151, 0.912, 1.383, 0, 180, 0, 57 [SEP] 6, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 57 [SEP] 7, Fork, 0.263, 0.766, -0.707, 0, 90, 0, 103 [SEP] 8, Fork, 1.558, 0.772, -0.422, 0, 270, 0, 76 [SEP] 9, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 46 [SEP] 11, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 81 [SEP] 13, Egg, 2.591, 0.762, -0.504, 0, 0, 0, 101 [SEP] 14, Egg, 2.962, 0.762, -0.473, 0, 0, 0, 101 [SEP] 15, SoapBottle, 1.155, 0.917, 1.299, 0, 0, 0, 81 [SEP] 16, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 17, Tomato, 2.591, 1.594, -0.775, 0, 0, 0, 101 [SEP] 18, SaltShaker, -0.007, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, SaltShaker, 1.522, 1.651, -0.771, 0, 180, 0, 68 [SEP] 20, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 105 [SEP] 21, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 105 [SEP] 22, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 99 [SEP] 23, SoapBottle, 1.098, 0.120, -0.421, 0, 180, 0, 54 [SEP] 24, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 81 [SEP] 25, Fork, -1.056, 0.821, -1.206, 0, 90, 0, 105 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.03, 0.953, -0.518, 0, 0, 0, 46 [SEP] 28, Egg, -0.198, 0.949, 1.299, 0, 0, 0, 57 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 103 [SEP] 31, Cup, 1.688, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.694, 0.835, -1.360, 0, 90, 0, 105 [SEP] 33, Apple, -1.962, 0.492, 1.290, 0, 270, 0, 99 [SEP] 34, Pan, 0.053, 0.765, -0.707, 0, 0, 0, 103 [SEP] 35, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 101 [SEP] 36, SaltShaker, -0.887, 0.817, -1.255, 0, 0, 0, 105 [SEP] 37, Knife, -0.939, 0.853, -1.328, 0, 270, 0, 105 [SEP] 38, Potato, 2.838, 1.323, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.792, 0.111, 1.196, 0, 0, 0, 66 [SEP] 40, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.653, 1.286, -0.512, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.983, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 105 [SEP] 44, Mug, 0.415, 1.779, 1.455, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn to your left and go to the round table, with the grey table cloth.  | STEP 2: Pick up the butter knife that is under the head of lettuce.  | STEP 3: Turn to your left and go to the front of the kitchen sink.  | STEP 4: Cut the red bell pepper in the sink, to the far right.  | STEP 5: Turn around so that you are facing the stove.  | STEP 6: Place the knife in the bottom cupboard, to the left of the stove.  | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of the red bell pepper in the sink. | STEP 9: Turn around and go to the microwave above the stove.  | STEP 10: Place the slice of pepper in the microwave, heat it, then remove it to the microwave.  | STEP 11: Turn around and go back to the round table with the grey table cloth.  | STEP 12: Place the slice of pepper on the table, in front of the green and yellow sponge.  | END


Input: Examine a laptop by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.909, -3.75, 0, 270, 0,  [SEP] 1, Mug, -0.657, 0.801, -4.137, 0, 0, 0, 39 [SEP] 2, CD, -0.862, 0.799, -4.246, 0, 0, 0, 39 [SEP] 3, CD, -1.066, 0.803, -3.811, 0, 0, 0, 39 [SEP] 4, Pen, -3.637, 0.051, -3.465, 0, 0, 0, 41 [SEP] 5, Pen, -3.834, 0.986, -3.070, 0, 0, 0, 42 [SEP] 6, Pencil, -0.329, 0.546, -3.749, 0, 0, 0, 33 [SEP] 7, Pencil, -0.418, 0.546, -3.731, 0, 0, 0, 33 [SEP] 8, KeyChain, -1.270, 0.804, -3.703, 0, 0, 0, 39 [SEP] 9, KeyChain, -0.240, 0.543, -3.694, 0, 0, 0, 33 [SEP] 10, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 24 [SEP] 11, Book, -3.693, 0.809, -3.371, 0, 0, 0, 49 [SEP] 12, CellPhone, -3.613, 0.620, -1.793, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -1.474, 0.803, -3.703, 0, 0, 0, 39 [SEP] 15, AlarmClock, -3.539, 0.981, -4.075, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.687, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.596, 0.546, -3.694, 0, 0, 0, 33 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -0.862, 0.799, -4.137, 0, 0, 0, 39 [SEP] 22, Pen, -0.862, 0.805, -4.354, 0, 0, 0, 39 [SEP] 23, Mug, -1.066, 0.801, -3.920, 0, 270, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the bed. | STEP 2: Pick up the laptop which is to the right of the cell phone on the bed. | STEP 3: Turn around and walk to the front of the lamp on the desk. | STEP 4: Turn on the lamp. | 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, -3.0, 0.909, -3.75, 0, 270, 0,  [SEP] 1, Mug, -0.657, 0.801, -4.137, 0, 0, 0, 39 [SEP] 2, CD, -0.862, 0.799, -4.246, 0, 0, 0, 39 [SEP] 3, CD, -1.066, 0.803, -3.811, 0, 0, 0, 39 [SEP] 4, Pen, -3.637, 0.051, -3.465, 0, 0, 0, 41 [SEP] 5, Pen, -3.834, 0.986, -3.070, 0, 0, 0, 42 [SEP] 6, Pencil, -0.329, 0.546, -3.749, 0, 0, 0, 33 [SEP] 7, Pencil, -0.418, 0.546, -3.731, 0, 0, 0, 33 [SEP] 8, KeyChain, -1.270, 0.804, -3.703, 0, 0, 0, 39 [SEP] 9, KeyChain, -0.240, 0.543, -3.694, 0, 0, 0, 33 [SEP] 10, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 24 [SEP] 11, Book, -3.693, 0.809, -3.371, 0, 0, 0, 49 [SEP] 12, CellPhone, -3.613, 0.620, -1.793, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -1.474, 0.803, -3.703, 0, 0, 0, 39 [SEP] 15, AlarmClock, -3.539, 0.981, -4.075, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.687, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.596, 0.546, -3.694, 0, 0, 0, 33 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -0.862, 0.799, -4.137, 0, 0, 0, 39 [SEP] 22, Pen, -0.862, 0.805, -4.354, 0, 0, 0, 39 [SEP] 23, Mug, -1.066, 0.801, -3.920, 0, 270, 0, 39 [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 right and face the end of the yellow table. | STEP 2: Close the computer and pick up the computer closest from the table. | STEP 3: Go to the right and then left to face the lamp on the white table. | STEP 4: Turn the lamp on. | END


Input: Place a recently microwaved cup in the cabinet above the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.931, 0.25, 0, 270, 0,  [SEP] 1, DishSponge, 0.682, 1.042, 0.720, 0, 0, 0, 54 [SEP] 2, DishSponge, 1.523, 1.042, 0.091, 0, 0, 0, 54 [SEP] 3, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 48 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 55 [SEP] 5, Fork, 0.065, 1.043, 0.522, 0, 180, 0, 54 [SEP] 6, Fork, 0.160, 1.043, 0.630, 0, 90, 0, 54 [SEP] 7, Spoon, -0.260, 1.048, -1.289, 0, 270, 0, 52 [SEP] 8, Spoon, -0.346, 1.048, -1.612, 0, 0, 0, 52 [SEP] 9, Spatula, -0.775, 1.061, -1.612, 0, 90, 0, 52 [SEP] 10, Spatula, 0.682, 1.058, 0.589, 0, 0, 0, 54 [SEP] 11, Cup, 0.936, 1.055, 0.281, 0, 90, 0, 50 [SEP] 12, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 54 [SEP] 13, Plate, 0.979, 0.212, -1.484, 0, 0, 0, 63 [SEP] 14, Knife, 1.347, 1.069, 0.676, 0, 0, 0, 54 [SEP] 15, Knife, -0.346, 1.072, -1.181, 0, 0, 0, 52 [SEP] 16, Tomato, -1.431, 1.279, 2.331, 0, 90, 0, 67 [SEP] 17, Tomato, -1.431, 1.279, 1.796, 0, 90, 0, 67 [SEP] 18, Bowl, 1.666, 1.018, -1.337, 0, 0, 0, 58 [SEP] 19, Bowl, -1.349, 1.712, 1.885, 0, 90, 0, 67 [SEP] 20, SaltShaker, 1.612, 1.038, 0.199, 0, 0, 0, 54 [SEP] 21, SaltShaker, 1.112, 1.560, -1.388, 0, 0, 0, 56 [SEP] 22, PepperShaker, 1.263, 1.560, -1.388, 0, 0, 0, 56 [SEP] 23, PepperShaker, 1.820, 1.014, -1.557, 0, 0, 0, 58 [SEP] 24, Apple, -1.194, 1.759, -1.269, 0, 0, 0, 66 [SEP] 25, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 49 [SEP] 26, SoapBottle, 1.665, 0.205, -1.262, 0, 0, 0, 62 [SEP] 27, Apple, 0.717, 1.097, 0.181, 0, 90, 0, 50 [SEP] 28, Potato, 0.542, 1.096, 0.738, 0, 0, 0, 54 [SEP] 29, Fork, 0.351, 1.043, 0.630, 0, 0, 0, 54 [SEP] 30, Kettle, 1.512, 0.205, -1.553, 0, 0, 0, 62 [SEP] 31, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 56 [SEP] 32, Tomato, -1.423, 1.764, 2.331, 0, 90, 0, 67 [SEP] 33, SaltShaker, -0.952, 2.023, -1.555, 0, 0, 0, 59 [SEP] 34, Egg, 1.790, 1.097, 0.738, 0, 0, 0, 54 [SEP] 35, Cup, 0.823, 1.047, -1.289, 0, 0, 0, 52 [SEP] 36, Spatula, 0.542, 1.058, 0.307, 0, 0, 0, 54 [SEP] 37, Knife, -0.517, 1.072, -1.289, 0, 90, 0, 52 [SEP] 38, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 50 [SEP] 39, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 54 [SEP] 40, PepperShaker, -0.603, 1.041, -1.181, 0, 0, 0, 52 [SEP] 41, DishSponge, 0.890, 0.199, -1.195, 0, 0, 0, 63 [SEP] 42, Plate, -1.183, 0.215, -1.338, 0, 0, 0, 60 [SEP] 43, Bread, -0.030, 1.117, 0.415, 0, 0, 0, 54 [SEP] 44, Spoon, 1.072, 1.048, -1.181, 0, 0, 0, 52 [SEP] 45, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 64 [SEP] 46, Mug, 0.979, 0.194, -1.195, 0, 180, 0, 63 [SEP] 47, Bowl, 1.741, 0.203, -1.480, 0, 0, 0, 62 [SEP] 48, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 49, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 50, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 51, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 52, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 53, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 54, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 55, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 56, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 57, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 58, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 62, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 63, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 64, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 65, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 66, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 67, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 68, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 69, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 70, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 71, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 74, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 75, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 76, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 77, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 78, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 79, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Move to the counter top to the left of the kitchen range. | STEP 2: Open bottom cabinet and pick up cup inside before closing the door. | STEP 3: Move to the microwave above the oven. | STEP 4: After microwaving the cup inside for a few seconds then remove it and close the door | STEP 5: Move the cabinet above the microwave | STEP 6: Place the cup inside the cabinet and close it | END


Input: Place bowl with sponge in it on the counter top to the right of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 2, Potato, -0.785, 0.855, -1.473, 0, 0, 0, 103 [SEP] 3, DishSponge, 1.880, 1.655, 1.390, 0, 0, 0, 56 [SEP] 4, Kettle, 1.216, 1.656, 1.468, 0, 0, 0, 71 [SEP] 5, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 79 [SEP] 6, ButterKnife, 2.488, 0.911, 1.044, 0, 0, 0, 79 [SEP] 7, Spoon, 2.156, 0.912, -0.769, 0, 0, 0, 44 [SEP] 8, Spoon, -0.151, 0.912, 1.468, 0, 0, 0, 55 [SEP] 9, Fork, -0.911, 0.821, -1.257, 0, 90, 0, 103 [SEP] 10, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 44 [SEP] 11, Egg, -0.087, 0.803, -0.596, 0, 0, 0, 101 [SEP] 12, SoapBottle, -2.019, 0.429, 1.290, 0, 270, 0, 97 [SEP] 13, Bowl, 2.838, 1.017, -0.709, 0, 0, 0, 99 [SEP] 14, Bowl, 0.865, 2.151, 1.506, 0, 0, 0, 53 [SEP] 15, Bowl, -0.694, 0.818, -1.308, 0, 90, 0, 103 [SEP] 16, SaltShaker, 2.872, 0.110, 1.044, 0, 0, 0, 76 [SEP] 17, SaltShaker, -0.055, 0.908, 1.129, 0, 0, 0, 55 [SEP] 18, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 79 [SEP] 19, Lettuce, -0.198, 0.992, 1.299, 0, 0, 0, 55 [SEP] 20, Apple, -0.983, 0.889, -1.360, 0, 90, 0, 103 [SEP] 21, SoapBottle, -0.201, 1.660, 1.546, 0, 0, 0, 70 [SEP] 22, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 44 [SEP] 23, Fork, 2.450, 0.772, 1.122, 0, 90, 0, 60 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 79 [SEP] 27, Kettle, 0.140, 1.656, -0.810, 0, 180, 0, 84 [SEP] 28, Tomato, -0.087, 0.797, -0.707, 0, 0, 0, 101 [SEP] 29, Cup, 1.688, 0.909, 1.214, 0, 0, 0, 79 [SEP] 30, Spatula, 0.053, 0.780, -0.596, 0, 270, 0, 101 [SEP] 31, Apple, 2.653, 1.632, -0.709, 0, 0, 0, 99 [SEP] 32, Pan, 2.488, 0.911, 1.299, 0, 0, 0, 79 [SEP] 33, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 79 [SEP] 34, SaltShaker, 0.480, 1.650, -0.735, 0, 180, 0, 83 [SEP] 35, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 103 [SEP] 36, Potato, 2.838, 0.761, -0.504, 0, 0, 0, 99 [SEP] 37, PepperShaker, 1.955, 1.651, 1.390, 0, 0, 0, 56 [SEP] 38, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 44 [SEP] 39, Bowl, 2.208, 1.653, -0.725, 0, 180, 0, 65 [SEP] 40, DishSponge, 1.563, 0.114, 1.119, 0, 0, 0, 73 [SEP] 41, Spoon, 1.862, 0.772, 1.122, 0, 0, 0, 77 [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 counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it | STEP 3: Move the cabinet to the right of the refrigerator | STEP 4: Place sponge inside bowl | STEP 5: Pick up bowl from the cabinet | STEP 6: Move back to the counter top to the right of the stove | STEP 7: Place the bowl to the right of the lettuce. | END


Input: Move a washed glass from the cupboard to the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 44 [SEP] 2, Potato, -0.682, 0.855, -1.038, 0, 0, 0, 100 [SEP] 3, ButterKnife, -0.983, 0.820, -1.206, 0, 90, 0, 100 [SEP] 4, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 76 [SEP] 5, Spoon, 1.140, 0.772, -0.422, 0, 180, 0, 60 [SEP] 6, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 98 [SEP] 7, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 76 [SEP] 8, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 76 [SEP] 9, Egg, 1.155, 0.949, 1.299, 0, 0, 0, 76 [SEP] 10, SoapBottle, 1.422, 0.917, 1.383, 0, 0, 0, 76 [SEP] 11, Tomato, 2.962, 0.758, -0.442, 0, 0, 0, 96 [SEP] 12, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 100 [SEP] 13, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 99 [SEP] 14, PepperShaker, 2.156, 0.908, -0.769, 0, 0, 0, 41 [SEP] 15, Mug, 2.838, 1.558, -0.578, 0, 0, 0, 96 [SEP] 16, Apple, -1.962, 0.492, 1.375, 0, 270, 0, 94 [SEP] 17, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 96 [SEP] 18, SoapBottle, 1.210, 0.120, -0.533, 0, 180, 0, 49 [SEP] 19, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, 2.930, 0.771, 1.122, 0, 90, 0, 85 [SEP] 21, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 22, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 41 [SEP] 23, Egg, 0.193, 0.803, -0.651, 0, 0, 0, 98 [SEP] 24, Kettle, 1.688, 0.912, 1.129, 0, 0, 0, 76 [SEP] 25, Tomato, -0.694, 0.852, -1.308, 0, 90, 0, 100 [SEP] 26, Cup, 1.487, 1.652, 1.432, 0, 0, 0, 68 [SEP] 27, Spatula, 2.488, 0.926, 1.129, 0, 0, 0, 76 [SEP] 28, Apple, -0.911, 0.889, -1.308, 0, 90, 0, 100 [SEP] 29, Pan, -0.151, 0.911, 1.214, 0, 0, 0, 52 [SEP] 30, Lettuce, 2.924, 1.344, -0.612, 16.831, 2.193, 9.561, 96 [SEP] 31, SaltShaker, 2.188, 1.650, 1.394, 0, 0, 0, 65 [SEP] 32, Knife, 2.156, 0.944, -0.345, 0, 0, 0, 41 [SEP] 33, Potato, -0.785, 0.855, -1.473, 0, 0, 0, 100 [SEP] 34, PepperShaker, 1.982, 1.650, -0.887, 0, 180, 0, 78 [SEP] 35, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 76 [SEP] 36, Bowl, 2.653, 1.017, -0.644, 0, 0, 0, 96 [SEP] 37, DishSponge, 2.806, 0.771, 1.236, 0, 0, 0, 85 [SEP] 38, Spoon, 1.869, 0.773, -0.422, 0, 180, 0, 55 [SEP] 39, Mug, 1.931, 0.110, 1.077, 0, 0, 0, 61 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the cabinet above the counter. | STEP 2: Take the glass out of the counter.  | STEP 3: Turn and go to the sink. | STEP 4: Wash the glass in the sink and pick up the glass.  | STEP 5: Turn and go to the table. | STEP 6: Put the glass on the table.  | END


Input: Place a small black clock onto the wooden dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -2.75, 0, 0, 0,  [SEP] 1, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 2, CD, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, CreditCard, -3.834, 0.981, -4.276, 0, 0, 0, 40 [SEP] 4, Book, -3.637, 0.045, -4.257, 0, 0, 0, 45 [SEP] 5, Book, -3.834, 0.980, -3.673, 0, 0, 0, 40 [SEP] 6, Laptop, -3.191, 0.618, -1.218, 0, 0, 0, 22 [SEP] 7, AlarmClock, -1.474, 0.800, -3.703, 0, 0, 0, 37 [SEP] 8, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -3.687, 0.981, -4.276, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.466, 0.981, -3.874, 0, 0, 0, 40 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -3.613, 0.981, -3.874, 0, 0, 0, 40 [SEP] 13, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.596, 0.543, -3.694, 0, 0, 0, 31 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.474, 0.803, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 22 [SEP] 19, CD, -1.846, 0.062, -3.877, 0, 279.990, 0, 26 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk up to the table in the corner of the room. | STEP 2: Pick up the small black clock that is the most far away on the table up against the wall. | STEP 3: Turn to your right and walk over to the left side of the wooden dresser. | STEP 4: Place the small black clock onto the dresser to the right of the phone. | END


Input: Move the speaker from the table to the chest of drawers SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -2.75, 0, 0, 0,  [SEP] 1, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 2, CD, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, CreditCard, -3.834, 0.981, -4.276, 0, 0, 0, 40 [SEP] 4, Book, -3.637, 0.045, -4.257, 0, 0, 0, 45 [SEP] 5, Book, -3.834, 0.980, -3.673, 0, 0, 0, 40 [SEP] 6, Laptop, -3.191, 0.618, -1.218, 0, 0, 0, 22 [SEP] 7, AlarmClock, -1.474, 0.800, -3.703, 0, 0, 0, 37 [SEP] 8, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -3.687, 0.981, -4.276, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.466, 0.981, -3.874, 0, 0, 0, 40 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -3.613, 0.981, -3.874, 0, 0, 0, 40 [SEP] 13, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.596, 0.543, -3.694, 0, 0, 0, 31 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.474, 0.803, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 22 [SEP] 19, CD, -1.846, 0.062, -3.877, 0, 279.990, 0, 26 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn around 180  degrees and face the white table | STEP 2: Pick up the black speaker that is on the table beside the green bowl  | STEP 3: Turn to your right and walk over to the brown chest of drawers | STEP 4: Place the speaker on top of the chest of drawers | END


Input: To pick two pencils from a table and put them inside a cabinet shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.909, -3.75, 0, 90, 0,  [SEP] 1, Mug, -3.466, 0.977, -3.874, 0, 0, 0, 43 [SEP] 2, CD, -0.453, 0.799, -4.137, 0, 0, 0, 40 [SEP] 3, CellPhone, -3.760, 0.979, -3.472, 0, 0, 0, 43 [SEP] 4, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 34 [SEP] 5, Pencil, -0.657, 0.807, -4.354, 0, 0, 0, 40 [SEP] 6, Pencil, -0.453, 0.803, -3.920, 0, 0, 0, 40 [SEP] 7, CreditCard, -0.249, 0.803, -4.029, 0, 0, 0, 40 [SEP] 8, KeyChain, -0.657, 0.800, -4.246, 0, 0, 0, 40 [SEP] 9, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 25 [SEP] 10, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 12, Book, -3.582, 0.227, -4.163, 0, 0, 0, 47 [SEP] 13, CellPhone, -3.539, 0.981, -3.271, 0, 0, 0, 43 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -3.687, 0.981, -3.070, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.760, 0.979, -4.276, 0, 0, 0, 43 [SEP] 17, KeyChain, -0.657, 0.804, -3.811, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.474, 0.803, -4.137, 0, 0, 0, 40 [SEP] 21, Pillow, -3.402, 0.722, -0.931, 0, 0, 0, 25 [SEP] 22, CD, -3.526, 0.418, -3.793, 0, 0, 0, 46 [SEP] 23, Pen, -0.596, 0.548, -3.657, 0, 0, 0, 34 [SEP] 24, Mug, -0.657, 0.798, -4.137, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it | STEP 5: Turn around, go to the front shorter side of the white table | STEP 6: Pick up the pencil from the table | STEP 7: Go back to the cabinet | STEP 8: Open the same shelf and put the pencil by the side of the first pencil | END