Input: Slice a tomato, wash it, and place in microwave to be heated. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, 0.75, 0, 0, 0,  [SEP] 1, ButterKnife, 1.514, 1.043, 0.545, 0, 0, 0, 49 [SEP] 2, Spoon, 0.065, 1.044, 0.630, 0, 0, 0, 49 [SEP] 3, Spoon, -0.346, 1.048, -1.289, 0, 90, 0, 47 [SEP] 4, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 47 [SEP] 5, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 47 [SEP] 6, Egg, -1.011, 0.762, 2.153, 0, 90, 0, 62 [SEP] 7, Cup, 1.068, 0.200, -1.267, 0, 0, 0, 58 [SEP] 8, Cup, -1.235, 1.228, 2.242, 0, 90, 0, 62 [SEP] 9, Plate, 1.817, 0.217, -1.480, 0, 0, 0, 57 [SEP] 10, Knife, -0.603, 1.072, -1.397, 0, 90, 0, 47 [SEP] 11, Tomato, -0.775, 1.097, -1.397, 0, 0, 0, 47 [SEP] 12, Tomato, -1.276, 1.764, 1.796, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.689, 1.047, -1.289, 0, 0, 0, 47 [SEP] 14, SoapBottle, 1.589, 1.020, -1.191, 0, 90, 0, 53 [SEP] 15, Bowl, 0.160, 1.042, 0.738, 0, 0, 0, 49 [SEP] 16, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 17, SaltShaker, 1.743, 1.014, -1.337, 0, 0, 0, 53 [SEP] 18, PepperShaker, -0.580, 0.198, -1.409, 0, 0, 0, 56 [SEP] 19, Mug, -1.184, 2.023, -1.627, 0, 0, 0, 54 [SEP] 20, Apple, -1.095, 1.007, 2.153, 0, 90, 0, 62 [SEP] 21, SoapBottle, 0.979, 0.200, -1.628, 0, 0, 0, 58 [SEP] 22, Apple, -1.096, 1.759, -1.300, 0, 0, 0, 61 [SEP] 23, Potato, -1.268, 2.001, 2.242, 0, 90, 0, 62 [SEP] 24, Fork, 0.906, 1.047, -1.612, 0, 0, 0, 47 [SEP] 25, Kettle, 1.036, 1.566, -1.614, 0, 0, 0, 51 [SEP] 26, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 27, Tomato, -1.126, 1.014, 2.331, 0, 90, 0, 62 [SEP] 28, SaltShaker, 1.666, 1.014, -1.484, 0, 0, 0, 53 [SEP] 29, Egg, 1.072, 1.101, -1.181, 0, 0, 0, 47 [SEP] 30, Cup, -1.268, 1.948, 1.974, 0, 90, 0, 62 [SEP] 31, Spatula, 1.015, 1.058, 0.720, 0, 0, 0, 49 [SEP] 32, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 49 [SEP] 33, Lettuce, -1.095, 1.023, 1.885, 0, 90, 0, 62 [SEP] 34, ButterKnife, 0.682, 1.043, 0.589, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.347, 1.038, 0.763, 0, 0, 0, 49 [SEP] 36, DishSponge, -1.105, 0.202, -1.555, 0, 0, 0, 55 [SEP] 37, Plate, -0.398, 1.577, -1.619, 0, 0, 0, 52 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, -1.029, 2.029, -1.337, 0, 90, 0, 54 [SEP] 41, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 65 [SEP] 42, Bowl, -1.339, 0.201, -1.482, 0, 0, 0, 55 [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, NorthWall, , , , , , ,  [SEP] 76, EastWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, WestWall, , , , , , ,

Output: STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato. | STEP 9: Turn left and walk to the sink.  Turn right an face the sink. | STEP 10: Put the tomato slice down in the right sink.  Wash the tomato slice by turning the water on.  After the water drains, pick up the tomato slice. | STEP 11: Turn left and walk to the wall.  At the wall, turn left and face the oven.  Look up at the microwave. | STEP 12: Put tomato slice in the microwave to the right of the apple.  Close the door. | END


Input: Put a microwaved egg on the counter by the stove. 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, -0.25, 0, 0, 0,  [SEP] 1, Potato, 0.542, 1.096, 0.091, 0, 0, 0, 46 [SEP] 2, Potato, -1.349, 1.766, 2.331, 0, 90, 0, 59 [SEP] 3, DishSponge, 1.588, 0.204, -1.262, 0, 0, 0, 54 [SEP] 4, ButterKnife, -0.346, 1.046, -1.289, 0, 0, 0, 44 [SEP] 5, ButterKnife, 1.181, 1.043, 0.763, 0, 0, 0, 46 [SEP] 6, Kettle, 0.960, 1.566, -1.764, 0, 0, 0, 48 [SEP] 7, Pot, -0.473, 1.566, -1.470, 0, 90, 0, 49 [SEP] 8, Fork, 0.823, 1.047, -1.397, 0, 0, 0, 44 [SEP] 9, Fork, 1.072, 1.047, -1.397, 0, 0, 0, 44 [SEP] 10, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 46 [SEP] 11, Spoon, -0.346, 1.048, -1.289, 0, 0, 0, 44 [SEP] 12, Egg, -0.346, 1.101, -1.612, 0, 0, 0, 44 [SEP] 13, Knife, 1.790, 1.069, 0.630, 0, 0, 0, 46 [SEP] 14, Tomato, 0.936, 1.104, 0.231, 0, 90, 0, 42 [SEP] 15, SoapBottle, 0.805, 1.054, 0.131, 0, 90, 0, 42 [SEP] 16, PepperShaker, 1.436, 0.199, -1.408, 0, 0, 0, 54 [SEP] 17, Mug, -0.473, 1.560, -1.767, 0, 0, 0, 49 [SEP] 18, SoapBottle, -1.029, 2.029, -1.627, 0, 0, 0, 51 [SEP] 19, Apple, -1.157, 1.007, 1.885, 0, 90, 0, 59 [SEP] 20, Potato, -1.386, 1.766, 2.153, 0, 90, 0, 59 [SEP] 21, Fork, 1.612, 1.043, 0.307, 0, 0, 0, 46 [SEP] 22, Kettle, -0.580, 0.204, -1.337, 0, 0, 0, 53 [SEP] 23, Pan, 1.743, 1.019, -1.337, 0, 90, 0, 50 [SEP] 24, Tomato, -0.775, 1.097, -1.720, 0, 0, 0, 44 [SEP] 25, SaltShaker, -0.670, 0.198, -1.481, 0, 0, 0, 53 [SEP] 26, Egg, -1.349, 1.768, 1.796, 0, 90, 0, 59 [SEP] 27, Cup, 1.155, 1.047, -1.828, 0, 0, 0, 44 [SEP] 28, Spatula, 0.906, 1.061, -1.612, 0, 0, 0, 44 [SEP] 29, Knife, 0.255, 1.069, 0.738, 0, 0, 0, 46 [SEP] 30, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 46 [SEP] 32, PepperShaker, -0.177, 1.041, -1.118, 0, 0, 0, 44 [SEP] 33, DishSponge, -0.517, 1.046, -1.181, 0, 0, 0, 44 [SEP] 34, Plate, 1.188, 1.577, -1.538, 0, 0, 0, 48 [SEP] 35, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 46 [SEP] 36, Spoon, 1.155, 1.048, -1.181, 0, 0, 0, 44 [SEP] 37, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 38, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 62 [SEP] 39, Bowl, -1.349, 1.712, 1.974, 0, 90, 0, 59 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up an egg on the counter by the stove. | STEP 3: Turn and go to the microwave. | STEP 4: Heat the egg in the microwave.  | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the egg on the counter by the stove. | END


Input: Place the container with the watch in it onto the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 2.5, 0, 270, 0,  [SEP] 1, Bowl, -5.951, 0.881, 4.547, 0, 0, 0, 55 [SEP] 2, Newspaper, -0.484, 0.792, 5.726, 0, 270, 0, 46 [SEP] 3, Watch, -2.87, 0.880, 7.173, 0, 90, 0, 53 [SEP] 4, Watch, -5.934, 0.533, 6.531, 0, 135, 0, 63 [SEP] 5, Watch, -6.012, 1.280, 3.891, 0, 0, 0, 59 [SEP] 6, KeyChain, -2.631, 0.534, 3.898, 0, 270, 0, 62 [SEP] 7, KeyChain, -0.789, 0.433, 4.524, 0, 90, 0, 45 [SEP] 8, CreditCard, -5.882, 0.879, 4.349, 0, 0, 0, 55 [SEP] 9, CreditCard, -2.352, 0.533, 4.335, 0, 270, 0, 62 [SEP] 10, RemoteControl, -3.265, 0.149, 7.327, 0, 90, 0, 56 [SEP] 11, Box, -0.868, 0.603, 3.306, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.951, 0.880, 4.152, 0, 0, 0, 55 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -5.237, 0.532, 6.852, 0, 45, 0, 63 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 19, Vase, -5.951, 0.880, 3.954, 0, 0, 0, 55 [SEP] 20, CreditCard, -5.783, 0.533, 6.380, 0, 135, 0, 63 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.868, 0.367, 3.002, 0, 0, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -5.822, 1.281, 4.808, 0, 0, 0, 59 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.557, 1.282, 7.361, 0, 90, 0, 61 [SEP] 29, Watch, -2.704, 0.533, 4.106, 0, 0, 0, 62 [SEP] 30, Statue, -2.474, 0.460, 7.221, 0, 90, 0, 54 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -2.561, 0.543, 4.480, 0, 270, 0, 62 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, SouthWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,

Output: STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table. | STEP 3: Turn around and head to the shelves on the right. | STEP 4: Place the watch in the grey container on the middle shelf. | STEP 5: Grab the container that has the watch in it. | STEP 6: Turn around and head to the table in the middle of the room. | STEP 7: Place the container on the table. | END


Input: put a cooked apple on a kitchen counter top 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, 0.5, 0, 90, 0,  [SEP] 1, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 2, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 109 [SEP] 3, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 103 [SEP] 4, DishSponge, 2.837, 0.771, 1.236, 0, 0, 0, 94 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 6, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 85 [SEP] 7, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 50 [SEP] 8, Pot, -0.198, 0.915, 1.468, 0, 0, 0, 61 [SEP] 9, Fork, 2.155, 0.771, 1.198, 0, 270, 0, 81 [SEP] 10, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 109 [SEP] 11, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 107 [SEP] 12, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 85 [SEP] 13, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 85 [SEP] 14, Cup, 0.570, 1.782, 1.455, 0, 180, 0, 108 [SEP] 15, Cup, 2.838, 1.016, -0.709, 0, 0, 0, 105 [SEP] 16, Knife, -0.887, 0.853, -1.473, 0, 180, 0, 109 [SEP] 17, SoapBottle, 1.135, 0.120, -0.421, 0, 180, 0, 58 [SEP] 18, SoapBottle, 2.154, 1.660, 1.394, 0, 0, 0, 74 [SEP] 19, Tomato, -1.056, 0.852, -1.257, 0, 90, 0, 109 [SEP] 20, Tomato, -2.019, 0.455, 1.332, 0, 270, 0, 103 [SEP] 21, SaltShaker, 1.558, 0.111, -0.379, 0, 180, 0, 67 [SEP] 22, SaltShaker, 1.254, 1.651, 1.429, 0, 0, 0, 77 [SEP] 23, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 109 [SEP] 24, Mug, 1.422, 0.906, 1.553, 0, 0, 0, 85 [SEP] 25, Mug, 1.902, 0.906, -0.430, 0, 0, 0, 50 [SEP] 26, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 109 [SEP] 27, SoapBottle, 0.888, 0.917, -0.515, 0, 0, 0, 50 [SEP] 28, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 50 [SEP] 29, Fork, 1.140, 0.771, -0.498, 0, 90, 0, 69 [SEP] 30, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 85 [SEP] 31, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 50 [SEP] 32, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 107 [SEP] 33, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 88 [SEP] 34, Tomato, 2.488, 0.942, 1.468, 0, 0, 0, 85 [SEP] 35, Cup, -0.246, 0.909, 1.214, 0, 0, 0, 61 [SEP] 36, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 61 [SEP] 37, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 109 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 1.688, 0.992, 1.214, 0, 0, 0, 85 [SEP] 40, SaltShaker, -0.007, 0.908, 1.383, 0, 0, 0, 61 [SEP] 41, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 107 [SEP] 42, Potato, 0.123, 0.800, -0.762, 0, 180, 0, 107 [SEP] 43, PepperShaker, 1.155, 0.908, 1.299, 0, 0, 0, 85 [SEP] 44, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 107 [SEP] 45, Bowl, 2.653, 1.286, -0.709, 0, 0, 0, 105 [SEP] 46, DishSponge, -0.836, 0.820, -1.255, 0, 0, 0, 109 [SEP] 47, Spoon, -0.734, 0.822, -1.110, 0, 0, 0, 109 [SEP] 48, Mug, 2.715, 1.558, -0.644, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 111, NorthWall, , , , , , ,  [SEP] 112, EastWall, , , , , , ,  [SEP] 113, SouthWall, , , , , , ,  [SEP] 114, WestWall, , , , , , ,

Output: STEP 1: walk through the kitchen to face the small grey dining table | STEP 2: pick up the red apple on the left from the table | STEP 3: walk to face the stove and microwave | STEP 4: cook the apple in the microwave, pick up the apple from the microwave | STEP 5: turn around to face the coffee maker | STEP 6: put the apple on the counter in front of the coffee maker | END


Input: Heat an apple in the microwave.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.5, 0, 90, 0,  [SEP] 1, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 2, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 109 [SEP] 3, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 103 [SEP] 4, DishSponge, 2.837, 0.771, 1.236, 0, 0, 0, 94 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 6, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 85 [SEP] 7, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 50 [SEP] 8, Pot, -0.198, 0.915, 1.468, 0, 0, 0, 61 [SEP] 9, Fork, 2.155, 0.771, 1.198, 0, 270, 0, 81 [SEP] 10, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 109 [SEP] 11, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 107 [SEP] 12, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 85 [SEP] 13, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 85 [SEP] 14, Cup, 0.570, 1.782, 1.455, 0, 180, 0, 108 [SEP] 15, Cup, 2.838, 1.016, -0.709, 0, 0, 0, 105 [SEP] 16, Knife, -0.887, 0.853, -1.473, 0, 180, 0, 109 [SEP] 17, SoapBottle, 1.135, 0.120, -0.421, 0, 180, 0, 58 [SEP] 18, SoapBottle, 2.154, 1.660, 1.394, 0, 0, 0, 74 [SEP] 19, Tomato, -1.056, 0.852, -1.257, 0, 90, 0, 109 [SEP] 20, Tomato, -2.019, 0.455, 1.332, 0, 270, 0, 103 [SEP] 21, SaltShaker, 1.558, 0.111, -0.379, 0, 180, 0, 67 [SEP] 22, SaltShaker, 1.254, 1.651, 1.429, 0, 0, 0, 77 [SEP] 23, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 109 [SEP] 24, Mug, 1.422, 0.906, 1.553, 0, 0, 0, 85 [SEP] 25, Mug, 1.902, 0.906, -0.430, 0, 0, 0, 50 [SEP] 26, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 109 [SEP] 27, SoapBottle, 0.888, 0.917, -0.515, 0, 0, 0, 50 [SEP] 28, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 50 [SEP] 29, Fork, 1.140, 0.771, -0.498, 0, 90, 0, 69 [SEP] 30, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 85 [SEP] 31, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 50 [SEP] 32, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 107 [SEP] 33, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 88 [SEP] 34, Tomato, 2.488, 0.942, 1.468, 0, 0, 0, 85 [SEP] 35, Cup, -0.246, 0.909, 1.214, 0, 0, 0, 61 [SEP] 36, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 61 [SEP] 37, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 109 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 1.688, 0.992, 1.214, 0, 0, 0, 85 [SEP] 40, SaltShaker, -0.007, 0.908, 1.383, 0, 0, 0, 61 [SEP] 41, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 107 [SEP] 42, Potato, 0.123, 0.800, -0.762, 0, 180, 0, 107 [SEP] 43, PepperShaker, 1.155, 0.908, 1.299, 0, 0, 0, 85 [SEP] 44, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 107 [SEP] 45, Bowl, 2.653, 1.286, -0.709, 0, 0, 0, 105 [SEP] 46, DishSponge, -0.836, 0.820, -1.255, 0, 0, 0, 109 [SEP] 47, Spoon, -0.734, 0.822, -1.110, 0, 0, 0, 109 [SEP] 48, Mug, 2.715, 1.558, -0.644, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 111, NorthWall, , , , , , ,  [SEP] 112, EastWall, , , , , , ,  [SEP] 113, SouthWall, , , , , , ,  [SEP] 114, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the left and go forward to the table.  | STEP 2: Pick up the apple from the table.  | STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave.  | STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple.  | STEP 5: Turn around and walk to the other counter.  | STEP 6: Place the apple on the counter.  | END


Input: Take out the seasoning and place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.25, 0, 90, 0,  [SEP] 1, Potato, -1.276, 1.766, 1.796, 0, 90, 0, 64 [SEP] 2, Potato, -0.260, 1.100, -1.612, 0, 0, 0, 49 [SEP] 3, DishSponge, -1.416, 0.202, -1.338, 0, 0, 0, 57 [SEP] 4, Kettle, -0.398, 1.566, -1.693, 0, 0, 0, 54 [SEP] 5, Kettle, -1.105, 0.203, -1.338, 0, 0, 0, 57 [SEP] 6, Fork, 0.446, 1.033, 0.630, 0, 90, 0, 51 [SEP] 7, Fork, 0.160, 1.043, 0.738, 0, 0, 0, 51 [SEP] 8, Spoon, -0.775, 1.048, -1.505, 0, 270, 0, 49 [SEP] 9, Spoon, 1.155, 1.048, -1.505, 0, 180, 0, 49 [SEP] 10, Egg, 1.347, 1.097, 0.763, 0, 0, 0, 51 [SEP] 11, Egg, 1.211, 0.955, 0.231, 0, 90, 0, 46 [SEP] 12, Knife, -0.603, 1.072, -1.397, 0, 0, 0, 49 [SEP] 13, SoapBottle, 1.817, 0.205, -1.625, 0, 0, 0, 59 [SEP] 14, SoapBottle, 0.542, 1.044, 0.091, 0, 0, 0, 51 [SEP] 15, Bowl, -1.386, 1.712, 2.153, 0, 90, 0, 64 [SEP] 16, Bowl, -1.381, 1.488, 1.974, 0, 90, 0, 64 [SEP] 17, SaltShaker, -1.416, 2.023, -1.627, 0, 0, 0, 56 [SEP] 18, SaltShaker, 0.823, 1.041, -1.181, 0, 0, 0, 49 [SEP] 19, PepperShaker, 0.712, 0.194, -1.267, 0, 0, 0, 60 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 21, Apple, 0.980, 1.097, 0.231, 0, 90, 0, 47 [SEP] 22, Apple, -1.225, 1.532, 2.063, 0, 90, 0, 64 [SEP] 23, SoapBottle, 1.897, 1.020, -1.630, 0, 0, 0, 55 [SEP] 24, Apple, 0.980, 1.097, 0.331, 0, 90, 0, 47 [SEP] 25, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 63 [SEP] 26, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 51 [SEP] 27, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 28, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 53 [SEP] 29, Tomato, 1.072, 1.097, -1.397, 0, 0, 0, 49 [SEP] 30, SaltShaker, 1.072, 1.041, -1.181, 0, 0, 0, 49 [SEP] 31, Egg, 1.271, 0.947, 0.158, 0, 90, 0, 46 [SEP] 32, Cup, 1.588, 0.205, -1.262, 0, 0, 0, 59 [SEP] 33, Spatula, 0.717, 1.068, 0.181, 0, 90, 0, 47 [SEP] 34, Knife, 0.157, 1.038, 0.272, 90, 184.534, 0, 51 [SEP] 35, Lettuce, 1.155, 1.106, -1.720, 0, 0, 0, 49 [SEP] 36, ButterKnife, 0.761, 1.053, 0.281, 0, 90, 0, 47 [SEP] 37, PepperShaker, 1.588, 0.199, -1.480, 0, 0, 0, 59 [SEP] 38, DishSponge, 1.968, 1.042, 0.091, 0, 0, 0, 51 [SEP] 39, Plate, -0.401, 0.216, -1.553, 0, 0, 0, 58 [SEP] 40, Bread, 0.424, 1.104, 0.355, 0, 335.584, 0, 51 [SEP] 41, Spoon, 0.848, 1.044, 0.632, 0, 0, 0, 51 [SEP] 42, Pot, 0.979, 0.201, -1.556, 0, 90, 0, 60 [SEP] 43, Mug, -0.030, 1.038, 0.415, 0, 0, 0, 51 [SEP] 44, Bowl, 1.181, 1.042, 0.676, 0, 0, 0, 51 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife | STEP 4: Put the seasoning down by the knife | STEP 5: Turn around and walk to the end of the white cabinets  | STEP 6: Open the bottom white cabinet on the bottom | STEP 7: Turn around and walk to the end of the brown cabinet to your left | STEP 8: Put the seasoning down next to the other seasoning | END


Input: Put two credit cards on a brown table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Watch, -0.561, 0.552, -0.365, 0, 270, 0, 29 [SEP] 2, Watch, 1.849, 0.870, 0.114, 0, 90, 0, 35 [SEP] 3, CreditCard, 1.849, 0.869, 0.431, 0, 90, 0, 35 [SEP] 4, RemoteControl, -0.712, 0.199, -0.544, 0, 90, 0, 30 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, 1.443, 0.327, -0.818, 0, 90, 0, 37 [SEP] 7, Watch, -0.561, 0.552, -0.192, 0, 270, 0, 29 [SEP] 8, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 35 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.077, 0.322, -1.917, 0, 0, 0, 31 [SEP] 11, RemoteControl, 1.285, 0.279, -0.435, 0, 0, 0, 37 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.260, 0.562, -0.192, 0, 270, 0, 29 [SEP] 14, Statue, 1.724, 0.880, 0.220, 0, 90, 0, 35 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top | STEP 4: Put the credit card on top of the table | STEP 5: Turn right, walk straight, turn right to the brown sofa | STEP 6: Pick up the credit card on top of the sofa | STEP 7: Turn right, walk straight, turn right to the brown table | STEP 8: Put the credit card on top of the table | END


Input: Place the clean mug in to the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0,  [SEP] 1, Potato, -1.056, 0.855, -1.360, 0, 270, 0, 111 [SEP] 2, Potato, 2.962, 1.598, -0.709, 0, 0, 0, 107 [SEP] 3, DishSponge, 1.488, 0.114, 1.081, 0, 0, 0, 81 [SEP] 4, DishSponge, -0.197, 0.114, 1.117, 0, 0, 0, 80 [SEP] 5, Kettle, 1.908, 1.655, -0.772, 0, 180, 0, 89 [SEP] 6, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 111 [SEP] 7, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 52 [SEP] 8, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 52 [SEP] 9, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 111 [SEP] 10, Fork, 1.490, 0.771, 1.198, 0, 270, 0, 70 [SEP] 11, Fork, 2.221, 0.912, 1.044, 0, 0, 0, 87 [SEP] 12, Spatula, -0.103, 0.926, 1.383, 0, 0, 0, 63 [SEP] 13, Spatula, -0.785, 0.835, -1.328, 0, 0, 0, 111 [SEP] 14, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 87 [SEP] 15, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 87 [SEP] 16, Cup, 0.570, 1.782, 1.488, 0, 180, 0, 110 [SEP] 17, Egg, -1.056, 0.858, -1.155, 0, 90, 0, 111 [SEP] 18, Egg, 0.415, 1.822, 1.391, 0, 180, 0, 110 [SEP] 19, Knife, 0.634, 0.944, -0.345, 0, 0, 0, 52 [SEP] 20, Knife, 1.155, 0.944, 1.214, 0, 0, 0, 87 [SEP] 21, Tomato, 2.653, 1.320, -0.840, 0, 0, 0, 107 [SEP] 22, Bowl, 1.955, 0.909, 1.129, 0, 0, 0, 87 [SEP] 23, Bowl, 1.213, 0.112, 1.117, 0, 0, 0, 59 [SEP] 24, SaltShaker, -0.141, 1.650, -0.811, 0, 180, 0, 94 [SEP] 25, SaltShaker, -0.785, 0.817, -1.400, 0, 0, 0, 111 [SEP] 26, PepperShaker, 2.838, 1.650, 1.394, 0, 0, 0, 77 [SEP] 27, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 107 [SEP] 28, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 52 [SEP] 29, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 87 [SEP] 30, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 86 [SEP] 31, Fork, -0.682, 0.821, -1.400, 0, 90, 0, 111 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 87 [SEP] 34, Egg, 2.962, 0.762, -0.535, 0, 0, 0, 107 [SEP] 35, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 67 [SEP] 36, Tomato, 2.777, 1.594, -0.775, 0, 0, 0, 107 [SEP] 37, Cup, 3.341, 0.838, -0.485, 0, 0, 0, 107 [SEP] 38, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 109 [SEP] 39, Apple, 2.777, 0.794, -0.504, 0, 0, 0, 107 [SEP] 40, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 55 [SEP] 41, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 87 [SEP] 42, SaltShaker, -0.055, 0.908, 1.299, 0, 0, 0, 63 [SEP] 43, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 87 [SEP] 44, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 110 [SEP] 45, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 111 [SEP] 46, ButterKnife, -0.103, 0.911, 1.468, 0, 90, 0, 63 [SEP] 47, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 87 [SEP] 48, DishSponge, 1.141, 0.911, -0.515, 0, 0, 0, 52 [SEP] 49, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 109 [SEP] 50, Mug, -0.198, 0.906, 1.129, 0, 0, 0, 63 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 113, NorthWall, , , , , , ,  [SEP] 114, EastWall, , , , , , ,  [SEP] 115, SouthWall, , , , , , ,  [SEP] 116, WestWall, , , , , , ,

Output: STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. | STEP 2: Pick up the white coffee mug from off of the coffee maker. | STEP 3: Move to the right to face the sink. | STEP 4: Place the mug in the sink, turn on the water, and pick up the mug. | STEP 5: Move to the left to face the coffee maker again. | STEP 6: Place the mug in to the coffee maker. | END


Input: Hold a set of keys while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 0.25, 0, 270, 0,  [SEP] 1, Bowl, -2.411, 1.281, 7.045, 0, 90, 0, 56 [SEP] 2, Newspaper, -0.947, 0.365, 4.828, 0, 0, 0, 40 [SEP] 3, Watch, -2.491, 0.533, 4.480, 0, 270, 0, 57 [SEP] 4, Watch, -0.687, 0.793, 2.252, 0, 270, 0, 42 [SEP] 5, CreditCard, -2.672, 0.146, 7.070, 0, 90, 0, 51 [SEP] 6, RemoteControl, -5.822, 1.282, 4.349, 0, 0, 0, 54 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.422, 0.534, 3.607, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.631, 0.365, 3.915, 0, 90, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 14, Vase, -5.424, 0.534, 6.815, 0, 45, 0, 58 [SEP] 15, CreditCard, -2.277, 0.879, 7.173, 0, 90, 0, 49 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.433, 0.794, 5.726, 0, 270, 0, 41 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.411, 1.281, 7.298, 0, 90, 0, 56 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.789, 0.369, 3.306, 0, 0, 0, 40 [SEP] 24, Watch, -2.811, 0.533, 3.981, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -5.950, 0.156, 4.152, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, SouthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,

Output: STEP 1: Move across the room to the round wooden table where the keys are | STEP 2: Pick up the keys that are sitting on top of the table | STEP 3: Carry the keys to the floor lamp that is to the right of the white door | STEP 4: Turn on the lamp while holding the keys | END


Input: examine a blue lid with the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 6.5, 0, 270, 0,  [SEP] 1, Bowl, -0.636, 0.795, 2.252, 0, 270, 0, 43 [SEP] 2, Bowl, -0.687, 0.795, 5.726, 0, 270, 0, 42 [SEP] 3, Newspaper, -5.442, 0.532, 6.721, 0, 135, 0, 59 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, KeyChain, -0.326, 0.794, 2.103, 0, 0, 0, 43 [SEP] 6, KeyChain, -0.738, 0.794, 1.626, 0, 270, 0, 43 [SEP] 7, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 41 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -6.075, 1.280, 4.808, 0, 0, 0, 55 [SEP] 11, Vase, -2.672, 0.462, 7.145, 0, 90, 0, 50 [SEP] 12, Newspaper, -5.368, 0.532, 6.871, 0, 45, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 15, Vase, -3.265, 0.147, 7.122, 0, 90, 0, 52 [SEP] 16, CreditCard, -2.631, 0.533, 4.335, 0, 270, 0, 58 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.868, 0.367, 4.828, 0, 0, 0, 41 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -2.474, 0.148, 7.122, 0, 90, 0, 52 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -2.352, 0.536, 3.752, 0, 270, 0, 58 [SEP] 25, Watch, -0.433, 0.793, 2.252, 0, 270, 0, 43 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,

Output: STEP 1: turn right to face the shelves | STEP 2: pick up the blue lid that is on the shelf | STEP 3: turn right, walk forward, turn right, walk across room, turn left to face small table | STEP 4: turn on the lamp | END


Input: Look at the blue bottle under the light. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 6.5, 0, 270, 0,  [SEP] 1, Bowl, -0.636, 0.795, 2.252, 0, 270, 0, 43 [SEP] 2, Bowl, -0.687, 0.795, 5.726, 0, 270, 0, 42 [SEP] 3, Newspaper, -5.442, 0.532, 6.721, 0, 135, 0, 59 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, KeyChain, -0.326, 0.794, 2.103, 0, 0, 0, 43 [SEP] 6, KeyChain, -0.738, 0.794, 1.626, 0, 270, 0, 43 [SEP] 7, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 41 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -6.075, 1.280, 4.808, 0, 0, 0, 55 [SEP] 11, Vase, -2.672, 0.462, 7.145, 0, 90, 0, 50 [SEP] 12, Newspaper, -5.368, 0.532, 6.871, 0, 45, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 15, Vase, -3.265, 0.147, 7.122, 0, 90, 0, 52 [SEP] 16, CreditCard, -2.631, 0.533, 4.335, 0, 270, 0, 58 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.868, 0.367, 4.828, 0, 0, 0, 41 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -2.474, 0.148, 7.122, 0, 90, 0, 52 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -2.352, 0.536, 3.752, 0, 270, 0, 58 [SEP] 25, Watch, -0.433, 0.793, 2.252, 0, 270, 0, 43 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,

Output: STEP 1: Turn right to the front of the black shelf.  | STEP 2: Pick up the blue bottle on the second shelf from the bottle.  | STEP 3: Turn around and go past the sofa to the brown round end table with a lamp on top.  | STEP 4: Turn on the lamp on the table. | END


Input: Get the salt shakers to put on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.931, -0.25, 0, 270, 0,  [SEP] 1, Pan, 1.512, 1.019, -1.484, 0, 270, 0, 56 [SEP] 2, Pan, -1.300, 1.227, 1.974, 0, 270, 0, 65 [SEP] 3, Potato, -1.051, 0.760, 2.331, 0, 90, 0, 65 [SEP] 4, Potato, -1.303, 1.542, 1.974, 0, 90, 0, 65 [SEP] 5, DishSponge, -1.416, 0.202, -1.265, 0, 0, 0, 58 [SEP] 6, ButterKnife, 1.514, 1.043, 0.589, 0, 0, 0, 52 [SEP] 7, Kettle, 0.065, 1.044, 0.307, 0, 0, 0, 52 [SEP] 8, Pot, 1.188, 1.566, -1.689, 0, 90, 0, 54 [SEP] 9, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 50 [SEP] 10, Spoon, 1.015, 1.044, 0.763, 0, 0, 0, 52 [SEP] 11, Spatula, 0.682, 1.058, 0.720, 0, 0, 0, 52 [SEP] 12, Spatula, 1.155, 1.061, -1.397, 0, 90, 0, 50 [SEP] 13, Cup, -1.064, 0.964, 2.242, 0, 90, 0, 65 [SEP] 14, Plate, -0.548, 1.577, -1.693, 0, 0, 0, 55 [SEP] 15, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 50 [SEP] 16, Tomato, 1.523, 1.094, 0.199, 0, 0, 0, 52 [SEP] 17, Tomato, -1.423, 1.764, 2.331, 0, 90, 0, 65 [SEP] 18, SoapBottle, -0.432, 1.047, -1.289, 0, 0, 0, 50 [SEP] 19, SaltShaker, -0.760, 0.198, -1.481, 0, 0, 0, 59 [SEP] 20, SaltShaker, 1.894, 0.199, -1.335, 0, 0, 0, 60 [SEP] 21, PepperShaker, 0.801, 0.194, -1.195, 0, 0, 0, 61 [SEP] 22, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 68 [SEP] 23, Mug, -1.194, 1.711, -1.331, 0, 0, 0, 64 [SEP] 24, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 48 [SEP] 25, Apple, -1.342, 1.532, 2.331, 0, 90, 0, 65 [SEP] 26, Potato, 1.181, 1.096, 0.589, 0, 0, 0, 52 [SEP] 27, Fork, -0.346, 1.047, -1.505, 0, 0, 0, 50 [SEP] 28, Kettle, -1.184, 2.029, -1.264, 0, 0, 0, 57 [SEP] 29, Pan, -0.401, 0.203, -1.481, 0, 180, 0, 59 [SEP] 30, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 65 [SEP] 31, SaltShaker, -0.580, 0.198, -1.625, 0, 0, 0, 59 [SEP] 32, Egg, 1.514, 1.097, 0.763, 0, 0, 0, 52 [SEP] 33, Cup, -1.276, 1.713, 2.153, 0, 90, 0, 65 [SEP] 34, Spatula, 1.347, 1.058, 0.720, 0, 0, 0, 52 [SEP] 35, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 50 [SEP] 36, Lettuce, 1.155, 1.106, -1.612, 0, 0, 0, 50 [SEP] 37, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 52 [SEP] 38, PepperShaker, 0.712, 0.194, -1.339, 0, 0, 0, 61 [SEP] 39, DishSponge, -0.030, 1.042, 0.630, 0, 0, 0, 52 [SEP] 40, Plate, -0.689, 1.059, -1.397, 0, 0, 0, 50 [SEP] 41, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 52 [SEP] 43, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 46 [SEP] 44, Mug, 1.790, 1.038, 0.738, 0, 0, 0, 52 [SEP] 45, Bowl, -1.183, 0.201, -1.338, 0, 0, 0, 58 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 4: Put the salt shaker on the counter to the right of the stove. | STEP 5: Turn left and take two steps, then turn to the right and look down. | STEP 6: Open the cabinet and pick up the salt shaker that is inside.  | STEP 7: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 8: Put the salt shaker down on the right side of the counter. | END


Input: put two salt shakers on a counter 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, Pan, 1.512, 1.019, -1.484, 0, 270, 0, 56 [SEP] 2, Pan, -1.300, 1.227, 1.974, 0, 270, 0, 65 [SEP] 3, Potato, -1.051, 0.760, 2.331, 0, 90, 0, 65 [SEP] 4, Potato, -1.303, 1.542, 1.974, 0, 90, 0, 65 [SEP] 5, DishSponge, -1.416, 0.202, -1.265, 0, 0, 0, 58 [SEP] 6, ButterKnife, 1.514, 1.043, 0.589, 0, 0, 0, 52 [SEP] 7, Kettle, 0.065, 1.044, 0.307, 0, 0, 0, 52 [SEP] 8, Pot, 1.188, 1.566, -1.689, 0, 90, 0, 54 [SEP] 9, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 50 [SEP] 10, Spoon, 1.015, 1.044, 0.763, 0, 0, 0, 52 [SEP] 11, Spatula, 0.682, 1.058, 0.720, 0, 0, 0, 52 [SEP] 12, Spatula, 1.155, 1.061, -1.397, 0, 90, 0, 50 [SEP] 13, Cup, -1.064, 0.964, 2.242, 0, 90, 0, 65 [SEP] 14, Plate, -0.548, 1.577, -1.693, 0, 0, 0, 55 [SEP] 15, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 50 [SEP] 16, Tomato, 1.523, 1.094, 0.199, 0, 0, 0, 52 [SEP] 17, Tomato, -1.423, 1.764, 2.331, 0, 90, 0, 65 [SEP] 18, SoapBottle, -0.432, 1.047, -1.289, 0, 0, 0, 50 [SEP] 19, SaltShaker, -0.760, 0.198, -1.481, 0, 0, 0, 59 [SEP] 20, SaltShaker, 1.894, 0.199, -1.335, 0, 0, 0, 60 [SEP] 21, PepperShaker, 0.801, 0.194, -1.195, 0, 0, 0, 61 [SEP] 22, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 68 [SEP] 23, Mug, -1.194, 1.711, -1.331, 0, 0, 0, 64 [SEP] 24, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 48 [SEP] 25, Apple, -1.342, 1.532, 2.331, 0, 90, 0, 65 [SEP] 26, Potato, 1.181, 1.096, 0.589, 0, 0, 0, 52 [SEP] 27, Fork, -0.346, 1.047, -1.505, 0, 0, 0, 50 [SEP] 28, Kettle, -1.184, 2.029, -1.264, 0, 0, 0, 57 [SEP] 29, Pan, -0.401, 0.203, -1.481, 0, 180, 0, 59 [SEP] 30, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 65 [SEP] 31, SaltShaker, -0.580, 0.198, -1.625, 0, 0, 0, 59 [SEP] 32, Egg, 1.514, 1.097, 0.763, 0, 0, 0, 52 [SEP] 33, Cup, -1.276, 1.713, 2.153, 0, 90, 0, 65 [SEP] 34, Spatula, 1.347, 1.058, 0.720, 0, 0, 0, 52 [SEP] 35, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 50 [SEP] 36, Lettuce, 1.155, 1.106, -1.612, 0, 0, 0, 50 [SEP] 37, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 52 [SEP] 38, PepperShaker, 0.712, 0.194, -1.339, 0, 0, 0, 61 [SEP] 39, DishSponge, -0.030, 1.042, 0.630, 0, 0, 0, 52 [SEP] 40, Plate, -0.689, 1.059, -1.397, 0, 0, 0, 50 [SEP] 41, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 52 [SEP] 43, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 46 [SEP] 44, Mug, 1.790, 1.038, 0.738, 0, 0, 0, 52 [SEP] 45, Bowl, -1.183, 0.201, -1.338, 0, 0, 0, 58 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, EastWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,  [SEP] 81, WestWall, , , , , , ,

Output: STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter | STEP 5: turn left, walk to face the stove and counter top to the left of the stove | STEP 6: open the left cabinet door below the counter, pick up the salt shaker, close the door | STEP 7: walk right to the counter on the right of the stove | STEP 8: put the salt shaker on the right of the counter | END


Input: Chill a piece of diced lettuce, put it back on the counter in front of a tomato. 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, 0.75, 0, 180, 0,  [SEP] 1, Kettle, 1.688, 0.912, 1.468, 0, 0, 0, 79 [SEP] 2, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 79 [SEP] 3, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 79 [SEP] 4, Pot, 2.488, 0.915, 1.468, 0, 0, 0, 79 [SEP] 5, Spoon, 0.888, 0.900, -0.515, 0, 0, 0, 44 [SEP] 6, Spoon, 0.123, 0.766, -0.541, 0, 270, 0, 101 [SEP] 7, Fork, -0.785, 0.821, -1.473, 0, 0, 0, 103 [SEP] 8, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 99 [SEP] 9, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 99 [SEP] 10, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 79 [SEP] 11, SoapBottle, -0.198, 0.917, 1.468, 0, 0, 0, 55 [SEP] 12, Tomato, -0.246, 0.942, 1.129, 0, 0, 0, 55 [SEP] 13, Tomato, 1.688, 0.942, 1.044, 0, 0, 0, 79 [SEP] 14, Bowl, 2.900, 1.561, -0.644, 0, 0, 0, 99 [SEP] 15, Bowl, -0.151, 0.909, 1.299, 0, 0, 0, 55 [SEP] 16, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 103 [SEP] 17, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 79 [SEP] 18, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 101 [SEP] 19, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 44 [SEP] 20, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 97 [SEP] 21, SoapBottle, -0.785, 0.826, -1.255, 0, 0, 0, 103 [SEP] 22, Plate, 1.422, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 2.092, 0.772, 1.160, 0, 90, 0, 75 [SEP] 24, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 44 [SEP] 25, Bread, 1.038, 0.953, -0.519, 0, 1.613, 0, 44 [SEP] 26, Egg, -0.294, 0.949, 1.553, 0, 0, 0, 55 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, 2.488, 0.942, 1.129, 0, 0, 0, 79 [SEP] 29, Cup, -0.887, 0.818, -1.400, 0, 0, 0, 103 [SEP] 30, Spatula, 1.155, 0.926, 1.299, 0, 0, 0, 79 [SEP] 31, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 99 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 79 [SEP] 34, SaltShaker, 0.251, 0.908, -0.302, 0, 0, 0, 44 [SEP] 35, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 79 [SEP] 36, Potato, 0.634, 0.946, -0.854, 0, 0, 0, 44 [SEP] 37, PepperShaker, -1.056, 0.817, -1.257, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 44 [SEP] 39, Bowl, 2.838, 1.286, -0.644, 0, 0, 0, 99 [SEP] 40, DishSponge, -1.991, 0.423, 1.290, 0, 270, 0, 97 [SEP] 41, Spoon, -0.911, 0.822, -1.360, 0, 90, 0, 103 [SEP] 42, Mug, 0.363, 1.779, 1.391, 0, 90, 0, 102 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce. | STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator. | STEP 10: Open the fridge, put the lettuce inside and close. The open the fridge, take the slice out and close it. | STEP 11: Turn right, walk two steps forward and turn right to face the counter. | STEP 12: Put the lettuce slice so it is resting on the front of the tomato. | END


Input: Place a warm slice of bread on the counter.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.5, 0, 0, 0,  [SEP] 1, Potato, -1.276, 1.766, 2.242, 0, 90, 0, 61 [SEP] 2, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 48 [SEP] 3, Kettle, 1.188, 1.566, -1.463, 0, 0, 0, 50 [SEP] 4, Pot, 1.741, 0.206, -1.262, 0, 90, 0, 56 [SEP] 5, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 6, Fork, 1.015, 1.043, 0.589, 0, 0, 0, 48 [SEP] 7, Fork, 1.514, 1.043, 0.763, 0, 0, 0, 48 [SEP] 8, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 48 [SEP] 9, Egg, 0.823, 1.101, -1.828, 0, 0, 0, 46 [SEP] 10, Egg, -0.603, 1.101, -1.181, 0, 0, 0, 46 [SEP] 11, Cup, -1.342, 1.489, 2.331, 0, 90, 0, 61 [SEP] 12, Plate, -1.349, 1.726, 1.885, 0, 90, 0, 61 [SEP] 13, Knife, 1.514, 1.069, 0.001, 0, 0, 0, 48 [SEP] 14, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 46 [SEP] 15, Tomato, 1.238, 1.097, -1.612, 0, 0, 0, 46 [SEP] 16, SoapBottle, -1.105, 0.203, -1.193, 0, 90, 0, 54 [SEP] 17, SoapBottle, -1.261, 2.029, -1.191, 0, 90, 0, 53 [SEP] 18, Apple, -1.157, 1.007, 2.331, 0, 90, 0, 61 [SEP] 19, Apple, 1.151, 0.936, 0.231, 0, 90, 0, 43 [SEP] 20, SoapBottle, -0.517, 1.047, -1.289, 0, 0, 0, 46 [SEP] 21, Apple, 0.980, 1.097, 0.281, 0, 90, 0, 44 [SEP] 22, Potato, 1.854, 0.175, 2.386, 0, 270, 0, 62 [SEP] 23, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 48 [SEP] 24, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -0.030, 1.094, 0.630, 0, 0, 0, 48 [SEP] 27, SaltShaker, -1.106, 2.023, -1.191, 0, 0, 0, 53 [SEP] 28, Egg, 0.936, 1.108, 0.381, 0, 90, 0, 44 [SEP] 29, Cup, -1.300, 1.228, 1.885, 0, 90, 0, 61 [SEP] 30, Spatula, 1.347, 1.058, 0.763, 0, 0, 0, 48 [SEP] 31, Knife, 1.347, 1.069, 0.632, 0, 90, 0, 48 [SEP] 32, Lettuce, 0.065, 1.103, 0.307, 0, 0, 0, 48 [SEP] 33, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.432, 1.041, -1.397, 0, 0, 0, 46 [SEP] 35, DishSponge, 1.435, 1.019, -1.191, 0, 0, 0, 52 [SEP] 36, Plate, -0.473, 1.577, -1.693, 0, 0, 0, 51 [SEP] 37, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 48 [SEP] 39, Pot, -1.106, 2.029, -1.409, 0, 90, 0, 53 [SEP] 40, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 41, Bowl, -0.312, 0.202, -1.337, 0, 0, 0, 55 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and walk over to the stove top.  | STEP 2: Grab the yellow-handled knife from the the front left side of the stove.  | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink.  | STEP 4: Slice the closest half of the loaf of bread on the counter.  | STEP 5: Turn around to the right and face the counter with the stove top.  | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside.  | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter.  | STEP 8: Pick up the closest slice of bread from the counter.  | STEP 9: Turn to the left, walk to the wall, and then turn left to face the microwave.  | STEP 10: Open the microwave, place the bread inside, close the door. Warm the bread, open the door, and remove the bread. Close the microwave door.  | STEP 11: Back up, turn to the left and move to the counter beside the stove top, on the left of the microwave.  | STEP 12: Place the slice of bread onto the counter top.  | END


Input: Put an empty roll and a full roll of toilet paper in a sink cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 90, 0,  [SEP] 1, TissueBox, -1.416, 0.994, 3.159, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.319, 0.068, 2.290, 0, 0, 0, 26 [SEP] 3, Cloth, -1.416, 0.994, 2.209, 0, 0, 0, 31 [SEP] 4, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 31 [SEP] 5, SoapBar, -1.284, 0.994, 3.041, 0, 0, 0, 31 [SEP] 6, SprayBottle, 0.286, 0.048, 3.810, 0, 0, 0, 34 [SEP] 7, SprayBottle, -1.441, 0.069, 2.857, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.547, 0.993, 3.159, 0, 0, 0, 31 [SEP] 9, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -1.350, 0.991, 2.982, 0, 0, 0, 31 [SEP] 11, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 33 [SEP] 12, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 35 [SEP] 13, SoapBar, -1.294, 1.018, 3.562, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 31 [SEP] 15, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 16, Candle, -1.441, 0.068, 2.706, 0, 0, 0, 24 [SEP] 17, TissueBox, -1.501, 0.069, 3.693, 0, 0, 0, 32 [SEP] 18, SoapBottle, -1.560, 0.067, 3.377, 0, 0, 0, 30 [SEP] 19, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 39 [SEP] 20, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 32 [SEP] 21, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 30 [SEP] 22, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 23, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 25, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 27, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 28, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 29, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 31, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 32, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 33, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 34, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 35, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 36, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 37, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 39, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 40, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 41, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 42, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 43, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 44, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 45, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet | STEP 5: Go to the right of the sink | STEP 6: Pick up a roll of toilet paper | STEP 7: Go to the sink cabinet | STEP 8: Put the roll in the cabinet | END


Input: Move candle and toilet paper to cabinet under sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 90, 0,  [SEP] 1, TissueBox, -1.416, 0.994, 3.159, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.319, 0.068, 2.290, 0, 0, 0, 26 [SEP] 3, Cloth, -1.416, 0.994, 2.209, 0, 0, 0, 31 [SEP] 4, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 31 [SEP] 5, SoapBar, -1.284, 0.994, 3.041, 0, 0, 0, 31 [SEP] 6, SprayBottle, 0.286, 0.048, 3.810, 0, 0, 0, 34 [SEP] 7, SprayBottle, -1.441, 0.069, 2.857, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.547, 0.993, 3.159, 0, 0, 0, 31 [SEP] 9, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -1.350, 0.991, 2.982, 0, 0, 0, 31 [SEP] 11, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 33 [SEP] 12, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 35 [SEP] 13, SoapBar, -1.294, 1.018, 3.562, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 31 [SEP] 15, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 16, Candle, -1.441, 0.068, 2.706, 0, 0, 0, 24 [SEP] 17, TissueBox, -1.501, 0.069, 3.693, 0, 0, 0, 32 [SEP] 18, SoapBottle, -1.560, 0.067, 3.377, 0, 0, 0, 30 [SEP] 19, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 39 [SEP] 20, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 32 [SEP] 21, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 30 [SEP] 22, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 23, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 25, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 27, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 28, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 29, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 31, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 32, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 33, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 34, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 35, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 36, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 37, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 39, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 40, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 41, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 42, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 43, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 44, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 45, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink. | STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle.  Close cabinet door. | STEP 5: Look up to counter to right of sink. | STEP 6: Pick up toilet paper from counter, right of sink with pink soap in it. | STEP 7: Look down to below sink. | STEP 8: Open far right cabinet, put toilet paper in cabinet between candle and spray bottle.  Close cabinet door. | END


Input: Place the clock next to the pen.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -2.0, 0, 270, 0,  [SEP] 1, CD, -0.350, 0.029, -3.876, 0, 0, 0, 32 [SEP] 2, CellPhone, -3.750, 0.044, -2.997, 0, 0, 0, 42 [SEP] 3, Pen, -3.539, 0.985, -4.276, 0, 0, 0, 43 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 43 [SEP] 5, CreditCard, -3.687, 0.979, -3.673, 0, 0, 0, 43 [SEP] 6, CreditCard, -3.694, 0.614, -4.163, 0, 0, 0, 49 [SEP] 7, Book, -3.637, 0.809, -3.278, 0, 0, 0, 50 [SEP] 8, Book, -3.402, 0.620, -1.218, 0, 0, 0, 25 [SEP] 9, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -2.770, 0.620, -1.218, 0, 0, 0, 25 [SEP] 13, CellPhone, -2.981, 0.620, -1.218, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -0.657, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.453, 0.800, -3.811, 0, 0, 0, 40 [SEP] 17, KeyChain, -3.806, 0.810, -2.997, 0, 180, 0, 50 [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, -0.862, 0.807, -4.137, 0, 0, 0, 40 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.418, 0.548, -3.713, 0, 0, 0, 34 [SEP] 24, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 43 [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 white table. | STEP 2: Pick up the clock on the table behind the computer. | STEP 3: Bring the clock over to the brown drawers. | STEP 4: Place the clock on the shelf next to the pen.  | END


Input: Put the clock on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -2.0, 0, 270, 0,  [SEP] 1, CD, -0.350, 0.029, -3.876, 0, 0, 0, 32 [SEP] 2, CellPhone, -3.750, 0.044, -2.997, 0, 0, 0, 42 [SEP] 3, Pen, -3.539, 0.985, -4.276, 0, 0, 0, 43 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 43 [SEP] 5, CreditCard, -3.687, 0.979, -3.673, 0, 0, 0, 43 [SEP] 6, CreditCard, -3.694, 0.614, -4.163, 0, 0, 0, 49 [SEP] 7, Book, -3.637, 0.809, -3.278, 0, 0, 0, 50 [SEP] 8, Book, -3.402, 0.620, -1.218, 0, 0, 0, 25 [SEP] 9, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -2.770, 0.620, -1.218, 0, 0, 0, 25 [SEP] 13, CellPhone, -2.981, 0.620, -1.218, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -0.657, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.453, 0.800, -3.811, 0, 0, 0, 40 [SEP] 17, KeyChain, -3.806, 0.810, -2.997, 0, 180, 0, 50 [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, -0.862, 0.807, -4.137, 0, 0, 0, 40 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.418, 0.548, -3.713, 0, 0, 0, 34 [SEP] 24, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk over to the desk | STEP 2: Pick up the clock just left of the laptop from the desk | STEP 3: Turn right and walk over to the wooden dresser | STEP 4: Put the clock down on the dresser just right of the pen | END


Input: Put a cooked tomato slice with the knife 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, -1.5, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Potato, -1.991, 0.458, 1.290, 0, 270, 0, 98 [SEP] 2, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 3, ButterKnife, 0.123, 0.765, -0.707, 0, 270, 0, 102 [SEP] 4, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 104 [SEP] 5, Spoon, 0.123, 0.766, -0.651, 0, 0, 0, 102 [SEP] 6, Fork, 2.217, 0.771, 1.198, 0, 270, 0, 76 [SEP] 7, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 102 [SEP] 8, Cup, 1.688, 0.909, 1.299, 0, 0, 0, 80 [SEP] 9, Egg, 2.962, 1.326, -0.709, 0, 0, 0, 100 [SEP] 10, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 80 [SEP] 11, SoapBottle, 1.210, 0.120, -0.383, 0, 180, 0, 53 [SEP] 12, Tomato, 1.688, 0.942, 1.553, 0, 0, 0, 80 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 98 [SEP] 14, Bowl, -0.123, 0.112, 1.196, 0, 0, 0, 73 [SEP] 15, Bowl, 1.141, 0.909, -0.430, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.103, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 80 [SEP] 18, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 100 [SEP] 19, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 104 [SEP] 22, SoapBottle, 1.155, 0.917, 1.383, 0, 0, 0, 80 [SEP] 23, Plate, 2.838, 1.021, -0.709, 0, 0, 0, 100 [SEP] 24, Fork, 1.155, 0.912, 1.214, 0, 270, 0, 80 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 56 [SEP] 27, Egg, 2.900, 1.601, -0.840, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -1.056, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 0.570, 1.782, 1.391, 0, 180, 0, 103 [SEP] 31, Spatula, -0.682, 0.835, -1.255, 0, 90, 0, 104 [SEP] 32, Apple, 2.653, 1.357, -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, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, -0.621, 0.817, -1.155, 0, 90, 0, 104 [SEP] 36, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 56 [SEP] 37, Potato, 2.962, 0.760, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.221, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 45 [SEP] 40, Bowl, 0.178, 2.154, 1.467, 0, 0, 0, 79 [SEP] 41, DishSponge, -0.836, 0.820, -1.183, 0, 0, 0, 104 [SEP] 42, Spoon, 0.634, 0.912, -0.430, 0, 0, 0, 45 [SEP] 43, Mug, 2.156, 0.906, -0.769, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Move to the microwave on your left. | STEP 10: Cook the tomato in the microwave for a few seconds and then take it back out. | STEP 11: Turn left and move back to the round table in the corner of the room. | STEP 12: Put the tomato slice on the table towards the end of the knife closest to the chair. | END