Input: Wash a fork and put it back on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 180, 0,  [SEP] 1, DishSponge, 2.868, 0.771, 1.236, 0, 0, 0, 92 [SEP] 2, DishSponge, -0.201, 1.654, 1.546, 0, 0, 0, 74 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 4, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 105 [SEP] 5, Spoon, 2.543, 0.773, 1.122, 0, 0, 0, 64 [SEP] 6, Fork, 1.955, 0.912, 1.129, 0, 0, 0, 83 [SEP] 7, Fork, -0.734, 0.821, -1.400, 0, 90, 0, 107 [SEP] 8, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 105 [SEP] 9, Spatula, -0.983, 0.835, -1.360, 0, 180, 0, 107 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 11, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 103 [SEP] 12, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 107 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 105 [SEP] 14, SoapBottle, 0.888, 0.917, -0.345, 0, 0, 0, 48 [SEP] 15, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 107 [SEP] 16, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 83 [SEP] 17, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 103 [SEP] 18, Bowl, 1.917, 1.653, 1.429, 0, 0, 0, 60 [SEP] 19, PepperShaker, 1.955, 0.908, 1.468, 0, 0, 0, 83 [SEP] 20, PepperShaker, -0.887, 0.817, -1.255, 0, 0, 0, 107 [SEP] 21, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 83 [SEP] 22, Lettuce, -0.151, 0.992, 1.129, 0, 0, 0, 59 [SEP] 23, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 48 [SEP] 24, Mug, 2.188, 0.109, 1.156, 0, 0, 0, 84 [SEP] 25, SoapBottle, -0.151, 0.917, 1.383, 0, 0, 0, 59 [SEP] 26, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 83 [SEP] 27, Fork, 1.456, 0.771, 1.122, 0, 90, 0, 66 [SEP] 28, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 63 [SEP] 29, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 48 [SEP] 30, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 83 [SEP] 31, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 32, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 101 [SEP] 33, Cup, 2.562, 1.653, 1.546, 0, 0, 0, 73 [SEP] 34, Spatula, -0.007, 0.926, 1.044, 0, 90, 0, 59 [SEP] 35, Apple, 2.715, 1.632, -0.775, 0, 0, 0, 103 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 83 [SEP] 38, SaltShaker, 0.634, 0.908, -0.769, 0, 0, 0, 48 [SEP] 39, Knife, -0.055, 0.944, 1.129, 0, 90, 0, 59 [SEP] 40, Potato, 2.838, 0.761, -0.473, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.939, 0.817, -1.473, 0, 0, 0, 107 [SEP] 42, ButterKnife, -0.017, 0.765, -0.707, 0, 270, 0, 105 [SEP] 43, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 83 [SEP] 44, DishSponge, 0.193, 0.765, -0.596, 0, 0, 0, 105 [SEP] 45, Spoon, -0.682, 0.822, -1.400, 0, 90, 0, 107 [SEP] 46, Mug, 2.715, 1.014, -0.644, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the table. | STEP 2: Pick up the fork from the table. | STEP 3: Turn around completely and then turn to the sink on the left.  | STEP 4: Place the fork inside the sink and turn on the water. Wash the fork then take it out.  | STEP 5: Turn right and then go forward back to the table.  | STEP 6: Place the fork on the table.  | END


Input: Put a bowl with a slice of lettuce in it in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Potato, -0.682, 0.855, -1.038, 0, 0, 0, 99 [SEP] 2, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 93 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 4, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 75 [SEP] 5, ButterKnife, 2.221, 0.911, 1.299, 0, 0, 0, 75 [SEP] 6, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 75 [SEP] 7, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 95 [SEP] 8, Egg, -0.294, 0.949, 1.383, 0, 0, 0, 51 [SEP] 9, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 95 [SEP] 10, Knife, 1.141, 0.944, -0.6, 0, 90, 0, 40 [SEP] 11, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 75 [SEP] 12, Tomato, 2.653, 0.756, -0.442, 0, 0, 0, 95 [SEP] 13, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 99 [SEP] 14, Lettuce, 2.838, 1.644, -0.644, 0, 0, 0, 95 [SEP] 15, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 51 [SEP] 16, Mug, -0.621, 0.815, -1.206, 0, 90, 0, 99 [SEP] 17, SoapBottle, 1.917, 1.661, 1.429, 0, 0, 0, 52 [SEP] 18, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 75 [SEP] 19, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 45 [SEP] 20, Pot, 2.838, 1.022, -0.775, 0, 0, 0, 95 [SEP] 21, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 40 [SEP] 22, Egg, 0.363, 1.822, 1.423, 0, 180, 0, 98 [SEP] 23, Kettle, 1.558, 0.116, -0.419, 0, 180, 0, 86 [SEP] 24, Tomato, -0.766, 0.852, -1.257, 0, 90, 0, 99 [SEP] 25, Cup, -0.151, 0.909, 1.553, 0, 0, 0, 51 [SEP] 26, Spatula, 0.053, 0.780, -0.596, 0, 0, 0, 97 [SEP] 27, Apple, 1.155, 0.980, 1.299, 0, 0, 0, 75 [SEP] 28, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 43 [SEP] 29, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 99 [SEP] 30, SaltShaker, 1.896, 0.111, 1.156, 0, 0, 0, 60 [SEP] 31, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 40 [SEP] 32, Potato, 2.754, 0.946, 1.383, 0, 0, 0, 75 [SEP] 33, PepperShaker, 1.902, 0.908, -0.345, 0, 0, 0, 40 [SEP] 34, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 75 [SEP] 35, Bowl, 0.193, 0.763, -0.707, 0, 0, 0, 97 [SEP] 36, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 93 [SEP] 37, Spoon, -0.836, 0.822, -1.183, 0, 0, 0, 99 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Put the lettuce in the bowl in the sink. | STEP 11: Take the bowl from the sink. | STEP 12: Turn left, go forward to the wall, turn right to the fridge. | STEP 13: Put the bowl in the fridge to the left of the tomato. | END


Input: Put a bowl with a lettuce slice and a knife in it into the fridge 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, 0.5, 0, 270, 0,  [SEP] 1, Potato, -0.682, 0.855, -1.038, 0, 0, 0, 99 [SEP] 2, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 93 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 4, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 75 [SEP] 5, ButterKnife, 2.221, 0.911, 1.299, 0, 0, 0, 75 [SEP] 6, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 75 [SEP] 7, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 95 [SEP] 8, Egg, -0.294, 0.949, 1.383, 0, 0, 0, 51 [SEP] 9, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 95 [SEP] 10, Knife, 1.141, 0.944, -0.6, 0, 90, 0, 40 [SEP] 11, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 75 [SEP] 12, Tomato, 2.653, 0.756, -0.442, 0, 0, 0, 95 [SEP] 13, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 99 [SEP] 14, Lettuce, 2.838, 1.644, -0.644, 0, 0, 0, 95 [SEP] 15, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 51 [SEP] 16, Mug, -0.621, 0.815, -1.206, 0, 90, 0, 99 [SEP] 17, SoapBottle, 1.917, 1.661, 1.429, 0, 0, 0, 52 [SEP] 18, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 75 [SEP] 19, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 45 [SEP] 20, Pot, 2.838, 1.022, -0.775, 0, 0, 0, 95 [SEP] 21, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 40 [SEP] 22, Egg, 0.363, 1.822, 1.423, 0, 180, 0, 98 [SEP] 23, Kettle, 1.558, 0.116, -0.419, 0, 180, 0, 86 [SEP] 24, Tomato, -0.766, 0.852, -1.257, 0, 90, 0, 99 [SEP] 25, Cup, -0.151, 0.909, 1.553, 0, 0, 0, 51 [SEP] 26, Spatula, 0.053, 0.780, -0.596, 0, 0, 0, 97 [SEP] 27, Apple, 1.155, 0.980, 1.299, 0, 0, 0, 75 [SEP] 28, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 43 [SEP] 29, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 99 [SEP] 30, SaltShaker, 1.896, 0.111, 1.156, 0, 0, 0, 60 [SEP] 31, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 40 [SEP] 32, Potato, 2.754, 0.946, 1.383, 0, 0, 0, 75 [SEP] 33, PepperShaker, 1.902, 0.908, -0.345, 0, 0, 0, 40 [SEP] 34, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 75 [SEP] 35, Bowl, 0.193, 0.763, -0.707, 0, 0, 0, 97 [SEP] 36, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 93 [SEP] 37, Spoon, -0.836, 0.822, -1.183, 0, 0, 0, 99 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice | STEP 9: Go to the sink | STEP 10: Put the lettuce in the bowl that is in the sink | STEP 11: Pick up the bowl | STEP 12: Go to the fridge | STEP 13: Put the bowl in the fridge | END


Input: Place two potatoes in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, -0.75, 0, 180, 0,  [SEP] 1, Potato, 1.968, 1.096, 0.738, 0, 0, 0, 44 [SEP] 2, Potato, -1.300, 1.281, 2.242, 0, 90, 0, 57 [SEP] 3, Potato, 0.446, 1.096, 0.307, 0, 0, 0, 44 [SEP] 4, DishSponge, -1.184, 2.027, -1.409, 0, 0, 0, 49 [SEP] 5, Pot, 1.188, 1.566, -1.614, 0, 90, 0, 46 [SEP] 6, Spoon, -0.689, 1.048, -1.397, 0, 0, 0, 42 [SEP] 7, Spoon, 1.879, 1.044, 0.091, 0, 0, 0, 44 [SEP] 8, Egg, 1.701, 1.097, 0.522, 0, 0, 0, 44 [SEP] 9, Bowl, 0.892, 1.052, 0.231, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.238, 1.041, -1.505, 0, 0, 0, 42 [SEP] 11, SaltShaker, 1.894, 0.199, -1.553, 0, 0, 0, 52 [SEP] 12, Lettuce, 1.072, 1.106, -1.397, 0, 0, 0, 42 [SEP] 13, Mug, -0.670, 0.198, -1.409, 0, 0, 0, 51 [SEP] 14, Mug, 1.612, 1.038, 0.199, 0, 0, 0, 44 [SEP] 15, Apple, -1.268, 1.991, 1.796, 0, 90, 0, 57 [SEP] 16, SoapBottle, -1.339, 2.029, -1.482, 0, 0, 0, 49 [SEP] 17, Apple, -1.145, 1.759, -1.269, 0, 0, 0, 56 [SEP] 18, Potato, -0.432, 1.100, -1.505, 0, 0, 0, 42 [SEP] 19, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 44 [SEP] 20, Kettle, -1.105, 0.203, -1.410, 0, 0, 0, 50 [SEP] 21, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 42 [SEP] 22, Tomato, -1.169, 1.279, 1.974, 0, 90, 0, 57 [SEP] 23, SaltShaker, -0.260, 1.041, -1.181, 0, 0, 0, 42 [SEP] 24, Egg, 0.936, 1.108, 0.080, 0, 90, 0, 40 [SEP] 25, Cup, -0.952, 2.028, -1.627, 0, 0, 0, 49 [SEP] 26, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 42 [SEP] 27, Knife, 0.160, 1.069, 0.522, 0, 0, 0, 44 [SEP] 28, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 42 [SEP] 29, ButterKnife, 0.351, 1.043, 0.522, 0, 0, 0, 44 [SEP] 30, PepperShaker, -0.775, 1.041, -1.828, 0, 0, 0, 42 [SEP] 31, DishSponge, 1.347, 1.042, 0.632, 0, 0, 0, 44 [SEP] 32, Plate, 1.512, 0.217, -1.408, 0, 0, 0, 52 [SEP] 33, Bread, -0.030, 1.117, 0.522, 0, 0, 0, 44 [SEP] 34, Spoon, 0.351, 1.044, 0.522, 0, 0, 0, 44 [SEP] 35, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 38 [SEP] 36, Mug, -0.624, 1.560, -1.619, 0, 0, 0, 47 [SEP] 37, Bowl, -1.029, 2.027, -1.337, 0, 0, 0, 49 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter.  | STEP 3: Approach the microwave on your right. | STEP 4: Place the potato in the microwave. | STEP 5: Turn to your left and approach the brown counter in the middle of the room. | STEP 6: Pick up the potato from the counter. | STEP 7: Turn around and and walk to the microwave. | STEP 8: Place the potato in the microwave. | END


Input: Place two potatoes in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, -0.75, 0, 180, 0,  [SEP] 1, Potato, 1.968, 1.096, 0.738, 0, 0, 0, 44 [SEP] 2, Potato, -1.300, 1.281, 2.242, 0, 90, 0, 57 [SEP] 3, Potato, 0.446, 1.096, 0.307, 0, 0, 0, 44 [SEP] 4, DishSponge, -1.184, 2.027, -1.409, 0, 0, 0, 49 [SEP] 5, Pot, 1.188, 1.566, -1.614, 0, 90, 0, 46 [SEP] 6, Spoon, -0.689, 1.048, -1.397, 0, 0, 0, 42 [SEP] 7, Spoon, 1.879, 1.044, 0.091, 0, 0, 0, 44 [SEP] 8, Egg, 1.701, 1.097, 0.522, 0, 0, 0, 44 [SEP] 9, Bowl, 0.892, 1.052, 0.231, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.238, 1.041, -1.505, 0, 0, 0, 42 [SEP] 11, SaltShaker, 1.894, 0.199, -1.553, 0, 0, 0, 52 [SEP] 12, Lettuce, 1.072, 1.106, -1.397, 0, 0, 0, 42 [SEP] 13, Mug, -0.670, 0.198, -1.409, 0, 0, 0, 51 [SEP] 14, Mug, 1.612, 1.038, 0.199, 0, 0, 0, 44 [SEP] 15, Apple, -1.268, 1.991, 1.796, 0, 90, 0, 57 [SEP] 16, SoapBottle, -1.339, 2.029, -1.482, 0, 0, 0, 49 [SEP] 17, Apple, -1.145, 1.759, -1.269, 0, 0, 0, 56 [SEP] 18, Potato, -0.432, 1.100, -1.505, 0, 0, 0, 42 [SEP] 19, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 44 [SEP] 20, Kettle, -1.105, 0.203, -1.410, 0, 0, 0, 50 [SEP] 21, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 42 [SEP] 22, Tomato, -1.169, 1.279, 1.974, 0, 90, 0, 57 [SEP] 23, SaltShaker, -0.260, 1.041, -1.181, 0, 0, 0, 42 [SEP] 24, Egg, 0.936, 1.108, 0.080, 0, 90, 0, 40 [SEP] 25, Cup, -0.952, 2.028, -1.627, 0, 0, 0, 49 [SEP] 26, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 42 [SEP] 27, Knife, 0.160, 1.069, 0.522, 0, 0, 0, 44 [SEP] 28, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 42 [SEP] 29, ButterKnife, 0.351, 1.043, 0.522, 0, 0, 0, 44 [SEP] 30, PepperShaker, -0.775, 1.041, -1.828, 0, 0, 0, 42 [SEP] 31, DishSponge, 1.347, 1.042, 0.632, 0, 0, 0, 44 [SEP] 32, Plate, 1.512, 0.217, -1.408, 0, 0, 0, 52 [SEP] 33, Bread, -0.030, 1.117, 0.522, 0, 0, 0, 44 [SEP] 34, Spoon, 0.351, 1.044, 0.522, 0, 0, 0, 44 [SEP] 35, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 38 [SEP] 36, Mug, -0.624, 1.560, -1.619, 0, 0, 0, 47 [SEP] 37, Bowl, -1.029, 2.027, -1.337, 0, 0, 0, 49 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left and walk to the counter to the left of the sink. | STEP 6: Pick up the potato on the counter. | STEP 7: Turn around and walk right to the microwave. | STEP 8: Place the potato in the microwave to the left of the other potato. | END


Input: Look at a credit card by the light of the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 4.0, 0, 0, 0,  [SEP] 1, Newspaper, -6.012, 1.278, 5.037, 0, 0, 0, 51 [SEP] 2, Newspaper, -0.947, 0.365, 3.306, 0, 0, 0, 41 [SEP] 3, Watch, -0.585, 0.793, 2.252, 0, 270, 0, 43 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 41 [SEP] 6, CreditCard, -0.789, 0.367, 3.002, 0, 0, 0, 41 [SEP] 7, RemoteControl, -2.870, 0.149, 7.327, 0, 90, 0, 52 [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, -2.811, 0.534, 4.106, 0, 0, 0, 58 [SEP] 11, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 53 [SEP] 12, Newspaper, -5.648, 0.532, 6.592, 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, -5.909, 0.871, 4.924, 0, 0, 0, 51 [SEP] 16, CreditCard, -5.215, 0.533, 6.949, 0, 135, 0, 59 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.738, 0.794, 5.726, 0, 270, 0, 42 [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, -2.870, 0.454, 7.221, 0, 90, 0, 50 [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, -5.796, 0.149, 3.757, 0, 0, 0, 48 [SEP] 25, Watch, -2.631, 0.533, 3.607, 0, 270, 0, 58 [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, -2.283, 0.543, 3.752, 0, 270, 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: Go to the TV stand. | STEP 2: Pick up the credit card on the TV stand. | STEP 3: Turn around and go across the room to the lamp on the right of the door. | STEP 4: Turn on the lamp. | END


Input: Pick up red credit card, turn on lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 4.0, 0, 0, 0,  [SEP] 1, Newspaper, -6.012, 1.278, 5.037, 0, 0, 0, 51 [SEP] 2, Newspaper, -0.947, 0.365, 3.306, 0, 0, 0, 41 [SEP] 3, Watch, -0.585, 0.793, 2.252, 0, 270, 0, 43 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 41 [SEP] 6, CreditCard, -0.789, 0.367, 3.002, 0, 0, 0, 41 [SEP] 7, RemoteControl, -2.870, 0.149, 7.327, 0, 90, 0, 52 [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, -2.811, 0.534, 4.106, 0, 0, 0, 58 [SEP] 11, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 53 [SEP] 12, Newspaper, -5.648, 0.532, 6.592, 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, -5.909, 0.871, 4.924, 0, 0, 0, 51 [SEP] 16, CreditCard, -5.215, 0.533, 6.949, 0, 135, 0, 59 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.738, 0.794, 5.726, 0, 270, 0, 42 [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, -2.870, 0.454, 7.221, 0, 90, 0, 50 [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, -5.796, 0.149, 3.757, 0, 0, 0, 48 [SEP] 25, Watch, -2.631, 0.533, 3.607, 0, 270, 0, 58 [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, -2.283, 0.543, 3.752, 0, 270, 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: go to television to the left | STEP 2: pick up red credit card from right side of television stand | STEP 3: turn around, go forward to left side of lamp | STEP 4: look up to lamp shade, turn on lamp | END


Input: Put a microwaved a tomato slice in the refrigerator on the top shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 2, Potato, -1.991, 0.458, 1.417, 0, 270, 0, 97 [SEP] 3, DishSponge, 2.156, 0.911, -0.515, 0, 0, 0, 44 [SEP] 4, DishSponge, 0.654, 2.153, 1.468, 0, 0, 0, 53 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 6, Fork, 0.123, 0.766, -0.707, 0, 0, 0, 101 [SEP] 7, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 44 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 69 [SEP] 9, Cup, -0.106, 1.652, -0.696, 0, 180, 0, 86 [SEP] 10, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 79 [SEP] 11, Egg, -0.682, 0.858, -1.328, 0, 0, 0, 103 [SEP] 12, Knife, -0.055, 0.944, 1.129, 0, 90, 0, 55 [SEP] 13, Knife, 0.634, 0.944, -0.6, 0, 0, 0, 44 [SEP] 14, Tomato, 0.193, 0.797, -0.541, 0, 0, 0, 101 [SEP] 15, SaltShaker, 2.242, 1.651, -0.835, 0, 180, 0, 65 [SEP] 16, Bread, 2.777, 1.077, -0.709, 0, 0, 0, 99 [SEP] 17, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 55 [SEP] 18, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 79 [SEP] 19, Mug, 1.141, 1.650, 1.546, 0, 0, 0, 71 [SEP] 20, Mug, 1.254, 1.650, 1.390, 0, 0, 0, 71 [SEP] 21, SoapBottle, -1.991, 0.429, 1.290, 0, 270, 0, 97 [SEP] 22, Plate, 2.838, 1.566, -0.578, 0, 0, 0, 99 [SEP] 23, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 79 [SEP] 24, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 59 [SEP] 25, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 79 [SEP] 26, Egg, -0.157, 0.803, -0.596, 0, 0, 0, 101 [SEP] 27, Kettle, 1.134, 1.655, -0.734, 0, 180, 0, 46 [SEP] 28, Tomato, -0.983, 0.852, -1.411, 0, 90, 0, 103 [SEP] 29, Cup, 0.193, 0.763, -0.707, 0, 0, 0, 101 [SEP] 30, Spatula, 0.888, 0.926, -0.430, 0, 0, 0, 44 [SEP] 31, Apple, 2.156, 0.980, -0.345, 0, 0, 0, 44 [SEP] 32, Pan, -0.151, 0.911, 1.468, 0, 0, 0, 55 [SEP] 33, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 79 [SEP] 34, SaltShaker, 2.754, 0.908, 1.044, 0, 0, 0, 79 [SEP] 35, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 103 [SEP] 36, Potato, 2.221, 0.946, 1.468, 0, 0, 0, 79 [SEP] 37, PepperShaker, 2.235, 0.111, -0.498, 0, 180, 0, 85 [SEP] 38, ButterKnife, -0.836, 0.820, -1.183, 0, 0, 0, 103 [SEP] 39, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 79 [SEP] 40, DishSponge, 1.155, 0.911, 1.383, 0, 0, 0, 79 [SEP] 41, Spoon, -0.785, 0.822, -1.038, 0, 0, 0, 103 [SEP] 42, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 103 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink. | STEP 9: Turn around and move towards to microwave. | STEP 10: Open the microwave and place the tomato slice inside briefly heat it and remove it before closing the door. | STEP 11: Move the the refrigerator on the right.  | STEP 12: Open refrigerator and place tomato slice on top shelf and close door. | END


Input: Put a statue in front of a television. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 0.75, 0, 180, 0,  [SEP] 1, Bowl, -2.631, 0.535, 3.607, 0, 270, 0, 58 [SEP] 2, Bowl, -2.561, 0.535, 4.335, 0, 270, 0, 58 [SEP] 3, Watch, -2.700, 0.533, 4.335, 0, 270, 0, 58 [SEP] 4, Watch, -2.172, 0.533, 3.981, 0, 0, 0, 58 [SEP] 5, KeyChain, -5.592, 0.534, 6.647, 0, 45, 0, 59 [SEP] 6, RemoteControl, -2.422, 0.536, 3.607, 0, 270, 0, 58 [SEP] 7, RemoteControl, -0.947, 0.444, 3.306, 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, -3.067, 0.453, 7.183, 0, 90, 0, 50 [SEP] 11, Vase, -2.811, 0.542, 3.919, 0, 0, 0, 58 [SEP] 12, Newspaper, -0.947, 0.365, 3.915, 0, 0, 0, 41 [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, -5.349, 0.534, 6.740, 0, 45, 0, 59 [SEP] 16, CreditCard, -0.710, 0.420, 3.306, 0, 0, 0, 41 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.687, 0.794, 5.852, 0, 270, 0, 42 [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, -6.075, 1.281, 4.349, 0, 0, 0, 55 [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, -0.868, 0.442, 3.915, 0, 0, 0, 41 [SEP] 25, Watch, -5.859, 0.533, 6.456, 0, 135, 0, 59 [SEP] 26, Statue, -0.535, 0.800, 6.357, 0, 270, 0, 42 [SEP] 27, Statue, -2.640, 1.281, 7.235, 0, 90, 0, 57 [SEP] 28, Statue, -0.589, 0.792, 2.244, 355.070, 270, 357.987, 43 [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 around and cross the room to face the black shelves with the statue on it. | STEP 2: Pick the statue up from the cabinet. | STEP 3: Go to the left to face the stand with the television on it. | STEP 4: Put the statue in front of the television. | END


Input: To move a tissue box to the back of the toilet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.75, 0, 90, 0,  [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, Cloth, -1.144, 1.777, 2.157, 0, 0, 0, 24 [SEP] 3, Cloth, 0.124, 0.048, 0.156, 0, 0, 0, 25 [SEP] 4, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 5, Candle, -0.207, 0.650, 1.655, 0, 45, 0, 18 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.169, 0.609, -0.408, 0, 315, 0, 18 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.144, 1.072, 2.187, 0, 0, 0, 26 [SEP] 11, TissueBox, -0.980, 0.289, 2.127, 0, 0, 0, 22 [SEP] 12, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 31 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.343, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: Turn and walk to the shelves on the left, and look up at the top shelf.  | STEP 2: Pick up the tissue box to the right of the rag.  | STEP 3: Walk over to the toilet and face the back of the toilet.  | STEP 4: Put the tissue box down behind the spray bottle on the back of the toilet.  | END


Input: place tissue box behind purple bottle on toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.75, 0, 90, 0,  [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, Cloth, -1.144, 1.777, 2.157, 0, 0, 0, 24 [SEP] 3, Cloth, 0.124, 0.048, 0.156, 0, 0, 0, 25 [SEP] 4, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 5, Candle, -0.207, 0.650, 1.655, 0, 45, 0, 18 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.169, 0.609, -0.408, 0, 315, 0, 18 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.144, 1.072, 2.187, 0, 0, 0, 26 [SEP] 11, TissueBox, -0.980, 0.289, 2.127, 0, 0, 0, 22 [SEP] 12, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 31 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.343, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 36, NorthWall, , , , , , ,  [SEP] 37, EastWall, , , , , , ,  [SEP] 38, SouthWall, , , , , , ,  [SEP] 39, WestWall, , , , , , ,

Output: STEP 1: turn around, go to top white shelf above blue bottle | STEP 2: pick up tissue box from top shelf | STEP 3: turn around, go to right side of toilet | STEP 4: place tissue box on toilet behind purple bottle | END


Input: Place two table knives on the round grey 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, 2.591, 1.598, -0.578, 0, 90, 0, 103 [SEP] 2, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, -0.621, 0.822, -1.308, 0, 90, 0, 107 [SEP] 5, Spoon, -0.087, 0.766, -0.541, 0, 270, 0, 105 [SEP] 6, Fork, 1.626, 0.772, -0.498, 0, 90, 0, 78 [SEP] 7, Fork, -0.007, 0.912, 1.299, 0, 90, 0, 59 [SEP] 8, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 105 [SEP] 9, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 83 [SEP] 10, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 83 [SEP] 11, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 73 [SEP] 12, Cup, -0.983, 0.818, -1.206, 0, 90, 0, 107 [SEP] 13, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 59 [SEP] 14, Knife, -0.766, 0.853, -1.206, 0, 270, 0, 107 [SEP] 15, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 101 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 105 [SEP] 17, Bowl, 1.558, 0.112, -0.419, 0, 180, 0, 65 [SEP] 18, SaltShaker, 1.688, 0.908, 1.553, 0, 0, 0, 83 [SEP] 19, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 107 [SEP] 20, PepperShaker, -1.056, 0.817, -1.360, 0, 90, 0, 107 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 75 [SEP] 22, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 83 [SEP] 23, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 59 [SEP] 24, Lettuce, 2.838, 1.644, -0.709, 0, 0, 0, 103 [SEP] 25, SoapBottle, 2.235, 0.120, -0.498, 0, 180, 0, 89 [SEP] 26, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 82 [SEP] 27, Fork, 2.488, 0.912, 1.214, 0, 0, 0, 83 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 48 [SEP] 30, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 48 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, 2.715, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 103 [SEP] 34, Spatula, 0.888, 0.926, -0.769, 0, 90, 0, 48 [SEP] 35, Apple, 2.754, 0.980, 1.129, 0, 0, 0, 83 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 107 [SEP] 38, SaltShaker, -0.007, 0.908, 1.553, 0, 0, 0, 59 [SEP] 39, Knife, 1.688, 0.944, 1.129, 0, 0, 0, 83 [SEP] 40, Potato, 1.395, 0.946, -0.345, 0, 0, 0, 48 [SEP] 41, PepperShaker, -0.198, 0.908, 1.383, 0, 0, 0, 59 [SEP] 42, ButterKnife, 1.155, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.221, 0.909, 1.129, 0, 0, 0, 83 [SEP] 44, DishSponge, 1.155, 0.911, 1.044, 0, 0, 0, 83 [SEP] 45, Spoon, -0.151, 0.912, 1.468, 0, 180, 0, 59 [SEP] 46, Mug, -0.198, 0.906, 1.553, 0, 90, 0, 59 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Move forward until after the stove, then  turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table | STEP 4: place the knife on the table, perpendicular to the knife already on the table | STEP 5: turn left and cross the room to the counter that is just beyond the stove. Face the counter next to the stove. | STEP 6: Take the knife from the counter next to the stove | STEP 7: cross the room and return to in front of the round grey table | STEP 8: place the knife on the table leaning on the table knife you put there and the glass. | END


Input: Put a couple of knives down on a kitchen 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, 2.591, 1.598, -0.578, 0, 90, 0, 103 [SEP] 2, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, -0.621, 0.822, -1.308, 0, 90, 0, 107 [SEP] 5, Spoon, -0.087, 0.766, -0.541, 0, 270, 0, 105 [SEP] 6, Fork, 1.626, 0.772, -0.498, 0, 90, 0, 78 [SEP] 7, Fork, -0.007, 0.912, 1.299, 0, 90, 0, 59 [SEP] 8, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 105 [SEP] 9, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 83 [SEP] 10, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 83 [SEP] 11, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 73 [SEP] 12, Cup, -0.983, 0.818, -1.206, 0, 90, 0, 107 [SEP] 13, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 59 [SEP] 14, Knife, -0.766, 0.853, -1.206, 0, 270, 0, 107 [SEP] 15, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 101 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 105 [SEP] 17, Bowl, 1.558, 0.112, -0.419, 0, 180, 0, 65 [SEP] 18, SaltShaker, 1.688, 0.908, 1.553, 0, 0, 0, 83 [SEP] 19, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 107 [SEP] 20, PepperShaker, -1.056, 0.817, -1.360, 0, 90, 0, 107 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 75 [SEP] 22, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 83 [SEP] 23, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 59 [SEP] 24, Lettuce, 2.838, 1.644, -0.709, 0, 0, 0, 103 [SEP] 25, SoapBottle, 2.235, 0.120, -0.498, 0, 180, 0, 89 [SEP] 26, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 82 [SEP] 27, Fork, 2.488, 0.912, 1.214, 0, 0, 0, 83 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 48 [SEP] 30, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 48 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, 2.715, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 103 [SEP] 34, Spatula, 0.888, 0.926, -0.769, 0, 90, 0, 48 [SEP] 35, Apple, 2.754, 0.980, 1.129, 0, 0, 0, 83 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 107 [SEP] 38, SaltShaker, -0.007, 0.908, 1.553, 0, 0, 0, 59 [SEP] 39, Knife, 1.688, 0.944, 1.129, 0, 0, 0, 83 [SEP] 40, Potato, 1.395, 0.946, -0.345, 0, 0, 0, 48 [SEP] 41, PepperShaker, -0.198, 0.908, 1.383, 0, 0, 0, 59 [SEP] 42, ButterKnife, 1.155, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.221, 0.909, 1.129, 0, 0, 0, 83 [SEP] 44, DishSponge, 1.155, 0.911, 1.044, 0, 0, 0, 83 [SEP] 45, Spoon, -0.151, 0.912, 1.468, 0, 180, 0, 59 [SEP] 46, Mug, -0.198, 0.906, 1.553, 0, 90, 0, 59 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 109, NorthWall, , , , , , ,  [SEP] 110, EastWall, , , , , , ,  [SEP] 111, SouthWall, , , , , , ,  [SEP] 112, WestWall, , , , , , ,

Output: STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table | STEP 4: Put the knife down on the table | STEP 5: Head back to your last position, but face right this time towards the other counter top | STEP 6: Pick another knife up off of the kitchen counter top | STEP 7: Head back to the kitchen table on your left | STEP 8: Put the other knife down on the table | END


Input: Put a mug with a pen in it on a small cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.25, 0, 270, 0,  [SEP] 1, CD, -0.862, 0.799, -4.354, 0, 0, 0, 41 [SEP] 2, CD, -3.760, 0.980, -3.673, 0, 0, 0, 44 [SEP] 3, Pen, -3.582, 0.424, -3.885, 0, 0, 0, 47 [SEP] 4, Pen, -3.539, 0.986, -4.075, 0, 0, 0, 44 [SEP] 5, Pen, -1.270, 0.805, -3.703, 0, 0, 0, 41 [SEP] 6, Pencil, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 7, CreditCard, -3.760, 0.979, -3.874, 0, 0, 0, 44 [SEP] 8, KeyChain, -3.807, 0.615, -2.999, 0, 180, 0, 45 [SEP] 9, Book, -3.613, 0.620, -1.793, 0, 0, 0, 26 [SEP] 10, Book, -3.760, 0.981, -4.276, 0, 0, 0, 44 [SEP] 11, Laptop, -3.191, 0.618, -0.931, 0, 0, 0, 26 [SEP] 12, AlarmClock, -3.539, 0.979, -4.276, 0, 0, 0, 44 [SEP] 13, Book, -1.270, 0.800, -4.246, 0, 0, 0, 41 [SEP] 14, CellPhone, -3.539, 0.981, -3.070, 0, 0, 0, 44 [SEP] 15, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.466, 0.979, -3.673, 0, 0, 0, 44 [SEP] 17, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.596, 0.543, -3.749, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -0.507, 0.546, -3.768, 0, 0, 0, 35 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.613, 0.979, -3.673, 0, 0, 0, 44 [SEP] 24, Pen, -0.329, 0.548, -3.749, 0, 0, 0, 35 [SEP] 25, Mug, -1.474, 0.798, -4.137, 0, 0, 0, 41 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 53, NorthWall, , , , , , ,  [SEP] 54, EastWall, , , , , , ,  [SEP] 55, SouthWall, , , , , , ,  [SEP] 56, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk. | STEP 4: Put the pen in the mug that's left of the light. | STEP 5: Pick up the mug with the pen in it. | STEP 6: Turn left and walk to the bed then turn right and walk to the wall and turn right. | STEP 7: Look near the floor and you will see a small brown cabinet with three drawers please put the mug on top of it near it's right corner. | END


Input: Put two eggs in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.5, 0, 90, 0,  [SEP] 1, Pan, 1.665, 0.204, -1.480, 0, 180, 0, 55 [SEP] 2, Potato, -1.145, 1.769, -1.331, 0, 0, 0, 59 [SEP] 3, Potato, 1.701, 1.096, 0.091, 0, 0, 0, 47 [SEP] 4, DishSponge, 0.936, 1.054, 0.281, 0, 90, 0, 43 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 45 [SEP] 6, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 56 [SEP] 7, Fork, 0.065, 1.043, 0.630, 0, 270, 0, 47 [SEP] 8, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 42 [SEP] 10, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 42 [SEP] 11, Egg, 1.701, 1.097, 0.630, 0, 0, 0, 47 [SEP] 12, Knife, 0.255, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.091, 0, 0, 0, 47 [SEP] 14, SoapBottle, 0.848, 1.056, 0.281, 0, 90, 0, 43 [SEP] 15, Bowl, 1.155, 1.045, -1.289, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.775, 1.041, -1.505, 0, 0, 0, 45 [SEP] 17, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 18, Apple, -1.460, 1.756, 2.331, 0, 90, 0, 60 [SEP] 19, SoapBottle, -0.312, 0.204, -1.553, 0, 0, 0, 54 [SEP] 20, Apple, 1.151, 0.936, 0.231, 0, 90, 0, 42 [SEP] 21, Potato, -1.268, 2.001, 2.331, 0, 90, 0, 60 [SEP] 22, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 47 [SEP] 23, Kettle, -1.261, 0.203, -1.265, 0, 0, 0, 53 [SEP] 24, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 49 [SEP] 25, Tomato, -1.276, 1.764, 2.153, 0, 90, 0, 60 [SEP] 26, SaltShaker, -0.774, 1.560, -1.693, 0, 0, 0, 50 [SEP] 27, Egg, 0.740, 1.101, -1.505, 0, 0, 0, 45 [SEP] 28, Cup, -0.949, 0.202, -1.193, 0, 0, 0, 53 [SEP] 29, Spatula, 1.238, 1.061, -1.612, 0, 0, 0, 45 [SEP] 30, Knife, 1.015, 1.069, 0.632, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.169, 1.287, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, 0.906, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, -0.548, 1.560, -1.619, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.670, 0.203, -1.193, 0, 0, 0, 54 [SEP] 35, Plate, 1.666, 1.032, -1.557, 0, 0, 0, 51 [SEP] 36, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.347, 1.044, 0.763, 0, 0, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, -1.276, 1.708, 1.885, 0, 90, 0, 60 [SEP] 40, Bowl, 1.589, 1.018, -1.264, 0, 0, 0, 51 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left, go forward, turn left towards the sink. Go to the sink. | STEP 6: Take the closest egg from the sink. | STEP 7: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 8: Put the egg in the microwave. | END


Input: Putting two eggs in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.5, 0, 90, 0,  [SEP] 1, Pan, 1.665, 0.204, -1.480, 0, 180, 0, 55 [SEP] 2, Potato, -1.145, 1.769, -1.331, 0, 0, 0, 59 [SEP] 3, Potato, 1.701, 1.096, 0.091, 0, 0, 0, 47 [SEP] 4, DishSponge, 0.936, 1.054, 0.281, 0, 90, 0, 43 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 45 [SEP] 6, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 56 [SEP] 7, Fork, 0.065, 1.043, 0.630, 0, 270, 0, 47 [SEP] 8, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 42 [SEP] 10, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 42 [SEP] 11, Egg, 1.701, 1.097, 0.630, 0, 0, 0, 47 [SEP] 12, Knife, 0.255, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.091, 0, 0, 0, 47 [SEP] 14, SoapBottle, 0.848, 1.056, 0.281, 0, 90, 0, 43 [SEP] 15, Bowl, 1.155, 1.045, -1.289, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.775, 1.041, -1.505, 0, 0, 0, 45 [SEP] 17, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 18, Apple, -1.460, 1.756, 2.331, 0, 90, 0, 60 [SEP] 19, SoapBottle, -0.312, 0.204, -1.553, 0, 0, 0, 54 [SEP] 20, Apple, 1.151, 0.936, 0.231, 0, 90, 0, 42 [SEP] 21, Potato, -1.268, 2.001, 2.331, 0, 90, 0, 60 [SEP] 22, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 47 [SEP] 23, Kettle, -1.261, 0.203, -1.265, 0, 0, 0, 53 [SEP] 24, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 49 [SEP] 25, Tomato, -1.276, 1.764, 2.153, 0, 90, 0, 60 [SEP] 26, SaltShaker, -0.774, 1.560, -1.693, 0, 0, 0, 50 [SEP] 27, Egg, 0.740, 1.101, -1.505, 0, 0, 0, 45 [SEP] 28, Cup, -0.949, 0.202, -1.193, 0, 0, 0, 53 [SEP] 29, Spatula, 1.238, 1.061, -1.612, 0, 0, 0, 45 [SEP] 30, Knife, 1.015, 1.069, 0.632, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.169, 1.287, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, 0.906, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, -0.548, 1.560, -1.619, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.670, 0.203, -1.193, 0, 0, 0, 54 [SEP] 35, Plate, 1.666, 1.032, -1.557, 0, 0, 0, 51 [SEP] 36, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.347, 1.044, 0.763, 0, 0, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, -1.276, 1.708, 1.885, 0, 90, 0, 60 [SEP] 40, Bowl, 1.589, 1.018, -1.264, 0, 0, 0, 51 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave | STEP 4: Put the egg in the microwave | STEP 5: Turn left and stop at the sink | STEP 6: Grab the egg out of the sink | STEP 7: Turn left and go to the microwave | STEP 8: Put the egg in the microwave | END


Input: Put a cooked potato 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, -1.25, 0.931, 0.25, 0, 0, 0,  [SEP] 1, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 58 [SEP] 2, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 44 [SEP] 3, Spoon, 0.740, 1.048, -1.612, 0, 270, 0, 43 [SEP] 4, Spatula, 1.514, 1.058, 0.807, 0, 0, 0, 45 [SEP] 5, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 47 [SEP] 6, Cup, -1.194, 1.716, -1.269, 0, 0, 0, 57 [SEP] 7, Plate, 1.512, 0.217, -1.262, 0, 0, 0, 53 [SEP] 8, Plate, 1.036, 1.577, -1.689, 0, 0, 0, 47 [SEP] 9, Knife, -0.517, 1.072, -1.181, 0, 0, 0, 43 [SEP] 10, Knife, -0.038, 1.072, -1.118, 0, 0, 0, 43 [SEP] 11, Tomato, 0.936, 1.104, 0.331, 0, 90, 0, 41 [SEP] 12, Tomato, -1.038, 1.279, 1.796, 0, 90, 0, 58 [SEP] 13, SoapBottle, -0.774, 1.565, -1.767, 0, 0, 0, 48 [SEP] 14, Bowl, -1.103, 1.227, 2.063, 0, 90, 0, 58 [SEP] 15, PepperShaker, 1.015, 1.038, 0.807, 0, 0, 0, 45 [SEP] 16, Lettuce, 1.181, 1.103, 0.632, 0, 0, 0, 45 [SEP] 17, SoapBottle, -1.416, 2.029, -1.482, 0, 0, 0, 50 [SEP] 18, Apple, 0.980, 1.097, 0.231, 0, 90, 0, 41 [SEP] 19, Potato, -0.689, 1.100, -1.289, 0, 0, 0, 43 [SEP] 20, Fork, 1.612, 1.043, 0.630, 0, 0, 0, 45 [SEP] 21, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 22, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 43 [SEP] 23, Tomato, -0.517, 1.097, -1.505, 0, 0, 0, 43 [SEP] 24, SaltShaker, 1.523, 1.038, 0.738, 0, 0, 0, 45 [SEP] 25, Egg, 0.255, 1.097, 0.091, 0, 0, 0, 45 [SEP] 26, Cup, 0.805, 1.053, 0.131, 0, 90, 0, 41 [SEP] 27, Spatula, -0.603, 1.061, -1.397, 0, 0, 0, 43 [SEP] 28, Knife, 0.877, 1.042, -1.363, 90, 315, 0, 43 [SEP] 29, Lettuce, -0.030, 1.103, 0.522, 0, 0, 0, 45 [SEP] 30, ButterKnife, -0.775, 1.046, -1.505, 0, 90, 0, 43 [SEP] 31, PepperShaker, 1.790, 1.038, 0.091, 0, 0, 0, 45 [SEP] 32, DishSponge, -1.027, 0.202, -1.265, 0, 0, 0, 51 [SEP] 33, Plate, 1.512, 1.032, -1.484, 0, 0, 0, 49 [SEP] 34, Bread, 0.255, 1.117, 0.522, 0, 0, 0, 45 [SEP] 35, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 40 [SEP] 36, Pot, -1.261, 0.204, -1.338, 0, 270, 0, 51 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 58 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the counter then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you. above the knife | STEP 3: Turn right and walk to the wall then turn left and take a small step backwards. | STEP 4: Cook the potato in the microwave then take it back out and close the door. | STEP 5: Take a step to your left to face the toaster again. | STEP 6: Put the potato above the knife but closer to it then where you picked it up from. | END


Input: Put a metal pan with a butter knife in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, 0.444, 2.156, 1.505, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 80 [SEP] 3, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 80 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 5, Spoon, -0.887, 0.822, -1.400, 0, 0, 0, 104 [SEP] 6, Fork, 1.831, 0.772, 1.122, 0, 90, 0, 78 [SEP] 7, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 104 [SEP] 8, Spatula, -0.043, 0.926, -0.316, 0, 0, 0, 45 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 70 [SEP] 10, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 100 [SEP] 11, SoapBottle, 0.634, 0.917, -0.345, 0, 0, 0, 45 [SEP] 12, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 80 [SEP] 13, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 100 [SEP] 14, PepperShaker, 1.254, 1.651, 1.429, 0, 0, 0, 72 [SEP] 15, PepperShaker, 1.141, 0.908, -0.854, 0, 0, 0, 45 [SEP] 16, Bread, -0.151, 0.969, 1.299, 0, 0, 0, 56 [SEP] 17, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 80 [SEP] 20, Mug, 2.653, 0.721, -0.565, 0, 0, 0, 100 [SEP] 21, Apple, -0.198, 0.980, 1.044, 0, 0, 0, 56 [SEP] 22, SoapBottle, -1.056, 0.826, -1.257, 0, 90, 0, 104 [SEP] 23, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 67 [SEP] 24, Fork, 2.249, 0.771, 1.122, 0, 90, 0, 76 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 80 [SEP] 27, Egg, 0.888, 0.949, -0.854, 0, 0, 0, 45 [SEP] 28, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 80 [SEP] 29, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 0.415, 1.782, 1.520, 0, 180, 0, 103 [SEP] 31, Spatula, -0.621, 0.835, -1.360, 0, 90, 0, 104 [SEP] 32, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 98 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.955, 0.908, 1.044, 0, 0, 0, 80 [SEP] 36, Knife, -0.939, 0.853, -1.255, 0, 90, 0, 104 [SEP] 37, Potato, 0.518, 1.819, 1.520, 0, 180, 0, 103 [SEP] 38, PepperShaker, -0.836, 0.817, -1.400, 0, 0, 0, 104 [SEP] 39, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 104 [SEP] 40, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.888, 0.911, -0.345, 0, 0, 0, 45 [SEP] 42, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 56 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and over to the stove. | STEP 4: Put the butter knife in the metal pan that is on the front right burner of the stove. | STEP 5: Pick up the metal pan with the butter knife in it. | STEP 6: Walk over to the sink. | STEP 7: Put the metal pan with the butter knife in it in the sink. | END


Input: Place a pan with a knife in it in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.0, 0, 270, 0,  [SEP] 1, DishSponge, 0.444, 2.156, 1.505, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 80 [SEP] 3, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 80 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 5, Spoon, -0.887, 0.822, -1.400, 0, 0, 0, 104 [SEP] 6, Fork, 1.831, 0.772, 1.122, 0, 90, 0, 78 [SEP] 7, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 104 [SEP] 8, Spatula, -0.043, 0.926, -0.316, 0, 0, 0, 45 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 70 [SEP] 10, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 100 [SEP] 11, SoapBottle, 0.634, 0.917, -0.345, 0, 0, 0, 45 [SEP] 12, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 80 [SEP] 13, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 100 [SEP] 14, PepperShaker, 1.254, 1.651, 1.429, 0, 0, 0, 72 [SEP] 15, PepperShaker, 1.141, 0.908, -0.854, 0, 0, 0, 45 [SEP] 16, Bread, -0.151, 0.969, 1.299, 0, 0, 0, 56 [SEP] 17, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 80 [SEP] 20, Mug, 2.653, 0.721, -0.565, 0, 0, 0, 100 [SEP] 21, Apple, -0.198, 0.980, 1.044, 0, 0, 0, 56 [SEP] 22, SoapBottle, -1.056, 0.826, -1.257, 0, 90, 0, 104 [SEP] 23, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 67 [SEP] 24, Fork, 2.249, 0.771, 1.122, 0, 90, 0, 76 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 80 [SEP] 27, Egg, 0.888, 0.949, -0.854, 0, 0, 0, 45 [SEP] 28, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 80 [SEP] 29, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 0.415, 1.782, 1.520, 0, 180, 0, 103 [SEP] 31, Spatula, -0.621, 0.835, -1.360, 0, 90, 0, 104 [SEP] 32, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 98 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.955, 0.908, 1.044, 0, 0, 0, 80 [SEP] 36, Knife, -0.939, 0.853, -1.255, 0, 90, 0, 104 [SEP] 37, Potato, 0.518, 1.819, 1.520, 0, 180, 0, 103 [SEP] 38, PepperShaker, -0.836, 0.817, -1.400, 0, 0, 0, 104 [SEP] 39, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 104 [SEP] 40, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.888, 0.911, -0.345, 0, 0, 0, 45 [SEP] 42, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 56 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step left to the stove. | STEP 4: Place the knife on the pan on the front right burner. | STEP 5: Pick up the pan. | STEP 6:  Turn around and walk to the sink. | STEP 7: Place the pan in the sink. | END