Input: clean up the spray bottles and put them on top of the toilet  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.903, 0.0, 0, 270, 0,  [SEP] 1, SoapBar, -1.707, 0.081, -0.690, 0, 270, 0, Floor|-01.07| [SEP] 2, SoapBar, -0.861, 1.010, -0.319, 0, 306.598, 0, 21 [SEP] 3, Candle, -1.635, 0.330, 2.247, 0, 0, 0, 24 [SEP] 4, SprayBottle, -0.653, 0.289, 2.127, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.148, 0.611, -0.428, 0, 315, 0, 20 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 30 [SEP] 7, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -2.015, 1.046, -0.797, 0, 0, 0, 33 [SEP] 11, ToiletPaper, -2.212, 1.043, -0.674, 0, 0, 0, 33 [SEP] 12, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 31 [SEP] 13, TissueBox, -0.980, 0.289, 2.097, 0, 0, 0, 24 [SEP] 14, Cloth, 0.206, 0.048, 1.295, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 23 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -1.471, 1.774, 2.157, 0, 0, 0, 26 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet  | STEP 4: put the cleaning spray bottle on top of the toilet | STEP 5: turn left then walk straight towards the tub then turn left and walk to the shelf and look up | STEP 6: pick up the spray bottle on the top shelf | STEP 7: turn left towards the door and walk straight then turn left again and walk straight towards the toilet | STEP 8: put the cleaning spray bottle on the top of the toilet next to the toilet paper | END


Input: To move two spray bottles 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, -1.0, 0.903, 0.0, 0, 270, 0,  [SEP] 1, SoapBar, -1.707, 0.081, -0.690, 0, 270, 0, Floor|-01.07| [SEP] 2, SoapBar, -0.861, 1.010, -0.319, 0, 306.598, 0, 21 [SEP] 3, Candle, -1.635, 0.330, 2.247, 0, 0, 0, 24 [SEP] 4, SprayBottle, -0.653, 0.289, 2.127, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.148, 0.611, -0.428, 0, 315, 0, 20 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 30 [SEP] 7, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -2.015, 1.046, -0.797, 0, 0, 0, 33 [SEP] 11, ToiletPaper, -2.212, 1.043, -0.674, 0, 0, 0, 33 [SEP] 12, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 31 [SEP] 13, TissueBox, -0.980, 0.289, 2.097, 0, 0, 0, 24 [SEP] 14, Cloth, 0.206, 0.048, 1.295, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 23 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -1.471, 1.774, 2.157, 0, 0, 0, 26 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0,  [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0,  [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0,  [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0,  [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0,  [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0,  [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0,  [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0,  [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0,  [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0,  [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0,  [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0,  [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0,  [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0,  [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0,  [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0,  [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0,  [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk over to the right side of the shelves.  | STEP 2: Pick up the blue spray bottle to the right of the tissues.  | STEP 3: Turn left, turn left at the door and face the back of the toilet.  | STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper.  | STEP 5: Turn around and walk back over to the shelves, look up at the top shelf.  | STEP 6: Pick up the blue spray bottle from the top shelf.  | STEP 7: Turn left and walk back over to the back of the toilet.  | STEP 8: Put the spray bottle down on the back of the toilet to the left of the toilet paper roll.  | END


Input: put chilled potato on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 2.838, 1.563, -0.644, 0, 0, 0, 97 [SEP] 2, DishSponge, 2.188, 0.114, 1.156, 0, 0, 0, 78 [SEP] 3, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 77 [SEP] 4, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 5, ButterKnife, -1.056, 0.820, -1.257, 0, 90, 0, 101 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 7, Spoon, -0.151, 0.912, 1.044, 0, 0, 0, 53 [SEP] 8, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 42 [SEP] 9, Bowl, -0.090, 1.652, 1.432, 0, 0, 0, 68 [SEP] 10, Bowl, -0.694, 0.818, -1.308, 0, 90, 0, 101 [SEP] 11, SaltShaker, 1.767, 1.651, 1.390, 0, 0, 0, 54 [SEP] 12, PepperShaker, 1.485, 0.111, -0.498, 0, 180, 0, 59 [SEP] 13, PepperShaker, 2.221, 0.908, 1.044, 0, 0, 0, 77 [SEP] 14, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 77 [SEP] 15, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 77 [SEP] 16, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 101 [SEP] 17, Mug, 2.487, 1.650, 1.390, 0, 0, 0, 43 [SEP] 18, Apple, 2.777, 0.795, -0.535, 0, 0, 0, 97 [SEP] 19, SoapBottle, -0.072, 1.660, -0.849, 0, 180, 0, 84 [SEP] 20, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 77 [SEP] 21, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 99 [SEP] 22, Pot, 0.888, 0.915, -0.430, 0, 0, 0, 42 [SEP] 23, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 2.900, 0.764, -0.504, 0, 0, 0, 97 [SEP] 25, Kettle, 2.221, 0.912, 1.299, 0, 0, 0, 77 [SEP] 26, Tomato, 2.715, 1.594, -0.840, 0, 0, 0, 97 [SEP] 27, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 97 [SEP] 28, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 77 [SEP] 29, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 100 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.924, 1.344, -0.612, 16.831, 2.193, 9.559, 97 [SEP] 32, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 33, Knife, -0.007, 0.944, 1.214, 0, 270, 0, 53 [SEP] 34, Potato, 1.688, 0.946, 1.214, 0, 0, 0, 77 [SEP] 35, PepperShaker, -0.198, 0.908, 1.299, 0, 0, 0, 53 [SEP] 36, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 101 [SEP] 37, Bowl, 0.634, 0.909, -0.515, 0, 0, 0, 42 [SEP] 38, DishSponge, 0.193, 0.765, -0.762, 0, 0, 0, 99 [SEP] 39, Spoon, -0.103, 0.912, 1.383, 0, 0, 0, 53 [SEP] 40, Mug, 2.754, 0.906, 1.553, 0, 0, 0, 77 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: walk forward, turn right to face counter | STEP 2: pick up the potato that is on the counter | STEP 3: turn right, walk forward, turn right to face fridge | STEP 4: put potato in fridge, wait a minute, take potato out | STEP 5: turn right, walk across room to table | STEP 6: put the potato on the table | END


Input: Place a chilled potato 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, 2.5, 0.900, 0.25, 0, 180, 0,  [SEP] 1, ButterKnife, -0.198, 0.911, 1.044, 0, 0, 0, 54 [SEP] 2, ButterKnife, -0.055, 0.911, 1.299, 0, 90, 0, 54 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 4, Pot, 2.715, 1.567, -0.644, 0, 0, 0, 98 [SEP] 5, Spoon, 0.634, 0.912, -0.345, 0, 0, 0, 43 [SEP] 6, Spoon, 2.488, 0.912, 1.468, 0, 0, 0, 78 [SEP] 7, Fork, 2.754, 0.912, 1.129, 0, 0, 0, 78 [SEP] 8, Fork, -0.887, 0.821, -1.400, 0, 90, 0, 102 [SEP] 9, Spatula, -0.911, 0.835, -1.155, 0, 180, 0, 102 [SEP] 10, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 43 [SEP] 11, Egg, 2.653, 1.326, -0.447, 0, 0, 0, 98 [SEP] 12, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 78 [SEP] 13, SoapBottle, 1.250, 0.120, 1.196, 0, 0, 0, 50 [SEP] 14, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 101 [SEP] 15, PepperShaker, -0.785, 0.817, -1.400, 0, 0, 0, 102 [SEP] 16, PepperShaker, 2.754, 0.908, 1.468, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Apple, 1.155, 0.980, 1.129, 0, 0, 0, 78 [SEP] 19, Apple, -0.103, 0.980, 1.044, 0, 0, 0, 54 [SEP] 20, SoapBottle, 1.484, 1.661, -0.849, 0, 180, 0, 65 [SEP] 21, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 78 [SEP] 22, Fork, 2.488, 0.912, 1.044, 0, 0, 0, 78 [SEP] 23, Pot, 2.715, 1.022, -0.578, 0, 0, 0, 98 [SEP] 24, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -0.734, 0.858, -1.473, 0, 0, 0, 102 [SEP] 26, Kettle, 2.838, 1.655, 1.432, 0, 0, 0, 44 [SEP] 27, Tomato, -0.694, 0.852, -1.308, 0, 90, 0, 102 [SEP] 28, Cup, 1.447, 1.653, -0.732, 0, 180, 0, 80 [SEP] 29, Spatula, -0.007, 0.926, 1.553, 0, 270, 0, 54 [SEP] 30, Apple, 0.634, 0.980, -0.515, 0, 0, 0, 43 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 54 [SEP] 33, SaltShaker, 2.223, 0.110, 1.193, 0, 0, 0, 79 [SEP] 34, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 100 [SEP] 35, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 102 [SEP] 36, PepperShaker, 1.955, 0.908, 1.214, 0, 0, 0, 78 [SEP] 37, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 78 [SEP] 38, Bowl, -0.983, 0.818, -1.308, 0, 90, 0, 102 [SEP] 39, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 100 [SEP] 40, Spoon, 1.558, 0.773, 1.198, 0, 0, 0, 61 [SEP] 41, Mug, 1.155, 0.906, 1.468, 0, 0, 0, 78 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn right past the counters, then turn left and walk to the table. | STEP 2: Pick up the potato on the table. | STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right. | STEP 4: Place the potato in the fridge and close the door. Wait a moment and take the potato out again. | STEP 5: Turn right and walk past the counters again, and turn left, walking back to the table. | STEP 6: Place the potato on the table in front of the handle of the spatula. | END


Input: Put a clean kettle in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, 0.0, 0, 0, 0,  [SEP] 1, DishSponge, 1.612, 1.042, 0.738, 0, 0, 0, 44 [SEP] 2, ButterKnife, 0.160, 1.032, 0.415, 0, 0, 0, 44 [SEP] 3, Kettle, 0.885, 1.566, -1.538, 0, 0, 0, 46 [SEP] 4, Fork, 1.514, 1.043, 0.676, 0, 90, 0, 44 [SEP] 5, Spoon, 1.347, 1.044, 0.720, 0, 0, 0, 44 [SEP] 6, Spoon, 1.181, 1.044, 0.632, 0, 0, 0, 44 [SEP] 7, Spatula, 1.015, 1.058, 0.632, 0, 0, 0, 44 [SEP] 8, Egg, 1.612, 1.097, 0.415, 0, 0, 0, 44 [SEP] 9, Cup, -1.051, 0.707, 1.885, 0, 90, 0, 57 [SEP] 10, Tomato, -1.366, 1.279, 1.974, 0, 90, 0, 57 [SEP] 11, SoapBottle, 1.036, 1.565, -1.764, 0, 0, 0, 46 [SEP] 12, SoapBottle, -1.105, 0.203, -1.338, 0, 0, 0, 50 [SEP] 13, PepperShaker, 0.740, 1.041, -1.828, 0, 0, 0, 42 [SEP] 14, Lettuce, -1.300, 1.287, 2.153, 0, 90, 0, 57 [SEP] 15, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 42 [SEP] 16, SoapBottle, 1.512, 0.205, -1.335, 0, 0, 0, 52 [SEP] 17, Apple, -1.071, 0.750, 2.242, 0, 90, 0, 57 [SEP] 18, Potato, 0.823, 1.100, -1.181, 0, 0, 0, 42 [SEP] 19, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 44 [SEP] 20, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 38 [SEP] 21, Pan, -1.029, 2.027, -1.337, 0, 90, 0, 49 [SEP] 22, Tomato, -0.432, 1.097, -1.505, 0, 0, 0, 42 [SEP] 23, SaltShaker, 0.542, 1.038, 0.091, 0, 0, 0, 44 [SEP] 24, Egg, 0.848, 1.097, 0.676, 0, 0, 0, 44 [SEP] 25, Cup, -1.096, 1.716, -1.300, 0, 0, 0, 56 [SEP] 26, Spatula, 1.514, 1.058, 0.545, 0, 0, 0, 44 [SEP] 27, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 44 [SEP] 28, Lettuce, -1.349, 1.773, 1.885, 0, 90, 0, 57 [SEP] 29, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 42 [SEP] 30, PepperShaker, -0.312, 0.198, -1.625, 0, 0, 0, 51 [SEP] 31, DishSponge, -0.580, 0.203, -1.337, 0, 0, 0, 51 [SEP] 32, Plate, 1.512, 1.032, -1.337, 0, 0, 0, 48 [SEP] 33, Bread, 0.407, 1.104, 0.353, 0, 337.142, 0, 44 [SEP] 34, Spoon, 1.181, 1.044, 0.763, 0, 0, 0, 44 [SEP] 35, Pot, 0.906, 1.048, -1.505, 0, 180, 0, 42 [SEP] 36, Mug, -0.030, 1.038, 0.307, 0, 0, 0, 44 [SEP] 37, Bowl, -1.381, 1.488, 2.242, 0, 90, 0, 57 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 70, NorthWall, , , , , , ,  [SEP] 71, EastWall, , , , , , ,  [SEP] 72, SouthWall, , , , , , ,  [SEP] 73, WestWall, , , , , , ,

Output: STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. | STEP 2: Open the cabinet above the counter and pick up the kettle. | STEP 3: Turn around to the sink. | STEP 4: Put the kettle in the sink, rinse it and pick it back up. | STEP 5: Turn around towards the counter. | STEP 6: Put the kettle in the cabinet below the counter. | END


Input: Wash the knife and put it on the table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 2, Pan, 2.777, 1.018, -0.644, 0, 0, 0, 107 [SEP] 3, Potato, 2.715, 1.598, -0.447, 0, 0, 0, 101 [SEP] 4, Kettle, 0.634, 0.912, -0.515, 0, 0, 0, 46 [SEP] 5, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 81 [SEP] 6, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 0.193, 0.780, -0.596, 0, 0, 0, 103 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 9, Cup, 1.909, 0.112, -0.495, 0, 180, 0, 92 [SEP] 10, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 11, Egg, 2.900, 1.326, -0.709, 0, 0, 0, 101 [SEP] 12, Knife, 2.221, 0.944, 1.468, 0, 0, 0, 81 [SEP] 13, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 81 [SEP] 14, SoapBottle, -0.246, 0.917, 1.383, 0, 0, 0, 57 [SEP] 15, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 105 [SEP] 16, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 99 [SEP] 17, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 105 [SEP] 18, PepperShaker, -0.201, 1.650, 1.546, 0, 0, 0, 72 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 81 [SEP] 21, Mug, 2.488, 0.906, 1.383, 0, 0, 0, 81 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 23, SoapBottle, 1.213, 0.120, 1.236, 0, 0, 0, 53 [SEP] 24, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 56 [SEP] 25, Fork, 2.606, 0.771, 1.198, 0, 270, 0, 62 [SEP] 26, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 103 [SEP] 29, Kettle, 2.156, 0.912, -0.769, 0, 0, 0, 46 [SEP] 30, Tomato, 2.962, 1.320, -0.447, 0, 0, 0, 101 [SEP] 31, Cup, -0.983, 0.818, -1.360, 0, 90, 0, 105 [SEP] 32, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 103 [SEP] 33, Apple, 2.769, 1.343, -0.453, 0, 0, 0, 101 [SEP] 34, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 57 [SEP] 35, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.151, 0.908, 1.553, 0, 0, 0, 57 [SEP] 37, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 57 [SEP] 38, Potato, -0.682, 0.855, -1.473, 0, 0, 0, 105 [SEP] 39, PepperShaker, 1.171, 1.650, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.488, 0.909, 1.214, 0, 0, 0, 81 [SEP] 42, DishSponge, -0.294, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.785, 0.822, -1.183, 0, 0, 0, 105 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, , , , , , , ,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left to go to the front of the counter on the left side of the stove.  | STEP 2: Pick up the knife in front of the salt shaker. | STEP 3: Turn around and go to the sink on the opposite side.  | STEP 4: Wash the knife under running water in the sink and take it out.  | STEP 5: Turn right to go to the round table with a gray cover.  | STEP 6: Place the knife next to the salt shaker on the table.   | END


Input: Rinse a knife and place it 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, 3.0, 0.900, 0.75, 0, 0, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 2, Pan, 2.777, 1.018, -0.644, 0, 0, 0, 107 [SEP] 3, Potato, 2.715, 1.598, -0.447, 0, 0, 0, 101 [SEP] 4, Kettle, 0.634, 0.912, -0.515, 0, 0, 0, 46 [SEP] 5, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 81 [SEP] 6, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 0.193, 0.780, -0.596, 0, 0, 0, 103 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 9, Cup, 1.909, 0.112, -0.495, 0, 180, 0, 92 [SEP] 10, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 11, Egg, 2.900, 1.326, -0.709, 0, 0, 0, 101 [SEP] 12, Knife, 2.221, 0.944, 1.468, 0, 0, 0, 81 [SEP] 13, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 81 [SEP] 14, SoapBottle, -0.246, 0.917, 1.383, 0, 0, 0, 57 [SEP] 15, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 105 [SEP] 16, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 99 [SEP] 17, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 105 [SEP] 18, PepperShaker, -0.201, 1.650, 1.546, 0, 0, 0, 72 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 81 [SEP] 21, Mug, 2.488, 0.906, 1.383, 0, 0, 0, 81 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 23, SoapBottle, 1.213, 0.120, 1.236, 0, 0, 0, 53 [SEP] 24, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 56 [SEP] 25, Fork, 2.606, 0.771, 1.198, 0, 270, 0, 62 [SEP] 26, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 103 [SEP] 29, Kettle, 2.156, 0.912, -0.769, 0, 0, 0, 46 [SEP] 30, Tomato, 2.962, 1.320, -0.447, 0, 0, 0, 101 [SEP] 31, Cup, -0.983, 0.818, -1.360, 0, 90, 0, 105 [SEP] 32, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 103 [SEP] 33, Apple, 2.769, 1.343, -0.453, 0, 0, 0, 101 [SEP] 34, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 57 [SEP] 35, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.151, 0.908, 1.553, 0, 0, 0, 57 [SEP] 37, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 57 [SEP] 38, Potato, -0.682, 0.855, -1.473, 0, 0, 0, 105 [SEP] 39, PepperShaker, 1.171, 1.650, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.488, 0.909, 1.214, 0, 0, 0, 81 [SEP] 42, DishSponge, -0.294, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.785, 0.822, -1.183, 0, 0, 0, 105 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 107, , , , , , , ,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter. | STEP 3: Carry the knife and turn around to the sink. | STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife. | STEP 5: Hold the knife and take a few steps to the right, to the round table. | STEP 6: Place the knife on the front side of the table. | END


Input: place two pens in the dresser drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.75, 0.949, -1.5, 0, 90, 0,  [SEP] 1, Vase, 2.803, 0.993, -2.125, 0, 270, 0, 38 [SEP] 2, CellPhone, 0.024, 0.784, 3.170, 0, 180, 0, 45 [SEP] 3, CellPhone, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 4, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 45 [SEP] 5, Pencil, 1.950, 0.989, -1.862, 0, 270, 0, 38 [SEP] 6, Pencil, 3.455, 0.727, 1.262, 0, 180, 0, 63 [SEP] 7, CreditCard, 3.377, 0.723, 1.533, 0, 180, 0, 63 [SEP] 8, CreditCard, 3.087, 0.985, -2.037, 0, 270, 0, 38 [SEP] 9, Book, 2.710, 0.610, 0.790, 0, 0, 0, 23 [SEP] 10, Book, 2.217, 0.610, 0.068, 0, 0, 0, 23 [SEP] 11, KeyChain, 0.091, 0.477, 3.192, 0, 90, 0, 44 [SEP] 12, CreditCard, 3.300, 0.723, 1.397, 0, 180, 0, 63 [SEP] 13, Pen, 2.234, 0.990, -1.687, 0, 0, 0, 38 [SEP] 14, Pencil, 3.455, 0.727, 1.488, 0, 180, 0, 63 [SEP] 15, Laptop, -0.904, 0.783, 0.081, 0, 0, 0, 59 [SEP] 16, Vase, 2.614, 0.185, -1.950, 0, 270, 0, 40 [SEP] 17, AlarmClock, -0.069, 1.109, 3.171, 0, 180, 0, 46 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 2.052, 0.610, 0.308, 0, 0, 0, 23 [SEP] 21, CD, 3.300, 0.723, 1.307, 0, 180, 0, 63 [SEP] 22, Vase, 2.519, 0.989, -2.037, 0, 270, 0, 38 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row | STEP 5: turn around and move over to the dresser at the foot of the bed | STEP 6: grab a pen off of the top of the dresser | STEP 7: move to the right and maneuver back over to the dresser ahead | STEP 8: place the pen in the same drawer the other pen was placed | END


Input: Place two pens inside of a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.75, 0.949, -1.5, 0, 90, 0,  [SEP] 1, Vase, 2.803, 0.993, -2.125, 0, 270, 0, 38 [SEP] 2, CellPhone, 0.024, 0.784, 3.170, 0, 180, 0, 45 [SEP] 3, CellPhone, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 4, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 45 [SEP] 5, Pencil, 1.950, 0.989, -1.862, 0, 270, 0, 38 [SEP] 6, Pencil, 3.455, 0.727, 1.262, 0, 180, 0, 63 [SEP] 7, CreditCard, 3.377, 0.723, 1.533, 0, 180, 0, 63 [SEP] 8, CreditCard, 3.087, 0.985, -2.037, 0, 270, 0, 38 [SEP] 9, Book, 2.710, 0.610, 0.790, 0, 0, 0, 23 [SEP] 10, Book, 2.217, 0.610, 0.068, 0, 0, 0, 23 [SEP] 11, KeyChain, 0.091, 0.477, 3.192, 0, 90, 0, 44 [SEP] 12, CreditCard, 3.300, 0.723, 1.397, 0, 180, 0, 63 [SEP] 13, Pen, 2.234, 0.990, -1.687, 0, 0, 0, 38 [SEP] 14, Pencil, 3.455, 0.727, 1.488, 0, 180, 0, 63 [SEP] 15, Laptop, -0.904, 0.783, 0.081, 0, 0, 0, 59 [SEP] 16, Vase, 2.614, 0.185, -1.950, 0, 270, 0, 40 [SEP] 17, AlarmClock, -0.069, 1.109, 3.171, 0, 180, 0, 46 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 2.052, 0.610, 0.308, 0, 0, 0, 23 [SEP] 21, CD, 3.300, 0.723, 1.307, 0, 180, 0, 63 [SEP] 22, Vase, 2.519, 0.989, -2.037, 0, 270, 0, 38 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers | STEP 4: Open a drawer and place the pen inside | STEP 5: Close the drawer and walk to the dresser | STEP 6: Pick up a pen from the dresser | STEP 7: Walk to the drawers | STEP 8: Open the same drawer and place the pen inside | END


Input: Put a cleaned fork in a drawer left of the stove.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Potato, 2.591, 1.323, -0.447, 0, 0, 0, 102 [SEP] 3, Potato, 0.363, 1.819, 1.488, 0, 180, 0, 105 [SEP] 4, DishSponge, 1.209, 0.770, 1.122, 0, 0, 0, 92 [SEP] 5, Kettle, 1.134, 1.655, -0.811, 0, 180, 0, 49 [SEP] 6, Kettle, 2.488, 0.912, 1.214, 0, 0, 0, 82 [SEP] 7, Pot, 2.221, 0.915, 1.129, 0, 0, 0, 82 [SEP] 8, Spoon, -0.055, 0.912, 1.214, 0, 0, 0, 58 [SEP] 9, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 104 [SEP] 10, Fork, 1.955, 0.912, 1.383, 0, 0, 0, 82 [SEP] 11, Fork, 2.280, 0.772, 1.122, 0, 90, 0, 63 [SEP] 12, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 82 [SEP] 13, Spatula, -0.103, 0.926, 1.299, 0, 90, 0, 58 [SEP] 14, Cup, 2.777, 1.016, -0.578, 0, 0, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 104 [SEP] 16, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 58 [SEP] 17, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 58 [SEP] 18, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 47 [SEP] 19, Bowl, 2.154, 1.652, 1.508, 0, 0, 0, 71 [SEP] 20, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 82 [SEP] 21, SaltShaker, -1.056, 0.817, -1.360, 0, 90, 0, 106 [SEP] 22, PepperShaker, -0.911, 0.817, -1.360, 0, 90, 0, 106 [SEP] 23, PepperShaker, 2.449, 1.651, 1.390, 0, 0, 0, 72 [SEP] 24, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.214, 0, 0, 0, 82 [SEP] 26, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 106 [SEP] 27, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 82 [SEP] 28, Bread, 0.888, 0.969, -0.769, 0, 0, 0, 47 [SEP] 29, Egg, 1.422, 0.949, 1.468, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, 2.900, 1.050, -0.775, 0, 0, 0, 102 [SEP] 32, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 105 [SEP] 33, Spatula, -0.983, 0.835, -1.206, 0, 180, 0, 106 [SEP] 34, Apple, 2.838, 1.632, -0.578, 0, 0, 0, 102 [SEP] 35, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 82 [SEP] 36, Lettuce, 2.156, 0.992, -0.430, 0, 0, 0, 47 [SEP] 37, SaltShaker, -0.785, 0.817, -1.473, 0, 0, 0, 106 [SEP] 38, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 106 [SEP] 39, Potato, 0.570, 1.819, 1.423, 0, 180, 0, 105 [SEP] 40, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 106 [SEP] 41, ButterKnife, 0.053, 0.765, -0.651, 0, 0, 0, 104 [SEP] 42, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -2.019, 0.423, 1.290, 0, 270, 0, 100 [SEP] 44, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 104 [SEP] 45, Mug, 1.792, 0.110, 1.196, 0, 90, 0, 67 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left, move to the round table.  | STEP 2: Pick up the fork on the table. | STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink. | STEP 4: Wash the fork in the sink. | STEP 5: Bring the cleaned fork to the drawer behind you, left of the stove. | STEP 6: Put the cleaned fork in the drawer left of the stove.  | END


Input: Place a clean fork in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Potato, 2.591, 1.323, -0.447, 0, 0, 0, 102 [SEP] 3, Potato, 0.363, 1.819, 1.488, 0, 180, 0, 105 [SEP] 4, DishSponge, 1.209, 0.770, 1.122, 0, 0, 0, 92 [SEP] 5, Kettle, 1.134, 1.655, -0.811, 0, 180, 0, 49 [SEP] 6, Kettle, 2.488, 0.912, 1.214, 0, 0, 0, 82 [SEP] 7, Pot, 2.221, 0.915, 1.129, 0, 0, 0, 82 [SEP] 8, Spoon, -0.055, 0.912, 1.214, 0, 0, 0, 58 [SEP] 9, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 104 [SEP] 10, Fork, 1.955, 0.912, 1.383, 0, 0, 0, 82 [SEP] 11, Fork, 2.280, 0.772, 1.122, 0, 90, 0, 63 [SEP] 12, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 82 [SEP] 13, Spatula, -0.103, 0.926, 1.299, 0, 90, 0, 58 [SEP] 14, Cup, 2.777, 1.016, -0.578, 0, 0, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 104 [SEP] 16, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 58 [SEP] 17, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 58 [SEP] 18, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 47 [SEP] 19, Bowl, 2.154, 1.652, 1.508, 0, 0, 0, 71 [SEP] 20, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 82 [SEP] 21, SaltShaker, -1.056, 0.817, -1.360, 0, 90, 0, 106 [SEP] 22, PepperShaker, -0.911, 0.817, -1.360, 0, 90, 0, 106 [SEP] 23, PepperShaker, 2.449, 1.651, 1.390, 0, 0, 0, 72 [SEP] 24, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.214, 0, 0, 0, 82 [SEP] 26, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 106 [SEP] 27, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 82 [SEP] 28, Bread, 0.888, 0.969, -0.769, 0, 0, 0, 47 [SEP] 29, Egg, 1.422, 0.949, 1.468, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, 2.900, 1.050, -0.775, 0, 0, 0, 102 [SEP] 32, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 105 [SEP] 33, Spatula, -0.983, 0.835, -1.206, 0, 180, 0, 106 [SEP] 34, Apple, 2.838, 1.632, -0.578, 0, 0, 0, 102 [SEP] 35, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 82 [SEP] 36, Lettuce, 2.156, 0.992, -0.430, 0, 0, 0, 47 [SEP] 37, SaltShaker, -0.785, 0.817, -1.473, 0, 0, 0, 106 [SEP] 38, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 106 [SEP] 39, Potato, 0.570, 1.819, 1.423, 0, 180, 0, 105 [SEP] 40, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 106 [SEP] 41, ButterKnife, 0.053, 0.765, -0.651, 0, 0, 0, 104 [SEP] 42, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -2.019, 0.423, 1.290, 0, 270, 0, 100 [SEP] 44, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 104 [SEP] 45, Mug, 1.792, 0.110, 1.196, 0, 90, 0, 67 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able. | STEP 3: Turn around and walk around the side of the counter to the front of the sink. | STEP 4: Rinse off the fork in the sink. | STEP 5: Turn around and walk to the counter to the left of the stove. | STEP 6: Place the fork in the drawer under the counter. | END


Input: place a microwaved cup in a kitchen 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, 0.900, -0.25, 0, 0, 0,  [SEP] 1, Pan, 1.422, 0.911, 1.129, 0, 0, 0, 83 [SEP] 2, Potato, 1.955, 0.946, 1.044, 0, 0, 0, 83 [SEP] 3, DishSponge, 2.217, 0.770, 1.083, 0, 0, 0, 79 [SEP] 4, Kettle, 1.525, 0.115, 1.156, 0, 0, 0, 77 [SEP] 5, Pot, 2.777, 1.022, -0.775, 0, 0, 0, 103 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 7, Spoon, -0.785, 0.822, -1.255, 0, 180, 0, 107 [SEP] 8, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 107 [SEP] 9, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 59 [SEP] 10, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 103 [SEP] 11, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 57 [SEP] 12, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 103 [SEP] 13, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 107 [SEP] 14, Knife, -0.983, 0.853, -1.206, 0, 270, 0, 107 [SEP] 15, Knife, 1.955, 0.944, 1.214, 0, 0, 0, 83 [SEP] 16, SoapBottle, -1.962, 0.429, 1.417, 0, 270, 0, 101 [SEP] 17, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 83 [SEP] 18, SaltShaker, 0.888, 0.908, -0.6, 0, 0, 0, 48 [SEP] 19, PepperShaker, 1.102, 0.111, 1.196, 0, 0, 0, 77 [SEP] 20, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 107 [SEP] 21, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 22, Mug, 2.777, 0.721, -0.565, 0, 0, 0, 103 [SEP] 23, Apple, 2.754, 0.980, 1.468, 0, 0, 0, 83 [SEP] 24, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 105 [SEP] 25, SoapBottle, 1.524, 1.660, 1.432, 0, 0, 0, 71 [SEP] 26, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 83 [SEP] 27, Fork, 1.799, 0.771, 1.198, 0, 270, 0, 81 [SEP] 28, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 83 [SEP] 29, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 48 [SEP] 30, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, 2.777, 1.050, -0.447, 0, 0, 0, 103 [SEP] 33, Cup, 1.102, 0.112, 1.077, 0, 0, 0, 55 [SEP] 34, Spatula, 0.251, 0.926, -0.330, 0, 0, 0, 48 [SEP] 35, Apple, -0.103, 0.980, 1.468, 0, 0, 0, 59 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 83 [SEP] 38, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 107 [SEP] 39, Knife, -0.836, 0.853, -1.473, 0, 0, 0, 107 [SEP] 40, Potato, 0.053, 0.800, -0.651, 0, 0, 0, 105 [SEP] 41, PepperShaker, 2.754, 0.908, 1.129, 0, 0, 0, 83 [SEP] 42, ButterKnife, 2.156, 0.911, -0.515, 0, 0, 0, 48 [SEP] 43, Bowl, 2.715, 1.286, -0.644, 0, 0, 0, 103 [SEP] 44, DishSponge, 1.155, 0.911, 1.044, 0, 0, 0, 83 [SEP] 45, Spoon, 2.488, 0.912, 1.044, 0, 0, 0, 83 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [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 over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter | STEP 3: turn around and walk over to the kitchen stove | STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out | STEP 5: turn around and face the cabinets behind you | STEP 6: put the cup in the upper cabinet on the left | END


Input: Put the cooked tomato slice in the fridge  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 49 [SEP] 2, Potato, 0.053, 0.800, -0.596, 0, 0, 0, 106 [SEP] 3, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 106 [SEP] 4, DishSponge, 0.634, 0.911, -0.345, 0, 0, 0, 49 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 6, Spoon, 1.862, 0.773, 1.122, 0, 0, 0, 82 [SEP] 7, Spoon, 0.888, 0.912, -0.6, 0, 0, 0, 49 [SEP] 8, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 68 [SEP] 9, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 79 [SEP] 10, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 84 [SEP] 11, Spatula, 2.488, 0.926, 1.129, 0, 0, 0, 84 [SEP] 12, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 108 [SEP] 13, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 104 [SEP] 14, Knife, -0.836, 0.853, -1.328, 0, 270, 0, 108 [SEP] 15, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 106 [SEP] 16, Tomato, 0.152, 0.942, -0.316, 0, 0, 0, 49 [SEP] 17, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 108 [SEP] 18, PepperShaker, -0.694, 0.817, -1.411, 0, 90, 0, 108 [SEP] 19, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 108 [SEP] 20, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 60 [SEP] 21, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 108 [SEP] 22, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 84 [SEP] 23, Mug, 3.381, 0.835, -0.485, 0, 270, 0, 104 [SEP] 24, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 104 [SEP] 25, Apple, -0.103, 0.980, 1.044, 0, 0, 0, 60 [SEP] 26, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 54 [SEP] 29, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 84 [SEP] 30, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 104 [SEP] 31, Egg, 0.054, 0.949, -0.330, 0, 0, 0, 49 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 106 [SEP] 34, Cup, 2.962, 0.723, -0.473, 0, 0, 0, 104 [SEP] 35, Spatula, -1.056, 0.835, -1.155, 0, 270, 0, 108 [SEP] 36, Apple, 1.902, 0.980, -0.430, 0, 0, 0, 49 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 104 [SEP] 39, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 60 [SEP] 40, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 84 [SEP] 41, Potato, 0.466, 1.819, 1.391, 0, 180, 0, 107 [SEP] 42, PepperShaker, -0.103, 0.908, 1.214, 0, 0, 0, 60 [SEP] 43, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 84 [SEP] 44, Bowl, 0.548, 1.652, -0.735, 0, 180, 0, 88 [SEP] 45, DishSponge, -1.991, 0.423, 1.332, 0, 270, 0, 102 [SEP] 46, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink | STEP 6: Pick up a slice of tomato from the sink | STEP 7: Turn around and approach the microwave above the stove | STEP 8: Cook the tomato in the microwave and remove it | STEP 9: Turn right and walk through the kitchen to the fridge | STEP 10: Put the tomato slice in the fridge in front of the drinking glass | END


Input: Get a slice of tomato into the microwave, next cool it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 270, 0,  [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 49 [SEP] 2, Potato, 0.053, 0.800, -0.596, 0, 0, 0, 106 [SEP] 3, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 106 [SEP] 4, DishSponge, 0.634, 0.911, -0.345, 0, 0, 0, 49 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 6, Spoon, 1.862, 0.773, 1.122, 0, 0, 0, 82 [SEP] 7, Spoon, 0.888, 0.912, -0.6, 0, 0, 0, 49 [SEP] 8, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 68 [SEP] 9, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 79 [SEP] 10, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 84 [SEP] 11, Spatula, 2.488, 0.926, 1.129, 0, 0, 0, 84 [SEP] 12, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 108 [SEP] 13, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 104 [SEP] 14, Knife, -0.836, 0.853, -1.328, 0, 270, 0, 108 [SEP] 15, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 106 [SEP] 16, Tomato, 0.152, 0.942, -0.316, 0, 0, 0, 49 [SEP] 17, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 108 [SEP] 18, PepperShaker, -0.694, 0.817, -1.411, 0, 90, 0, 108 [SEP] 19, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 108 [SEP] 20, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 60 [SEP] 21, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 108 [SEP] 22, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 84 [SEP] 23, Mug, 3.381, 0.835, -0.485, 0, 270, 0, 104 [SEP] 24, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 104 [SEP] 25, Apple, -0.103, 0.980, 1.044, 0, 0, 0, 60 [SEP] 26, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 54 [SEP] 29, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 84 [SEP] 30, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 104 [SEP] 31, Egg, 0.054, 0.949, -0.330, 0, 0, 0, 49 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 106 [SEP] 34, Cup, 2.962, 0.723, -0.473, 0, 0, 0, 104 [SEP] 35, Spatula, -1.056, 0.835, -1.155, 0, 270, 0, 108 [SEP] 36, Apple, 1.902, 0.980, -0.430, 0, 0, 0, 49 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 104 [SEP] 39, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 60 [SEP] 40, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 84 [SEP] 41, Potato, 0.466, 1.819, 1.391, 0, 180, 0, 107 [SEP] 42, PepperShaker, -0.103, 0.908, 1.214, 0, 0, 0, 60 [SEP] 43, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 84 [SEP] 44, Bowl, 0.548, 1.652, -0.735, 0, 180, 0, 88 [SEP] 45, DishSponge, -1.991, 0.423, 1.332, 0, 270, 0, 102 [SEP] 46, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato | STEP 7: Turn left then right then left again and go on toward the microwave | STEP 8: Put the tomato in the microwave and turn it on for a few seconds, then take it out | STEP 9: Turn right and walk to the fridge | STEP 10: Open the fridge, put the tomato in it and close the door | END


Input: place two pencil's down on top of the desk in the corner of the room SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -4.25, 0, 0, 0,  [SEP] 1, Mug, -3.466, 0.979, -4.075, 0, 0, 0, 43 [SEP] 2, Mug, -3.687, 0.977, -3.472, 0, 0, 0, 43 [SEP] 3, CD, -0.862, 0.799, -4.137, 0, 0, 0, 40 [SEP] 4, CD, -3.613, 0.979, -4.075, 0, 0, 0, 43 [SEP] 5, Pen, -0.862, 0.809, -3.703, 0, 90, 0, 40 [SEP] 6, Pencil, -3.908, 0.984, -3.874, 0, 0, 0, 43 [SEP] 7, KeyChain, -0.657, 0.800, -3.920, 0, 0, 0, 40 [SEP] 8, Book, -3.834, 0.981, -3.271, 0, 0, 0, 43 [SEP] 9, Book, -3.613, 0.980, -3.070, 0, 0, 0, 43 [SEP] 10, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 25 [SEP] 11, AlarmClock, -1.066, 0.803, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -0.657, 0.804, -4.246, 0, 0, 0, 40 [SEP] 13, CellPhone, -0.502, 0.030, -3.844, 0, 0, 0, 32 [SEP] 14, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 25 [SEP] 15, CreditCard, -3.539, 0.979, -3.472, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.613, 0.981, -3.673, 0, 0, 0, 43 [SEP] 17, KeyChain, -3.760, 0.982, -3.673, 0, 0, 0, 43 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.834, 0.983, -3.070, 0, 0, 0, 43 [SEP] 21, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -3.687, 0.979, -3.271, 0, 0, 0, 43 [SEP] 23, Pen, -0.249, 0.805, -3.703, 0, 0, 0, 40 [SEP] 24, Mug, -0.685, 0.541, -3.713, 0, 0, 0, 34 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room | STEP 4: place the pencil down on top of the desk there | STEP 5: turn right and walk back over to the cabinet at the foot of the bed again | STEP 6: grab a pencil off of the cabinet | STEP 7: turn around and walk to the desk on the right side corner of the end of the room | STEP 8: place the pencil down on top of the desk | END


Input: put the two candles on the vanity in the bottom right 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, 0.901, 2.75, 0, 180, 0,  [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around | STEP 4: open the bottom right cabinet, put the candle in, close the cabinet | STEP 5: walk to the right a little  | STEP 6: grab the candle on the vanity | STEP 7: turn around, turn around | STEP 8: open the bottom right cabinet, put the candle in, close the cabinet | END


Input: Put two candle holders in the cabinet under the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.75, 0, 180, 0,  [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter.  | STEP 3: Turn and go to the cabinet under the sink on the right. | STEP 4: Put the candle holder in the cabinet | STEP 5: Turn and go to the sink on the right.  | STEP 6: Pick up a candle holder on the counter.  | STEP 7: Turn and go to the cabinet. | STEP 8: Put the candle holder in the cabinet under the sink.  | END


Input: To move two candles to the cabinet below the sink on the right side.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.75, 0, 180, 0,  [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn right, face the sink on the left side, look towards the back of the sink.  | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle.  | STEP 3: Look down at the cabinets below the sink on the right side.  | STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door.  | STEP 5: Move to the front of the sink on the right side.  | STEP 6: Pick up the candle to the right of the sink, and behind the rag.  | STEP 7: Look down at the cabinets below the sink on the right side.  | STEP 8: Open the cabinet door all the way to the right, place the candle in the cabinet and to the right of the first candle, close the cabinet door.  | END


Input: Put two candles in the bottom, right cupboard, underneath the sink closest to the wall.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.75, 0, 180, 0,  [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn to your right, towards the sink.  | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle.  | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall.  | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink.  | STEP 5: Walk back to the sink closest to the right wall. | STEP 6: Pick up the candle holder, on the counter,  between the sink and the right wall.  | STEP 7: Step back, away from the sink again, but still facing it.  | STEP 8: Place the candle in the right, bottom cupboard, to the right of the one previously placed in there.  | END


Input: Fill the pot with water from the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.931, -0.75, 0, 90, 0,  [SEP] 1, DishSponge, -1.339, 2.027, -1.627, 0, 0, 0, 52 [SEP] 2, DishSponge, 1.826, 0.122, 2.358, 0, 270, 0, 61 [SEP] 3, ButterKnife, 0.065, 1.043, 0.091, 0, 180, 0, 47 [SEP] 4, ButterKnife, 1.181, 1.043, 0.676, 0, 0, 0, 47 [SEP] 5, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 44 [SEP] 6, Fork, 0.542, 1.043, 0.415, 0, 90, 0, 47 [SEP] 7, Spoon, 0.682, 1.044, 0.589, 0, 0, 0, 47 [SEP] 8, Spatula, 0.657, 1.061, -1.118, 0, 0, 0, 45 [SEP] 9, Spatula, 1.015, 1.058, 0.632, 0, 0, 0, 47 [SEP] 10, Plate, 0.960, 1.577, -1.463, 0, 0, 0, 49 [SEP] 11, Plate, -1.349, 1.726, 2.063, 0, 90, 0, 60 [SEP] 12, Knife, 0.160, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 47 [SEP] 14, Tomato, 1.238, 1.097, -1.397, 0, 0, 0, 45 [SEP] 15, Tomato, -0.030, 1.094, 0.630, 0, 0, 0, 47 [SEP] 16, SoapBottle, 1.612, 1.044, 0.199, 0, 270, 0, 47 [SEP] 17, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 43 [SEP] 18, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 45 [SEP] 19, SoapBottle, 1.436, 0.205, -1.190, 0, 90, 0, 55 [SEP] 20, Apple, -1.145, 1.759, -1.362, 0, 0, 0, 59 [SEP] 21, Potato, -1.268, 2.001, 2.153, 0, 90, 0, 60 [SEP] 22, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 23, Kettle, -1.183, 0.203, -1.555, 0, 0, 0, 53 [SEP] 24, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 25, Tomato, 0.542, 1.094, 0.091, 0, 0, 0, 47 [SEP] 26, SaltShaker, 0.989, 1.041, -1.181, 0, 0, 0, 45 [SEP] 27, Egg, -1.047, 1.770, -1.269, 0, 0, 0, 59 [SEP] 28, Cup, 0.761, 1.053, 0.131, 0, 90, 0, 43 [SEP] 29, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 45 [SEP] 30, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 45 [SEP] 31, Lettuce, 0.906, 1.106, -1.720, 0, 0, 0, 45 [SEP] 32, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 47 [SEP] 33, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 45 [SEP] 34, DishSponge, 0.712, 0.199, -1.484, 0, 0, 0, 56 [SEP] 35, Plate, -0.473, 1.577, -1.470, 0, 0, 0, 50 [SEP] 36, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 0.160, 1.044, 0.630, 0, 270, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, 1.588, 0.203, -1.335, 0, 0, 0, 55 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the cupboard. | STEP 2: Take the pot out of the cupboard.  | STEP 3: Turn around and go to the sink. | STEP 4: Fill the pot with water and take the pot out of the sink. | STEP 5: Turn and go to the counter by the stove.  | STEP 6: Put the pot by the toaster on the counter. | END