Input: Place a cooled loaf of bread on the counter to the right of the oven. 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, 3.0, 0, 0, 0,  [SEP] 1, Ladle, -0.662, 1.086, 2.817, 0, 0, 0, 48 [SEP] 2, DishSponge, -1.948, 0.095, 0.613, 0, 0, 0, 50 [SEP] 3, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 4, Fork, -0.662, 1.039, 2.369, 0, 180, 0, 48 [SEP] 5, Fork, -0.662, 1.048, 3.266, 0, 0, 0, 48 [SEP] 6, Spoon, -1.376, 0.932, 0.428, 0, 270, 0, 70 [SEP] 7, Spoon, -1.568, 1.154, 0.121, 0, 0, 0, 45 [SEP] 8, Egg, -3.644, 0.142, 2.068, 0, 0, 0, 69 [SEP] 9, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 10, Cup, -1.663, 1.152, 0.095, 0, 0, 0, 45 [SEP] 11, Knife, -0.415, 1.080, 2.144, 0, 180, 0, 48 [SEP] 12, SoapBottle, -1.522, 0.049, 0.325, 0, 0, 0, 63 [SEP] 13, SoapBottle, -3.542, 0.113, 2.008, 0, 0, 0, 69 [SEP] 14, SaltShaker, -1.274, 0.045, 0.437, 0, 0, 0, 52 [SEP] 15, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.314, 0.045, 0.324, 0, 0, 0, 52 [SEP] 17, Bread, -0.168, 1.134, 2.144, 0, 0, 0, 48 [SEP] 18, Bread, -0.908, 1.133, 3.266, 0, 0, 0, 48 [SEP] 19, Bread, -0.908, 1.134, 2.593, 0, 0, 0, 48 [SEP] 20, Mug, -0.785, 1.043, 1.920, 0, 0, 0, 48 [SEP] 21, Fork, -1.553, 0.932, 0.359, 0, 0, 0, 70 [SEP] 22, SoapBottle, -1.640, 0.049, 0.551, 0, 0, 0, 63 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -1.922, 1.139, 0.377, 350.995, 45, 351.750, 58 [SEP] 25, Potato, -0.415, 1.259, 0.443, 0, 0, 0, 71 [SEP] 26, Plate, -1.193, 0.921, 0.403, 0, 0, 0, 70 [SEP] 27, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 48 [SEP] 28, Lettuce, -0.908, 1.125, 3.042, 0, 0, 0, 48 [SEP] 29, Spatula, -0.662, 1.063, 2.144, 0, 270, 0, 48 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.644, 0.142, 2.008, 0, 0, 0, 69 [SEP] 32, Cup, -1.640, 0.047, 0.325, 0, 0, 0, 63 [SEP] 33, SaltShaker, -2.592, 0.091, 0.579, 0, 0, 0, 51 [SEP] 34, Knife, -0.538, 1.079, 3.042, 0, 0, 0, 48 [SEP] 35, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 48 [SEP] 36, PepperShaker, -1.314, 0.045, 0.664, 0, 0, 0, 52 [SEP] 37, ButterKnife, -2.6, 1.113, 0.577, 0, 315, 0, 58 [SEP] 38, Apple, -0.415, 1.115, 1.920, 0, 0, 0, 48 [SEP] 39, Tomato, -0.739, 1.086, 2.413, 6.775, 344.995, 347.549, 48 [SEP] 40, DishSponge, -1.553, 0.931, 0.428, 0, 0, 0, 70 [SEP] 41, Spoon, -1.111, 0.932, 0.567, 0, 90, 0, 70 [SEP] 42, Mug, -1.116, 0.044, 0.437, 0, 0, 0, 52 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the table on your left. | STEP 2: Grab the bread from the table | STEP 3: Turn around and walk to the fridge. | STEP 4: Place the bread in the fridge, wait a little while, and remove the bread from the fridge. | STEP 5: Turn to your left and approach the oven | STEP 6: Place the bread on the counter to the right of the oven. | END


Input: Place a cooled loaf of bread on the counter to the right of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 3.0, 0, 0, 0,  [SEP] 1, Ladle, -0.662, 1.086, 2.817, 0, 0, 0, 48 [SEP] 2, DishSponge, -1.948, 0.095, 0.613, 0, 0, 0, 50 [SEP] 3, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 4, Fork, -0.662, 1.039, 2.369, 0, 180, 0, 48 [SEP] 5, Fork, -0.662, 1.048, 3.266, 0, 0, 0, 48 [SEP] 6, Spoon, -1.376, 0.932, 0.428, 0, 270, 0, 70 [SEP] 7, Spoon, -1.568, 1.154, 0.121, 0, 0, 0, 45 [SEP] 8, Egg, -3.644, 0.142, 2.068, 0, 0, 0, 69 [SEP] 9, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 10, Cup, -1.663, 1.152, 0.095, 0, 0, 0, 45 [SEP] 11, Knife, -0.415, 1.080, 2.144, 0, 180, 0, 48 [SEP] 12, SoapBottle, -1.522, 0.049, 0.325, 0, 0, 0, 63 [SEP] 13, SoapBottle, -3.542, 0.113, 2.008, 0, 0, 0, 69 [SEP] 14, SaltShaker, -1.274, 0.045, 0.437, 0, 0, 0, 52 [SEP] 15, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.314, 0.045, 0.324, 0, 0, 0, 52 [SEP] 17, Bread, -0.168, 1.134, 2.144, 0, 0, 0, 48 [SEP] 18, Bread, -0.908, 1.133, 3.266, 0, 0, 0, 48 [SEP] 19, Bread, -0.908, 1.134, 2.593, 0, 0, 0, 48 [SEP] 20, Mug, -0.785, 1.043, 1.920, 0, 0, 0, 48 [SEP] 21, Fork, -1.553, 0.932, 0.359, 0, 0, 0, 70 [SEP] 22, SoapBottle, -1.640, 0.049, 0.551, 0, 0, 0, 63 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -1.922, 1.139, 0.377, 350.995, 45, 351.750, 58 [SEP] 25, Potato, -0.415, 1.259, 0.443, 0, 0, 0, 71 [SEP] 26, Plate, -1.193, 0.921, 0.403, 0, 0, 0, 70 [SEP] 27, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 48 [SEP] 28, Lettuce, -0.908, 1.125, 3.042, 0, 0, 0, 48 [SEP] 29, Spatula, -0.662, 1.063, 2.144, 0, 270, 0, 48 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.644, 0.142, 2.008, 0, 0, 0, 69 [SEP] 32, Cup, -1.640, 0.047, 0.325, 0, 0, 0, 63 [SEP] 33, SaltShaker, -2.592, 0.091, 0.579, 0, 0, 0, 51 [SEP] 34, Knife, -0.538, 1.079, 3.042, 0, 0, 0, 48 [SEP] 35, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 48 [SEP] 36, PepperShaker, -1.314, 0.045, 0.664, 0, 0, 0, 52 [SEP] 37, ButterKnife, -2.6, 1.113, 0.577, 0, 315, 0, 58 [SEP] 38, Apple, -0.415, 1.115, 1.920, 0, 0, 0, 48 [SEP] 39, Tomato, -0.739, 1.086, 2.413, 6.775, 344.995, 347.549, 48 [SEP] 40, DishSponge, -1.553, 0.931, 0.428, 0, 0, 0, 70 [SEP] 41, Spoon, -1.111, 0.932, 0.567, 0, 90, 0, 70 [SEP] 42, Mug, -1.116, 0.044, 0.437, 0, 0, 0, 52 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 75, NorthWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,

Output: STEP 1: Turn around and find the loaf of bread to the left of the tomato on the table. | STEP 2: Pick up the loaf of bread from the table. | STEP 3: Turn around and head towards the fridge. | STEP 4: Place the loaf on the top right, let it cool, and take it back out. | STEP 5: Turn left and walk towards the stove. | STEP 6: Place the loaf of bread on the counter to the right of the stove. | END


Input: place two blue credit cards on black chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.920, 1.5, 0, 270, 0,  [SEP] 1, Plate, -2.893, 0.453, 3.836, 0, 0, 0, 44 [SEP] 2, Newspaper, -3.400, 0.543, 0.793, 0, 0, 0, 43 [SEP] 3, WateringCan, -2.280, 0.448, 4.058, 0, 0, 0, 44 [SEP] 4, Vase, -2.893, 0.449, 4.279, 0, 0, 0, 44 [SEP] 5, CreditCard, -2.525, 0.447, 3.836, 0, 0, 0, 44 [SEP] 6, RemoteControl, -2.770, 0.450, 4.279, 0, 0, 0, 44 [SEP] 7, Box, -0.397, 0.405, 5.997, 0, 180, 0, 28 [SEP] 8, Laptop, -4.305, 0.471, 6.450, 0, 0, 0, 45 [SEP] 9, Box, -2.525, 0.573, 4.501, 0, 180, 0, 44 [SEP] 10, Plate, -0.594, 0.621, 0.997, 0, 0, 0, 41 [SEP] 11, Vase, -2.280, 0.449, 4.501, 0, 0, 0, 44 [SEP] 12, WateringCan, -0.240, 0.281, 5.503, 0, 270, 0, 28 [SEP] 13, Newspaper, -0.600, 1.467, 6.236, 0, 270, 0, 27 [SEP] 14, Vase, -0.600, 1.466, 5.742, 0, 270, 0, 27 [SEP] 15, KeyChain, -0.750, 0.617, 0.608, 0, 90, 0, 41 [SEP] 16, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 43 [SEP] 17, Statue, -0.461, 0.270, 5.703, 0, 285.188, 0, 28 [SEP] 18, RemoteControl, -0.828, 0.617, 0.764, 0, 0, 0, 41 [SEP] 19, CreditCard, -0.634, 0.280, 5.997, 0, 270, 0, 28 [SEP] 20, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 27 [SEP] 21, Laptop, -4.279, 0.538, 2.929, 0, 90, 0, 42 [SEP] 22, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 27 [SEP] 23, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0,  [SEP] 24, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0,  [SEP] 25, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064,  [SEP] 26, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144,  [SEP] 27, Shelf, -0.391, 1.452, 5.953, 0, 270, 0,  [SEP] 28, Shelf, -0.398, 0.270, 5.961, 0, 270, 0,  [SEP] 29, Television, -0.75, 1.661, 3.936, 0, 270, 0,  [SEP] 30, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0,  [SEP] 31, Painting, -2.670, 1.574, 7.000, 90, 180, 0,  [SEP] 32, Bowl, -2.400, 0.464, 3.442, 0, 0, 0,  [SEP] 33, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0,  [SEP] 34, Window, -1.373, 1.565, 0.008, 90, 180, 0,  [SEP] 35, Window, -0.014, 1.567, 1.496, 90, 270, 0,  [SEP] 36, Window, -3.726, 1.565, 0.008, 90, 180, 0,  [SEP] 37, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0,  [SEP] 38, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0,  [SEP] 39, Shelf, -0.594, 0.104, 0.841, 0, 0, 0,  [SEP] 40, Shelf, -0.594, 0.359, 0.841, 0, 0, 0,  [SEP] 41, SideTable, -0.594, 0.018, 0.841, 0, 0, 0,  [SEP] 42, Sofa, -4.360, 0.028, 2.929, 0, 90, 0,  [SEP] 43, Sofa, -2.493, 0.028, 0.725, 0, 0, 0,  [SEP] 44, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0,  [SEP] 45, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,

Output: STEP 1: turn around, go to side of coffee table with teapot | STEP 2: pick up blue credit card from center of coffee table | STEP 3: go to black chair with laptop in the corner to the right | STEP 4: place blue credit card on black chair to the left of laptop | STEP 5: turn around, go to black shelf with box and black statue | STEP 6: pick up blue credit card in front of box on shelf  | STEP 7: turn around, go to black chair with laptop in the corner | STEP 8: place blue credit card to the right of blue credit card on black chair | END


Input: Put a warm wine glass in the cupboard. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 1.0, 0, 90, 0,  [SEP] 1, Potato, 2.223, 1.361, -0.188, 0, 270, 0, 74 [SEP] 2, WineBottle, 2.304, 0.938, 2.260, 0, 0, 0, 53 [SEP] 3, DishSponge, 0.034, 0.937, 2.478, 0, 0, 0, 53 [SEP] 4, Pot, 1.866, 0.935, 1.504, 0, 180, 0, 57 [SEP] 5, Spatula, 0.735, 0.810, 2.695, 0, 270, 0, 77 [SEP] 6, Spoon, 1.276, 0.796, 2.64, 0, 0, 0, 77 [SEP] 7, Egg, -0.261, 1.078, 1.961, 0, 90, 0, 78 [SEP] 8, Egg, 2.158, 0.903, -0.550, 0, 270, 0, 74 [SEP] 9, Cup, 0.033, 0.789, 1.386, 0, 0, 0, 80 [SEP] 10, Plate, 2.206, 1.505, 2.010, 0, 0, 0, 56 [SEP] 11, Knife, 1.976, 0.771, 0.721, 0, 270, 0, 62 [SEP] 12, Knife, 1.872, 0.772, 0.446, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.358, 0.038, -0.801, 0, 90, 0, 75 [SEP] 14, Bowl, 2.056, 1.320, -0.279, 0, 270, 0, 74 [SEP] 15, Bowl, -0.362, 1.032, 2.068, 0, 90, 0, 78 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 90, 0, 80 [SEP] 17, SaltShaker, 2.074, 0.932, 2.162, 0, 0, 0, 53 [SEP] 18, PepperShaker, 2.301, 0.933, 0.806, 0, 0, 0, 64 [SEP] 19, Lettuce, 2.056, 1.385, -0.460, 0, 270, 0, 74 [SEP] 20, Lettuce, -0.042, 0.852, 0.377, 0, 0, 0, 80 [SEP] 21, Mug, 2.158, 0.855, -0.278, 0, 270, 0, 74 [SEP] 22, Egg, -0.349, 0.833, 0.881, 0, 0, 0, 80 [SEP] 23, Lettuce, 0.033, 0.852, 0.713, 0, 0, 0, 80 [SEP] 24, Fork, 1.673, 0.938, 2.434, 0, 180, 0, 53 [SEP] 25, SoapBottle, 2.241, 1.504, 0.388, 0, 0, 0, 51 [SEP] 26, Ladle, 1.954, 0.791, 2.197, 0, 270, 0, 68 [SEP] 27, Ladle, 1.085, 0.125, 2.523, 0, 0, 0, 59 [SEP] 28, Bread, -0.199, 0.823, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 30, Potato, 0.288, 0.977, 2.478, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 2.127, 1.504, 0.725, 0, 0, 0, 61 [SEP] 33, Spatula, -0.042, 0.805, 1.217, 0, 0, 0, 80 [SEP] 34, Knife, -0.053, 0.963, 2.827, 0, 270, 0, 53 [SEP] 35, Tomato, 2.132, 0.384, -0.278, 0, 270, 0, 74 [SEP] 36, Apple, 1.840, 0.988, 0.509, 0, 0, 0, 64 [SEP] 37, ButterKnife, 1.917, 0.938, 0.361, 0, 180, 0, 64 [SEP] 38, Pot, 2.150, 0.937, 1.964, 0, 90, 0, 48 [SEP] 39, PepperShaker, 2.150, 0.932, 2.260, 0, 0, 0, 53 [SEP] 40, Cup, -0.196, 0.789, 0.377, 0, 0, 0, 80 [SEP] 41, DishSponge, -0.119, 0.790, 1.386, 0, 0, 0, 80 [SEP] 42, Plate, 1.925, 0.086, 2.057, 0, 0, 0, 49 [SEP] 43, Spoon, -0.042, 0.781, 0.881, 0, 0, 0, 80 [SEP] 44, Mug, 0.174, 0.932, 2.757, 0, 0, 0, 53 [SEP] 45, Bowl, 2.243, 1.945, 1.050, 0, 0, 0, 63 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn left and take a step then turn left and walk to the table. | STEP 2: Pick up the wine glass that's in front of you. | STEP 3: Take a step to your right. | STEP 4: Warm the wine glass in the microwave then take it back out and close the door. | STEP 5: Turn left and take a step then turn left and take a small step. | STEP 6: Open the cupboard to the left of the stove and put the wine glass down there and close the door. | END


Input: To heat a glass and place it 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, 0.901, 1.0, 0, 90, 0,  [SEP] 1, Potato, 2.223, 1.361, -0.188, 0, 270, 0, 74 [SEP] 2, WineBottle, 2.304, 0.938, 2.260, 0, 0, 0, 53 [SEP] 3, DishSponge, 0.034, 0.937, 2.478, 0, 0, 0, 53 [SEP] 4, Pot, 1.866, 0.935, 1.504, 0, 180, 0, 57 [SEP] 5, Spatula, 0.735, 0.810, 2.695, 0, 270, 0, 77 [SEP] 6, Spoon, 1.276, 0.796, 2.64, 0, 0, 0, 77 [SEP] 7, Egg, -0.261, 1.078, 1.961, 0, 90, 0, 78 [SEP] 8, Egg, 2.158, 0.903, -0.550, 0, 270, 0, 74 [SEP] 9, Cup, 0.033, 0.789, 1.386, 0, 0, 0, 80 [SEP] 10, Plate, 2.206, 1.505, 2.010, 0, 0, 0, 56 [SEP] 11, Knife, 1.976, 0.771, 0.721, 0, 270, 0, 62 [SEP] 12, Knife, 1.872, 0.772, 0.446, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.358, 0.038, -0.801, 0, 90, 0, 75 [SEP] 14, Bowl, 2.056, 1.320, -0.279, 0, 270, 0, 74 [SEP] 15, Bowl, -0.362, 1.032, 2.068, 0, 90, 0, 78 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 90, 0, 80 [SEP] 17, SaltShaker, 2.074, 0.932, 2.162, 0, 0, 0, 53 [SEP] 18, PepperShaker, 2.301, 0.933, 0.806, 0, 0, 0, 64 [SEP] 19, Lettuce, 2.056, 1.385, -0.460, 0, 270, 0, 74 [SEP] 20, Lettuce, -0.042, 0.852, 0.377, 0, 0, 0, 80 [SEP] 21, Mug, 2.158, 0.855, -0.278, 0, 270, 0, 74 [SEP] 22, Egg, -0.349, 0.833, 0.881, 0, 0, 0, 80 [SEP] 23, Lettuce, 0.033, 0.852, 0.713, 0, 0, 0, 80 [SEP] 24, Fork, 1.673, 0.938, 2.434, 0, 180, 0, 53 [SEP] 25, SoapBottle, 2.241, 1.504, 0.388, 0, 0, 0, 51 [SEP] 26, Ladle, 1.954, 0.791, 2.197, 0, 270, 0, 68 [SEP] 27, Ladle, 1.085, 0.125, 2.523, 0, 0, 0, 59 [SEP] 28, Bread, -0.199, 0.823, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 30, Potato, 0.288, 0.977, 2.478, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 2.127, 1.504, 0.725, 0, 0, 0, 61 [SEP] 33, Spatula, -0.042, 0.805, 1.217, 0, 0, 0, 80 [SEP] 34, Knife, -0.053, 0.963, 2.827, 0, 270, 0, 53 [SEP] 35, Tomato, 2.132, 0.384, -0.278, 0, 270, 0, 74 [SEP] 36, Apple, 1.840, 0.988, 0.509, 0, 0, 0, 64 [SEP] 37, ButterKnife, 1.917, 0.938, 0.361, 0, 180, 0, 64 [SEP] 38, Pot, 2.150, 0.937, 1.964, 0, 90, 0, 48 [SEP] 39, PepperShaker, 2.150, 0.932, 2.260, 0, 0, 0, 53 [SEP] 40, Cup, -0.196, 0.789, 0.377, 0, 0, 0, 80 [SEP] 41, DishSponge, -0.119, 0.790, 1.386, 0, 0, 0, 80 [SEP] 42, Plate, 1.925, 0.086, 2.057, 0, 0, 0, 49 [SEP] 43, Spoon, -0.042, 0.781, 0.881, 0, 0, 0, 80 [SEP] 44, Mug, 0.174, 0.932, 2.757, 0, 0, 0, 53 [SEP] 45, Bowl, 2.243, 1.945, 1.050, 0, 0, 0, 63 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the white table to the left of the microwave.  | STEP 2: Pick up the wine glass in front of the sponge.  | STEP 3: Walk to the microwave to the right of the table.  | STEP 4: Open the microwave door, put the glass in the microwave, close the door, open the door, take the glass out of the microwave, and close the door.  | STEP 5: Turn around and face the cabinet below the counter to the left of the stove.  | STEP 6: Open the cabinet door, place the glass in the cabinet, close the door.  | END


Input: To move two pens into the desk drawer.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 0, 0,  [SEP] 1, CellPhone, -0.333, 0.774, 1.335, 0, 0, 0, 30 [SEP] 2, CellPhone, -0.046, 0.774, 0.850, 0, 0, 0, 30 [SEP] 3, Pen, 1.467, 0.829, -1.673, 0, 270, 0, 50 [SEP] 4, Pen, 0.355, 0.817, -2.440, 0, 0, 0, 52 [SEP] 5, Pen, 0.459, 0.818, -2.372, 0, 90, 0, 52 [SEP] 6, Pencil, 0.563, 0.815, -2.440, 0, 0, 0, 52 [SEP] 7, Pencil, -1.192, 0.865, -2.498, 0, 180, 0, 59 [SEP] 8, Book, -0.333, 0.774, 1.012, 0, 0, 0, 30 [SEP] 9, RemoteControl, -0.061, 0.813, -2.304, 0, 0, 0, 52 [SEP] 10, RemoteControl, -1.319, 0.089, -2.287, 0, 0, 0, 56 [SEP] 11, Pillow, 0.241, 0.902, 1.173, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.594, 0.862, -2.373, 0, 0, 0, 59 [SEP] 13, Book, 0.816, 0.774, 0.850, 0, 0, 0, 30 [SEP] 14, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 15, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 16, CellPhone, -1.232, 0.371, -2.363, 0, 0, 0, 57 [SEP] 17, Pencil, 0.146, 0.815, -2.169, 0, 0, 0, 52 [SEP] 18, Laptop, -0.046, 0.772, 1.819, 0, 0, 0, 30 [SEP] 19, AlarmClock, -0.587, 0.862, -2.248, 0, 0, 0, 59 [SEP] 20, CreditCard, 0.042, 0.812, -2.236, 0, 0, 0, 52 [SEP] 21, KeyChain, -1.319, 0.372, -2.287, 0, 0, 0, 57 [SEP] 22, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 23, RemoteControl, -1.580, 0.373, -2.363, 0, 0, 0, 57 [SEP] 24, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 30 [SEP] 25, CD, 1.521, 0.817, -1.727, 0, 0, 0, 50 [SEP] 26, CD, 0.527, 0.806, -2.485, 0, 0, 0, 52 [SEP] 27, CD, 1.357, 0.151, -2.466, 0, 315, 0, 37 [SEP] 28, Pen, 0.146, 0.817, -2.304, 0, 0, 0, 52 [SEP] 29, Bowl, -0.674, 0.855, -2.499, 0, 323.153, 0, 59 [SEP] 30, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 31, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 32, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 33, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 34, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 35, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 36, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 37, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 38, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 39, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 40, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 41, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 42, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 45, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 46, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 47, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 48, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 49, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 50, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 51, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 52, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 53, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 54, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 55, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 56, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 57, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 58, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 59, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 60, NorthWall, , , , , , ,  [SEP] 61, EastWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the wooden desk on the left.  | STEP 2: Pick up the pen to the left of the lamp.  | STEP 3: Walk over to the desk on the right.  | STEP 4: Open the bottom drawer of the desk, put the pen inside the drawer, close the drawer.  | STEP 5: Walk back over to the small desk on the left.  | STEP 6: Pick up the pen to the left of the remote.  | STEP 7: Walk back over to the desk on the right.  | STEP 8: Open the bottom drawer, put the pen inside the drawer, close the drawer.  | END


Input: Bake a potato and chill it for later. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 270, 0,  [SEP] 1, Statue, 1.419, 0.918, -1.844, 0, 0, 0, 83 [SEP] 2, Potato, 2.055, 1.458, -0.644, 0, 270, 0, 90 [SEP] 3, Potato, 1.836, 0.847, -0.737, 0, 270, 0, 90 [SEP] 4, Potato, 2.055, 0.847, -0.271, 0, 270, 0, 90 [SEP] 5, DishSponge, -1.278, 0.913, 0.188, 0, 0, 0, 76 [SEP] 6, DishSponge, 0.012, 0.695, 0.222, 0, 180, 0, 82 [SEP] 7, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 80 [SEP] 8, Spoon, -0.375, 1.132, 0.573, 0, 0, 0, 79 [SEP] 9, Spoon, -1.138, 0.912, -1.845, 0, 0, 0, 83 [SEP] 10, Plate, -0.598, 1.129, 0.573, 0, 0, 0, 79 [SEP] 11, Plate, -1.03, 0.127, -1.501, 0, 0, 0, 69 [SEP] 12, Knife, -0.117, 0.786, -2.063, 0, 90, 0, 93 [SEP] 13, SoapBottle, -1.404, 0.911, -1.722, 0, 0, 0, 83 [SEP] 14, Tomato, -1.413, 0.963, -0.109, 0, 0, 0, 76 [SEP] 15, Bowl, 1.836, 1.424, -0.365, 0, 270, 0, 90 [SEP] 16, Bowl, -1.080, 0.910, -0.170, 0, 0, 0, 76 [SEP] 17, SaltShaker, -0.589, 0.688, -1.891, 0, 0, 0, 53 [SEP] 18, SaltShaker, 2.694, 0.548, 0.142, 0, 180, 0, 89 [SEP] 19, PepperShaker, -1.247, 0.909, -0.292, 0, 0, 0, 76 [SEP] 20, PepperShaker, -1.386, 1.658, 0.025, 0, 0, 0, 67 [SEP] 21, Lettuce, 1.924, 0.139, 0.109, 0, 270, 0, 86 [SEP] 22, Mug, 3.109, 0.547, 0.245, 0, 180, 0, 89 [SEP] 23, Apple, 0.141, 0.811, -2.118, 0, 0, 0, 93 [SEP] 24, Apple, -0.031, 0.811, -2.063, 0, 0, 0, 93 [SEP] 25, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 83 [SEP] 26, Knife, -0.290, 0.786, -2.063, 0, 90, 0, 93 [SEP] 27, Bowl, 1.891, 0.814, -0.551, 0, 270, 0, 90 [SEP] 28, Fork, -0.759, 0.692, -1.935, 0, 90, 0, 53 [SEP] 29, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 93 [SEP] 30, Ladle, -0.822, 1.168, 0.485, 0, 0, 0, 79 [SEP] 31, Apple, -1.330, 0.962, -0.353, 0, 0, 0, 76 [SEP] 32, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 73 [SEP] 33, Vase, -0.420, 0.915, 0.083, 0, 0, 0, 76 [SEP] 34, Potato, 1.836, 1.129, -0.458, 0, 270, 0, 90 [SEP] 35, Pot, -1.289, 0.957, -0.756, 0, 180, 0, 58 [SEP] 36, Bread, 0.071, 1.213, 0.573, 0, 0, 0, 79 [SEP] 37, Plate, -1.028, 0.134, -0.296, 0, 0, 0, 70 [SEP] 38, Spatula, -1.138, 0.926, -2.182, 0, 0, 0, 83 [SEP] 39, PaperTowelRoll, 3.109, 0.656, 0.090, 0, 180, 0, 89 [SEP] 40, Vase, 1.914, 1.658, -1.671, 0, 0, 0, 61 [SEP] 41, Egg, 1.945, 0.850, -0.365, 0, 270, 0, 90 [SEP] 42, SoapBottle, -0.152, 1.131, 0.662, 0, 0, 0, 79 [SEP] 43, SaltShaker, -0.645, 0.690, 0.234, 0, 180, 0, 77 [SEP] 44, Lettuce, 2.000, 1.175, -0.551, 0, 270, 0, 90 [SEP] 45, PepperShaker, -0.543, 0.690, 0.146, 0, 180, 0, 77 [SEP] 46, ButterKnife, 0.008, 0.913, 0.030, 0, 0, 0, 76 [SEP] 47, DishSponge, -0.657, 0.910, -2.182, 0, 0, 0, 83 [SEP] 48, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 89 [SEP] 49, Spoon, -0.053, 0.696, 0.139, 0, 180, 0, 82 [SEP] 50, Tomato, -0.031, 0.812, -1.897, 0, 0, 0, 93 [SEP] 51, Mug, 1.846, 1.010, -1.297, 0, 270, 0, 88 [SEP] 52, Statue, 3.002, 0.886, 0.141, 0, 180, 0, 87 [SEP] 53, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 54, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 55, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 56, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 57, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 58, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 59, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 60, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 61, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 62, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 63, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 64, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 65, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 66, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 67, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 68, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 69, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 70, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 71, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 72, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 73, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 74, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 75, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 76, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 77, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 78, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 79, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 80, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 81, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 82, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 83, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 84, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 85, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 86, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 87, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 88, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 89, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 90, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 91, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 92, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 93, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 94, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 95, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 96, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 97, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 98, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 99, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 100, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 101, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 102, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Walk to the fridge on your right. | STEP 2: Grab a potato from the fridge. | STEP 3: Walk to the microwave next to the fridge. | STEP 4: Place a potato inside the microwave and remove it. | STEP 5: Go back to the fridge on the left. | STEP 6: Place the potato in the fridge. | END


Input: To put a spoon in a pan on the cabinet top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.5, 0, 270, 0,  [SEP] 1, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 87 [SEP] 2, SprayBottle, 0.589, 0.116, -1.489, 0, 90, 0, 73 [SEP] 3, Pen, -2.079, 0.913, 0.118, 0, 0, 0, 81 [SEP] 4, Potato, 1.494, 1.203, -0.659, 0, 0, 0, 85 [SEP] 5, Ladle, -2.201, 0.954, 0.549, 0, 0, 0, 81 [SEP] 6, Ladle, -1.962, 0.954, -1.448, 0, 0, 0, 77 [SEP] 7, Kettle, 1.375, 1.163, -1.345, 0, 0, 0, 85 [SEP] 8, DishSponge, 0.110, 0.114, -1.583, 0, 90, 0, 76 [SEP] 9, Fork, 0.903, 0.775, 0.323, 0, 90, 0, 56 [SEP] 10, Spatula, 1.454, 1.177, -1.688, 0, 90, 0, 85 [SEP] 11, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 75 [SEP] 12, Egg, 1.381, 0.243, 0.993, 0, 0, 0, 96 [SEP] 13, Egg, -0.017, 0.805, -1.781, 0, 270, 0, 100 [SEP] 14, Cup, -1.886, 0.910, -1.707, 0, 0, 0, 77 [SEP] 15, Cup, 1.356, 1.720, 1.650, 0, 270, 0, 98 [SEP] 16, Plate, 1.426, 1.368, 2.351, 0, 270, 0, 98 [SEP] 17, Knife, 1.068, 0.803, 0.485, 0, 270, 0, 56 [SEP] 18, SoapBottle, 1.580, 1.655, -0.894, 0, 270, 0, 67 [SEP] 19, SoapBottle, 0.726, 1.655, -1.876, 0, 0, 0, 68 [SEP] 20, Tomato, 0.569, 0.951, -1.704, 0, 0, 0, 79 [SEP] 21, Tomato, 1.420, 1.760, 1.775, 0, 270, 0, 98 [SEP] 22, Bowl, -2.201, 0.911, 0.118, 0, 0, 0, 81 [SEP] 23, PepperShaker, -0.374, 0.111, -1.489, 0, 0, 0, 65 [SEP] 24, Bread, 1.454, 1.240, -1.002, 0, 0, 0, 85 [SEP] 25, Bread, -2.323, 0.988, 0.377, 0, 0, 0, 81 [SEP] 26, Mug, 1.207, 0.109, -0.736, 0, 0, 0, 63 [SEP] 27, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 95 [SEP] 28, Apple, 1.441, 1.300, 0.188, 0, 270, 0, 101 [SEP] 29, Apple, 1.420, 1.754, 2.026, 0, 270, 0, 98 [SEP] 30, Tomato, 1.420, 0.254, 1.137, 0, 0, 0, 96 [SEP] 31, Glassbottle, -2.041, 0.112, -1.681, 0, 0, 0, 82 [SEP] 32, Knife, -1.886, 0.940, -1.793, 0, 0, 0, 77 [SEP] 33, Plate, 1.461, 1.656, -1.421, 0, 0, 0, 71 [SEP] 34, Fork, 0.251, 0.920, -1.657, 0, 270, 0, 58 [SEP] 35, Ladle, 1.093, 0.955, -0.990, 0, 0, 0, 79 [SEP] 36, Potato, -1.835, 0.952, 0.118, 0, 0, 0, 81 [SEP] 37, Lettuce, 1.375, 1.231, -1.688, 0, 0, 0, 85 [SEP] 38, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 79 [SEP] 39, Pen, -2.445, 0.913, 0.032, 0, 0, 0, 81 [SEP] 40, SaltShaker, -2.079, 0.905, 0.463, 0, 0, 0, 81 [SEP] 41, Cup, -2.173, 0.112, -1.487, 0, 0, 0, 82 [SEP] 42, Egg, 0.149, 0.948, -1.859, 0, 270, 0, 58 [SEP] 43, Spatula, 0.969, 0.790, 0.323, 0, 90, 0, 56 [SEP] 44, Bowl, -0.603, 1.656, -1.839, 0, 0, 0, 61 [SEP] 45, SprayBottle, 1.461, 1.655, -0.736, 0, 0, 0, 67 [SEP] 46, Pan, 1.375, 1.367, 1.851, 0, 270, 0, 98 [SEP] 47, SoapBottle, -1.957, 0.910, 0.204, 0, 0, 0, 81 [SEP] 48, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.703, 0.911, -1.874, 0, 0, 0, 79 [SEP] 50, PepperShaker, -0.438, 0.111, -1.732, 0, 0, 0, 65 [SEP] 51, DishSponge, 0.528, 0.772, -1.500, 0, 0, 0, 83 [SEP] 52, Bread, 1.164, 0.975, -0.160, 0, 300.000, 0, 79 [SEP] 53, Apple, 0.217, 0.954, -1.758, 0, 270, 0, 58 [SEP] 54, Spoon, -1.835, 0.911, 0.463, 0, 0, 0, 81 [SEP] 55, Mug, -0.619, 0.106, -1.729, 0, 90, 0, 66 [SEP] 56, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 57, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 58, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 59, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 60, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 61, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 62, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 63, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 64, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 65, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 66, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 67, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 68, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 69, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 70, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 71, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 72, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 73, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 74, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 75, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 76, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 77, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 78, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 79, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 80, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 81, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 82, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 83, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 84, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 85, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 86, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 87, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 88, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 89, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 90, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 91, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 92, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 93, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 94, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 95, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 96, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 97, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 98, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 99, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 100, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 101, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 102, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 103, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 104, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Go to the stove on your left | STEP 2: Pick up the pan from the stove | STEP 3: Turn left and go to the cabinet at the end of the room | STEP 4: Put the pan on the cabinet top | STEP 5: Pick up the kitchen spoon from the cabinet top | STEP 6: Put the spoon on the pan | END


Input: Move a pot from the stove to the counter by the coffee machine.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.5, 0, 270, 0,  [SEP] 1, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 87 [SEP] 2, SprayBottle, 0.589, 0.116, -1.489, 0, 90, 0, 73 [SEP] 3, Pen, -2.079, 0.913, 0.118, 0, 0, 0, 81 [SEP] 4, Potato, 1.494, 1.203, -0.659, 0, 0, 0, 85 [SEP] 5, Ladle, -2.201, 0.954, 0.549, 0, 0, 0, 81 [SEP] 6, Ladle, -1.962, 0.954, -1.448, 0, 0, 0, 77 [SEP] 7, Kettle, 1.375, 1.163, -1.345, 0, 0, 0, 85 [SEP] 8, DishSponge, 0.110, 0.114, -1.583, 0, 90, 0, 76 [SEP] 9, Fork, 0.903, 0.775, 0.323, 0, 90, 0, 56 [SEP] 10, Spatula, 1.454, 1.177, -1.688, 0, 90, 0, 85 [SEP] 11, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 75 [SEP] 12, Egg, 1.381, 0.243, 0.993, 0, 0, 0, 96 [SEP] 13, Egg, -0.017, 0.805, -1.781, 0, 270, 0, 100 [SEP] 14, Cup, -1.886, 0.910, -1.707, 0, 0, 0, 77 [SEP] 15, Cup, 1.356, 1.720, 1.650, 0, 270, 0, 98 [SEP] 16, Plate, 1.426, 1.368, 2.351, 0, 270, 0, 98 [SEP] 17, Knife, 1.068, 0.803, 0.485, 0, 270, 0, 56 [SEP] 18, SoapBottle, 1.580, 1.655, -0.894, 0, 270, 0, 67 [SEP] 19, SoapBottle, 0.726, 1.655, -1.876, 0, 0, 0, 68 [SEP] 20, Tomato, 0.569, 0.951, -1.704, 0, 0, 0, 79 [SEP] 21, Tomato, 1.420, 1.760, 1.775, 0, 270, 0, 98 [SEP] 22, Bowl, -2.201, 0.911, 0.118, 0, 0, 0, 81 [SEP] 23, PepperShaker, -0.374, 0.111, -1.489, 0, 0, 0, 65 [SEP] 24, Bread, 1.454, 1.240, -1.002, 0, 0, 0, 85 [SEP] 25, Bread, -2.323, 0.988, 0.377, 0, 0, 0, 81 [SEP] 26, Mug, 1.207, 0.109, -0.736, 0, 0, 0, 63 [SEP] 27, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 95 [SEP] 28, Apple, 1.441, 1.300, 0.188, 0, 270, 0, 101 [SEP] 29, Apple, 1.420, 1.754, 2.026, 0, 270, 0, 98 [SEP] 30, Tomato, 1.420, 0.254, 1.137, 0, 0, 0, 96 [SEP] 31, Glassbottle, -2.041, 0.112, -1.681, 0, 0, 0, 82 [SEP] 32, Knife, -1.886, 0.940, -1.793, 0, 0, 0, 77 [SEP] 33, Plate, 1.461, 1.656, -1.421, 0, 0, 0, 71 [SEP] 34, Fork, 0.251, 0.920, -1.657, 0, 270, 0, 58 [SEP] 35, Ladle, 1.093, 0.955, -0.990, 0, 0, 0, 79 [SEP] 36, Potato, -1.835, 0.952, 0.118, 0, 0, 0, 81 [SEP] 37, Lettuce, 1.375, 1.231, -1.688, 0, 0, 0, 85 [SEP] 38, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 79 [SEP] 39, Pen, -2.445, 0.913, 0.032, 0, 0, 0, 81 [SEP] 40, SaltShaker, -2.079, 0.905, 0.463, 0, 0, 0, 81 [SEP] 41, Cup, -2.173, 0.112, -1.487, 0, 0, 0, 82 [SEP] 42, Egg, 0.149, 0.948, -1.859, 0, 270, 0, 58 [SEP] 43, Spatula, 0.969, 0.790, 0.323, 0, 90, 0, 56 [SEP] 44, Bowl, -0.603, 1.656, -1.839, 0, 0, 0, 61 [SEP] 45, SprayBottle, 1.461, 1.655, -0.736, 0, 0, 0, 67 [SEP] 46, Pan, 1.375, 1.367, 1.851, 0, 270, 0, 98 [SEP] 47, SoapBottle, -1.957, 0.910, 0.204, 0, 0, 0, 81 [SEP] 48, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.703, 0.911, -1.874, 0, 0, 0, 79 [SEP] 50, PepperShaker, -0.438, 0.111, -1.732, 0, 0, 0, 65 [SEP] 51, DishSponge, 0.528, 0.772, -1.500, 0, 0, 0, 83 [SEP] 52, Bread, 1.164, 0.975, -0.160, 0, 300.000, 0, 79 [SEP] 53, Apple, 0.217, 0.954, -1.758, 0, 270, 0, 58 [SEP] 54, Spoon, -1.835, 0.911, 0.463, 0, 0, 0, 81 [SEP] 55, Mug, -0.619, 0.106, -1.729, 0, 90, 0, 66 [SEP] 56, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 57, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 58, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 59, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 60, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 61, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 62, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 63, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 64, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 65, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 66, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 67, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 68, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 69, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 70, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 71, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 72, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 73, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 74, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 75, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 76, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 77, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 78, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 79, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 80, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 81, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 82, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 83, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 84, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 85, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 86, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 87, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 88, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 89, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 90, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 91, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 92, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 93, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 94, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 95, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 96, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 97, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 98, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 99, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 100, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 101, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 102, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 103, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 104, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the stove.  | STEP 2: Pick up a pot on the stove.  | STEP 3: Turn and go to the counter by the coffee machine.  | STEP 4: Put the pot on the counter. | STEP 5: Pick up a ladle on the counter. | STEP 6: Put the ladle in the pot on the counter.  | END


Input: Move a pencil from one desk to an adjacent desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.75, 0, 180, 0,  [SEP] 1, Bowl, 0.459, 0.813, -2.507, 0, 0, 0, 48 [SEP] 2, Pen, -0.587, 0.867, -2.311, 0, 0, 0, 55 [SEP] 3, Pencil, -0.061, 0.815, -2.236, 0, 0, 0, 48 [SEP] 4, CreditCard, -1.187, 1.362, -2.435, 0, 0, 0, 51 [SEP] 5, CreditCard, -1.232, 0.372, -2.287, 0, 0, 0, 53 [SEP] 6, KeyChain, -1.406, 0.372, -2.287, 0, 0, 0, 53 [SEP] 7, Laptop, -0.046, 0.772, 1.173, 0, 0, 0, 26 [SEP] 8, AlarmClock, -1.594, 0.862, -2.498, 0, 0, 0, 55 [SEP] 9, Book, 0.189, 0.805, -2.27, 0, 195.000, 0, 48 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0,  [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0,  [SEP] 12, CellPhone, -0.587, 0.861, -2.561, 0, 0, 0, 55 [SEP] 13, Pencil, 0.355, 0.816, -2.304, 0, 0, 0, 48 [SEP] 14, Laptop, -0.621, 0.772, 1.657, 0, 0, 0, 26 [SEP] 15, AlarmClock, 1.494, 0.824, -1.363, 0, 270, 0, 46 [SEP] 16, CreditCard, 1.494, 0.823, -1.673, 0, 270, 0, 46 [SEP] 17, KeyChain, 0.146, 0.813, -2.507, 0, 90, 0, 48 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180,  [SEP] 19, RemoteControl, -1.192, 0.863, -2.436, 0, 0, 0, 55 [SEP] 20, Pillow, 0.528, 0.902, 1.657, 0, 0, 0, 26 [SEP] 21, CD, 1.521, 0.817, -1.727, 0, 0, 0, 46 [SEP] 22, CD, 0.527, 0.806, -2.485, 0, 0, 0, 48 [SEP] 23, CD, -1.319, 0.651, -2.363, 0, 0, 0, 54 [SEP] 24, Pen, 1.494, 0.829, -1.467, 0, 270, 0, 46 [SEP] 25, Bowl, -0.990, 0.863, -2.436, 0, 0, 0, 55 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0,  [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0,  [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0,  [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0,  [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0,  [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0,  [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0,  [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0,  [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0,  [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0,  [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0,  [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0,  [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0,  [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0,  [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0,  [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0,  [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0,  [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0,  [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0,  [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0,  [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0,  [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0,  [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0,  [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0,  [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0,  [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0,  [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0,  [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0,  [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0,  [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk slightly forward, then turn left and walk towards the lamp on the desk. | STEP 2: Pick up the pencil on the desk near the lamp. | STEP 3: Turn right and walk to the center of the desk on the right. | STEP 4: Put the pencil on the front of the desk, in front of the remote control. | END