Input: Put a chilled plate in 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, -2.25, 0.900, 2.5, 0, 270, 0,  [SEP] 1, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 51 [SEP] 2, DishSponge, -0.715, 1.124, 0.659, 0, 0, 0, 58 [SEP] 3, ButterKnife, -1.465, 0.931, 0.290, 0, 180, 0, 68 [SEP] 4, Spatula, -0.785, 1.063, 2.369, 0, 90, 0, 46 [SEP] 5, Egg, -1.568, 1.184, 0.082, 0, 0, 0, 43 [SEP] 6, Plate, -0.662, 1.046, 3.042, 0, 0, 0, 46 [SEP] 7, Knife, -1.465, 0.963, 0.498, 0, 0, 0, 68 [SEP] 8, SoapBottle, -3.849, 0.113, 1.978, 0, 0, 0, 67 [SEP] 9, Tomato, -0.715, 1.165, 0.115, 0, 0, 0, 58 [SEP] 10, Bowl, -3.572, 1.284, 2.920, 0, 90, 0, 63 [SEP] 11, SaltShaker, -2.509, 0.899, 0.544, 0, 0, 0, 55 [SEP] 12, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 46 [SEP] 13, Bread, -0.662, 1.134, 2.593, 0, 0, 0, 46 [SEP] 14, Lettuce, -0.662, 1.125, 2.817, 0, 0, 0, 46 [SEP] 15, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 62 [SEP] 16, Mug, -0.908, 1.042, 3.266, 0, 0, 0, 46 [SEP] 17, Apple, -1.199, 0.998, 0.567, 0, 0, 0, 68 [SEP] 18, Apple, -3.440, 1.629, 3.203, 0, 90, 0, 63 [SEP] 19, Fork, -2.514, 1.125, 0.379, 0, 0, 0, 56 [SEP] 20, SoapBottle, -1.274, 0.049, 0.437, 0, 0, 0, 50 [SEP] 21, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 44 [SEP] 22, Ladle, -0.827, 1.164, 0.387, 0, 0, 0, 58 [SEP] 23, Potato, -0.939, 1.155, 0.206, 0, 0, 0, 58 [SEP] 24, Plate, -0.908, 1.046, 3.042, 0, 0, 0, 46 [SEP] 25, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 46 [SEP] 26, Lettuce, -3.506, 1.639, 2.990, 0, 90, 0, 63 [SEP] 27, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 68 [SEP] 28, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 46 [SEP] 29, Egg, -3.593, 0.142, 2.038, 0, 0, 0, 67 [SEP] 30, Cup, -1.195, 0.047, 0.324, 0, 0, 0, 50 [SEP] 31, SaltShaker, -1.950, 0.899, 0.645, 0, 0, 0, 54 [SEP] 32, Knife, -2.262, 1.157, 0.567, 0, 0, 0, 56 [SEP] 33, Bowl, -1.601, 0.046, 0.608, 0, 0, 0, 61 [SEP] 34, PepperShaker, -2.416, 0.898, 0.612, 0, 0, 0, 55 [SEP] 35, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 46 [SEP] 36, Apple, -0.292, 1.115, 2.144, 0, 0, 0, 46 [SEP] 37, Tomato, -3.696, 0.153, 2.008, 0, 0, 0, 67 [SEP] 38, DishSponge, -2.042, 0.095, 0.613, 0, 0, 0, 48 [SEP] 39, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 43 [SEP] 40, Mug, -1.885, 1.119, 0.662, 0, 0, 0, 56 [SEP] 41, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 42, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 43, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 44, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 45, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 46, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 47, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 48, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 49, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 50, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 51, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 52, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 53, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 54, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 55, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 56, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 57, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 58, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 59, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 60, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 61, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 62, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 63, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 64, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 65, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 66, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 67, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 68, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 69, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 70, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 71, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 72, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,

Output: STEP 1: Turn right, walk to the door, turn right, walk to wooden table. | STEP 2: Pick up the black plate closer to you. | STEP 3: Turn right and right again, walk to the refrigerator. | STEP 4: Put plat in refrigerator, close door, wait a few seconds, take plat out of refrigerator. | STEP 5: Turn left, walk to table, turn right, walk to sink. | STEP 6: Open right hand door of cabinet under refrigerator, place plate in cabinet. | END


Input: Put the chilled plate in the kitchen cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 270, 0,  [SEP] 1, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 51 [SEP] 2, DishSponge, -0.715, 1.124, 0.659, 0, 0, 0, 58 [SEP] 3, ButterKnife, -1.465, 0.931, 0.290, 0, 180, 0, 68 [SEP] 4, Spatula, -0.785, 1.063, 2.369, 0, 90, 0, 46 [SEP] 5, Egg, -1.568, 1.184, 0.082, 0, 0, 0, 43 [SEP] 6, Plate, -0.662, 1.046, 3.042, 0, 0, 0, 46 [SEP] 7, Knife, -1.465, 0.963, 0.498, 0, 0, 0, 68 [SEP] 8, SoapBottle, -3.849, 0.113, 1.978, 0, 0, 0, 67 [SEP] 9, Tomato, -0.715, 1.165, 0.115, 0, 0, 0, 58 [SEP] 10, Bowl, -3.572, 1.284, 2.920, 0, 90, 0, 63 [SEP] 11, SaltShaker, -2.509, 0.899, 0.544, 0, 0, 0, 55 [SEP] 12, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 46 [SEP] 13, Bread, -0.662, 1.134, 2.593, 0, 0, 0, 46 [SEP] 14, Lettuce, -0.662, 1.125, 2.817, 0, 0, 0, 46 [SEP] 15, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 62 [SEP] 16, Mug, -0.908, 1.042, 3.266, 0, 0, 0, 46 [SEP] 17, Apple, -1.199, 0.998, 0.567, 0, 0, 0, 68 [SEP] 18, Apple, -3.440, 1.629, 3.203, 0, 90, 0, 63 [SEP] 19, Fork, -2.514, 1.125, 0.379, 0, 0, 0, 56 [SEP] 20, SoapBottle, -1.274, 0.049, 0.437, 0, 0, 0, 50 [SEP] 21, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 44 [SEP] 22, Ladle, -0.827, 1.164, 0.387, 0, 0, 0, 58 [SEP] 23, Potato, -0.939, 1.155, 0.206, 0, 0, 0, 58 [SEP] 24, Plate, -0.908, 1.046, 3.042, 0, 0, 0, 46 [SEP] 25, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 46 [SEP] 26, Lettuce, -3.506, 1.639, 2.990, 0, 90, 0, 63 [SEP] 27, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 68 [SEP] 28, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 46 [SEP] 29, Egg, -3.593, 0.142, 2.038, 0, 0, 0, 67 [SEP] 30, Cup, -1.195, 0.047, 0.324, 0, 0, 0, 50 [SEP] 31, SaltShaker, -1.950, 0.899, 0.645, 0, 0, 0, 54 [SEP] 32, Knife, -2.262, 1.157, 0.567, 0, 0, 0, 56 [SEP] 33, Bowl, -1.601, 0.046, 0.608, 0, 0, 0, 61 [SEP] 34, PepperShaker, -2.416, 0.898, 0.612, 0, 0, 0, 55 [SEP] 35, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 46 [SEP] 36, Apple, -0.292, 1.115, 2.144, 0, 0, 0, 46 [SEP] 37, Tomato, -3.696, 0.153, 2.008, 0, 0, 0, 67 [SEP] 38, DishSponge, -2.042, 0.095, 0.613, 0, 0, 0, 48 [SEP] 39, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 43 [SEP] 40, Mug, -1.885, 1.119, 0.662, 0, 0, 0, 56 [SEP] 41, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 42, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 43, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 44, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 45, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 46, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 47, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 48, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 49, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 50, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 51, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 52, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 53, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 54, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 55, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 56, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 57, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 58, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 59, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 60, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 61, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 62, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 63, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 64, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 65, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 66, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 67, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 68, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 69, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 70, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 71, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 72, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk to the large wooden table | STEP 2: Pick up the octagonal plate from the table | STEP 3: Turn around and walk to the fridge | STEP 4: Put the plate in the fridge then remove it | STEP 5: Turn left and walk to the cabinet on the left side of the kitchen counter | STEP 6: Open the lower right cabinet and put the plate in it | END


Input: Put a heated tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 1.75, 0, 0, 0,  [SEP] 1, Potato, -1.105, 0.794, 2.830, 0, 0, 0, 48 [SEP] 2, Potato, -1.383, 0.794, 2.459, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.475, 0.746, 2.830, 0, 0, 0, 48 [SEP] 4, DishSponge, 0.951, 0.885, 2.477, 0, 0, 0, 99 [SEP] 5, Glassbottle, -1.263, 0.751, 0.778, 0, 90, 0, 87 [SEP] 6, WineBottle, 1.049, 0.912, 0.990, 0, 0, 0, 67 [SEP] 7, Fork, -1.123, 0.912, -0.430, 0, 0, 0, 73 [SEP] 8, Spatula, -0.919, 0.764, 2.087, 0, 90, 0, 48 [SEP] 9, Spatula, -0.919, 0.763, 2.830, 0, 90, 0, 48 [SEP] 10, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 11, Cup, -1.105, 0.748, 1.902, 0, 0, 0, 48 [SEP] 12, Cup, -1.357, 1.654, 0.222, 0, 0, 0, 56 [SEP] 13, Plate, -1.105, 0.750, 2.273, 0, 0, 0, 48 [SEP] 14, Plate, -1.325, 2.154, 1.150, 0, 0, 0, 65 [SEP] 15, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 67 [SEP] 16, Bowl, -1.197, 0.748, 2.644, 0, 0, 0, 48 [SEP] 17, Bowl, -1.206, 1.419, 0.778, 0, 90, 0, 87 [SEP] 18, Bread, -1.263, 0.814, 1.092, 0, 90, 0, 87 [SEP] 19, Bread, 1.034, 0.949, 2.261, 0, 0, 0, 99 [SEP] 20, Apple, -0.020, 0.818, -0.651, 0, 0, 0, 94 [SEP] 21, Apple, 1.450, 0.946, 2.692, 0, 0, 0, 99 [SEP] 22, Bread, 1.207, 0.974, 0.139, 0, 0, 0, 67 [SEP] 23, Glassbottle, 0.951, 0.887, 2.584, 0, 0, 0, 99 [SEP] 24, Fork, -1.012, 0.749, 2.644, 0, 0, 0, 48 [SEP] 25, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 48 [SEP] 26, Tomato, 1.128, 0.961, -0.428, 0, 0, 0, 67 [SEP] 27, Plate, -1.220, 0.117, 0.165, 0, 180, 0, 70 [SEP] 28, CellPhone, -1.197, 0.746, 2.459, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.444, 0.982, -0.428, 0, 0, 0, 67 [SEP] 30, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 31, SoapBottle, 1.049, 0.912, 0.139, 0, 0, 0, 67 [SEP] 32, WineBottle, 1.200, 0.887, 2.153, 0, 0, 0, 99 [SEP] 33, Spatula, 1.117, 0.901, 2.261, 0, 180, 0, 99 [SEP] 34, Bowl, 0.994, 2.153, -0.787, 0, 0, 0, 51 [SEP] 35, Apple, -1.378, 1.481, 0.673, 0, 90, 0, 87 [SEP] 36, Cup, 1.444, 0.910, 0.422, 0, 0, 0, 67 [SEP] 37, Knife, 1.284, 0.908, 2.800, 0, 0, 0, 99 [SEP] 38, Egg, 1.301, 0.120, 1.503, 0, 0, 0, 88 [SEP] 39, SaltShaker, -1.263, 2.149, 0.981, 0, 0, 0, 66 [SEP] 40, PepperShaker, 1.356, 2.153, 0.599, 0, 0, 0, 58 [SEP] 41, Potato, 0.103, 0.803, -0.533, 0, 0, 0, 94 [SEP] 42, ButterKnife, 1.034, 0.886, 2.800, 0, 0, 0, 99 [SEP] 43, DishSponge, 1.367, 0.885, 2.153, 0, 0, 0, 99 [SEP] 44, Pan, -1.206, 1.287, 0.988, 0, 90, 0, 87 [SEP] 45, Spoon, 1.184, 0.777, -0.049, 0, 90, 0, 68 [SEP] 46, SprayBottle, -1.135, 0.911, -0.817, 0, 0, 0, 73 [SEP] 47, Mug, 1.444, 0.906, -0.144, 0, 0, 0, 67 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk over to the counter, then turn left and walk up to the counter. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Turn around and walk over to the microwave. | STEP 4: Put the tomato in the microwave and heat it up for a couple seconds then take it out. | STEP 5: Turn left to face the counter. | STEP 6: Put the heated tomato on the front edge of the counter to the right of the sink. | END


Input: Put an apple 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, 0.75, 0.930, -0.75, 0, 270, 0,  [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 115, NorthWall, , , , , , ,  [SEP] 116, EastWall, , , , , , ,  [SEP] 117, SouthWall, , , , , , ,  [SEP] 118, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the counter to the right of the fridge. | STEP 2: Pick up the apple on the counter. | STEP 3: Turn left and walk to the counter on the left. | STEP 4: Put the apple on the counter. | STEP 5: Pick up the silver knife under and gold knife on the counter. | STEP 6: Slice the apple with the knife. | STEP 7: Put the knife in the apple and leave it there. | STEP 8: Take an apple slice from the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Open the fridge door, put the apple slice inside, and close the door. | END


Input: Put a piece of apple in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.930, -0.75, 0, 270, 0,  [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 115, NorthWall, , , , , , ,  [SEP] 116, EastWall, , , , , , ,  [SEP] 117, SouthWall, , , , , , ,  [SEP] 118, WestWall, , , , , , ,

Output: STEP 1: Turn left to face the counter to the right of the fridge. | STEP 2: Take the apple from the counter. | STEP 3: Turn around and go straight and to the right to the kitchen island. | STEP 4: Put the apple on the kitchen island counter. | STEP 5: Take the small knife that is under the large knife on counter. | STEP 6: Cut the apple into pieces. | STEP 7: Put the knife on the apple on the counter. | STEP 8: Take a piece of the apple from the counter. | STEP 9: Turn around and go straight to the fridge. | STEP 10: Put the piece of apple on the lowest shelf in the fridge. | END


Input: Putting a sliced apple into the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.930, -0.75, 0, 270, 0,  [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 115, NorthWall, , , , , , ,  [SEP] 116, EastWall, , , , , , ,  [SEP] 117, SouthWall, , , , , , ,  [SEP] 118, WestWall, , , , , , ,

Output: STEP 1: Turn to your left and face the counter | STEP 2: Grab the apple off of the counter | STEP 3: Turn around and head to the kitchen island | STEP 4: Put the apple on the kitchen island | STEP 5: Grab the small knife off of the kitchen island | STEP 6: Cut the apple into three slices | STEP 7: Put the knife down on the kitchen island | STEP 8: Grab one of the apple slices | STEP 9: Turn around and head to the fridge | STEP 10: Put the apple into the fridge. Close the door | END


Input: Get an apple, cut into 3 pieces and put one piece in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.930, -0.75, 0, 270, 0,  [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 115, NorthWall, , , , , , ,  [SEP] 116, EastWall, , , , , , ,  [SEP] 117, SouthWall, , , , , , ,  [SEP] 118, WestWall, , , , , , ,

Output: STEP 1: turn to your left, walk towards the refrigerator and face the counter on the right side of the fridge. | STEP 2: Pick up the apple on the edge of the counter. | STEP 3: Turn to your left and go to the island directly behind you. | STEP 4: Place the apple on the counter of the island in front of you. | STEP 5: Pick up the silver butter knife in the middle of the counter and flip the yellow butter knife over and place back on counter. | STEP 6: Cut the apple with the silver butter knife into three equal pieces. | STEP 7: leave the knife in the top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn to your left until you are facing the refrigerator. | STEP 10: Open the refrigerator and place the apple slice on the third shelf from the top in the fridge. | END


Input: Put a clean spoon in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 0, 0,  [SEP] 1, Potato, -2.039, 0.952, -1.448, 0, 0, 0, 65 [SEP] 2, Ladle, -1.957, 0.954, 0.463, 0, 0, 0, 69 [SEP] 3, Ladle, 1.035, 0.159, -1.186, 0, 0, 0, 52 [SEP] 4, Ladle, 1.148, 0.159, -0.699, 0, 0, 0, 51 [SEP] 5, Glassbottle, 0.528, 0.117, -1.489, 0, 90, 0, 61 [SEP] 6, Glassbottle, 1.266, 0.115, -0.956, 0, 0, 0, 52 [SEP] 7, Pot, -0.458, 1.657, -1.839, 0, 0, 0, 49 [SEP] 8, Egg, -0.477, 0.940, -1.960, 0, 0, 0, 67 [SEP] 9, Egg, 1.485, 1.749, 1.963, 0, 270, 0, 86 [SEP] 10, Plate, 1.401, 1.656, -0.815, 0, 0, 0, 55 [SEP] 11, Plate, 0.645, 1.656, -1.839, 0, 0, 0, 56 [SEP] 12, Tomato, 1.332, 1.857, 2.432, 0, 270, 0, 86 [SEP] 13, Tomato, -1.809, 0.950, -1.793, 0, 0, 0, 65 [SEP] 14, Lettuce, -2.079, 0.979, 0.204, 0, 0, 0, 69 [SEP] 15, Mug, 1.441, 1.260, -0.021, 0, 270, 0, 89 [SEP] 16, Apple, 1.356, 1.754, 2.026, 0, 270, 0, 86 [SEP] 17, Apple, 1.476, 1.402, 2.475, 0, 270, 0, 86 [SEP] 18, Tomato, 1.459, 0.254, 1.108, 0, 0, 0, 84 [SEP] 19, Glassbottle, -1.524, 1.859, -1.766, 0, 0, 0, 60 [SEP] 20, Knife, -2.201, 0.940, 0.463, 0, 0, 0, 69 [SEP] 21, Plate, 1.342, 1.656, -1.342, 0, 0, 0, 59 [SEP] 22, Fork, 1.454, 1.162, -1.688, 0, 0, 0, 73 [SEP] 23, Ladle, -0.703, 0.955, -1.874, 0, 0, 0, 67 [SEP] 24, Potato, 1.441, 1.307, 0.188, 0, 270, 0, 89 [SEP] 25, Lettuce, -2.323, 0.979, 0.291, 0, 0, 0, 69 [SEP] 26, Kettle, -1.431, 0.949, -1.525, 0, 0, 0, 75 [SEP] 27, Pen, -2.079, 0.913, 0.291, 0, 0, 0, 69 [SEP] 28, SaltShaker, -2.445, 0.905, 0.204, 0, 0, 0, 69 [SEP] 29, Cup, 1.052, 1.656, -1.839, 0, 0, 0, 56 [SEP] 30, Egg, -1.732, 0.939, -1.965, 0, 0, 0, 65 [SEP] 31, Spatula, -1.809, 0.925, -1.534, 0, 0, 0, 65 [SEP] 32, Bowl, 1.401, 1.656, -0.500, 0, 0, 0, 55 [SEP] 33, SprayBottle, 1.335, 1.161, -1.345, 0, 0, 0, 73 [SEP] 34, Pan, -1.835, 0.910, 0.291, 0, 0, 0, 69 [SEP] 35, SoapBottle, 0.914, 0.114, -0.773, 0, 90, 0, 51 [SEP] 36, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 77 [SEP] 37, ButterKnife, -0.552, 0.911, -1.874, 0, 0, 0, 67 [SEP] 38, PepperShaker, 1.520, 1.651, -1.579, 0, 0, 0, 59 [SEP] 39, DishSponge, 1.302, 0.214, 1.051, 0, 0, 0, 84 [SEP] 40, Bread, 1.375, 1.445, 1.976, 0, 270, 0, 86 [SEP] 41, Apple, 1.426, 0.945, -1.331, 0, 0, 0, 67 [SEP] 42, Spoon, 1.260, 0.912, -1.331, 0, 0, 0, 45 [SEP] 43, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 83 [SEP] 44, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 45, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 46, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 47, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 48, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 49, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 50, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 51, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 52, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 53, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 54, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 55, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 56, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 58, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 59, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 60, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 61, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 62, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 63, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 64, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 65, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 66, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 67, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 68, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 69, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 70, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 71, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 72, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 73, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 74, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 75, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 76, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 77, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 78, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 79, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 80, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 81, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 82, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 83, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 84, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 85, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 86, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 87, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 88, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 89, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 90, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 91, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 92, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Cross the room and stand in front of the counter to the left of the stove. | STEP 2: Pick the big spoon up from the counter. | STEP 3: Move left and turn to face the sink. | STEP 4: Put the big spoon in the sink and turn the water on and then off and pick the spoon up again. | STEP 5: Turn to face to the left lower cabinets, to the right of the white appliance. | STEP 6: Open the cabinet door of the far right cabinet in the corner and put the spoon in and then shut the door. | END


Input: Put a cold slice of bread in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, 2.0, 0, 0, 0,  [SEP] 1, ButterKnife, 1.790, 0.937, 2.434, 0, 0, 0, 43 [SEP] 2, ButterKnife, -0.053, 0.937, 2.757, 0, 0, 0, 43 [SEP] 3, Fork, 1.840, 0.938, 0.657, 0, 90, 0, 54 [SEP] 4, Cup, 2.059, 0.336, -0.007, 0, 270, 0, 64 [SEP] 5, Plate, 1.227, 0.085, 2.523, 0, 0, 0, 49 [SEP] 6, SoapBottle, -0.196, 0.791, 1.217, 0, 0, 0, 70 [SEP] 7, SoapBottle, 0.060, 0.938, 2.618, 0, 0, 0, 43 [SEP] 8, PepperShaker, 0.033, 0.785, 1.049, 0, 0, 0, 70 [SEP] 9, Mug, 0.637, 0.076, 2.562, 0, 0, 0, 50 [SEP] 10, Apple, -0.362, 1.085, 1.961, 0, 90, 0, 68 [SEP] 11, Apple, 1.840, 0.988, 0.509, 0, 0, 0, 54 [SEP] 12, Egg, -0.119, 0.833, 1.386, 0, 0, 0, 70 [SEP] 13, Lettuce, 2.127, 1.580, -0.278, 0, 270, 0, 64 [SEP] 14, Fork, 0.002, 0.747, 2.197, 0, 0, 0, 42 [SEP] 15, SoapBottle, -0.349, 0.791, 1.217, 0, 0, 0, 70 [SEP] 16, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 52 [SEP] 17, Ladle, 1.805, 1.547, 2.805, 0, 90, 0, 44 [SEP] 18, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 70 [SEP] 19, SaltShaker, -0.272, 0.785, 0.377, 0, 0, 0, 70 [SEP] 20, Potato, 0.174, 0.977, 2.618, 0, 0, 0, 43 [SEP] 21, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 40 [SEP] 22, WineBottle, -0.167, 0.938, 2.478, 0, 0, 0, 43 [SEP] 23, Spatula, -0.042, 0.805, 1.217, 0, 90, 0, 70 [SEP] 24, Knife, 1.815, 0.771, 1.922, 0, 90, 0, 58 [SEP] 25, Tomato, -0.053, 0.983, 2.827, 0, 0, 0, 43 [SEP] 26, Apple, 0.033, 0.840, 0.881, 0, 0, 0, 70 [SEP] 27, ButterKnife, 0.524, 0.795, 2.64, 0, 90, 0, 67 [SEP] 28, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 38 [SEP] 29, PepperShaker, 1.556, 0.932, 2.511, 0, 0, 0, 43 [SEP] 30, Cup, 2.056, 1.319, -0.550, 0, 270, 0, 64 [SEP] 31, DishSponge, -0.349, 0.790, 1.386, 0, 0, 0, 70 [SEP] 32, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 70 [SEP] 33, Spoon, -0.349, 0.792, 1.049, 0, 0, 0, 70 [SEP] 34, Mug, 2.168, 1.316, -0.369, 0, 270, 0, 64 [SEP] 35, Bowl, 2.227, 0.934, 2.260, 0, 0, 0, 43 [SEP] 36, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 37, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 38, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 39, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 40, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 41, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 42, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 43, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 44, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 45, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 46, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 47, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 48, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 49, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 50, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 51, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 52, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 54, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 55, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 56, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 57, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 59, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 60, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 61, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 62, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 63, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 64, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 65, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 66, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 67, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 68, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 69, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 70, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 71, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 72, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 73, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Stay in front of the counter to the left of the sink. | STEP 2: Take the knife from behind the bottle on the counter. | STEP 3: Turn around, go to the white table and face the table. | STEP 4: Cut the bread on the table into slices. | STEP 5: Stay in front of the table. | STEP 6: Put the knife on the bread on the table. | STEP 7: Stay in front of the table. | STEP 8: Take a slice of bread from the table. | STEP 9: Turn around and go to the refrigerator. | STEP 10: Put the bread on the top shelf of the refrigerator. Close then open the refrigerator. Take the bread from the refrigerator. | STEP 11: Turn around, head to the right to the microwave. | STEP 12: Put the bread in the microwave. | END


Input: Put a microwaved slice of bread on the counter by the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.75, 0, 0, 0,  [SEP] 1, DishSponge, -4.233, 0.790, 3.222, 0, 270, 0, 101 [SEP] 2, DishSponge, -4.089, 0.077, 4.584, 0, 0, 0, 62 [SEP] 3, ButterKnife, -1.693, 0.923, 1.951, 0, 0, 0, 51 [SEP] 4, ButterKnife, -3.733, 0.923, 5.412, 0, 90, 0, 69 [SEP] 5, WineBottle, -4.033, 0.924, 4.381, 0, 90, 0, 69 [SEP] 6, Pot, -0.258, 0.926, 5.603, 0, 90, 0, 54 [SEP] 7, Spatula, -0.181, 0.940, 4.944, 0, 0, 0, 54 [SEP] 8, Cup, -4.486, 0.922, 3.863, 0, 90, 0, 69 [SEP] 9, Egg, -0.454, 1.106, 3.726, 0, 270, 0, 102 [SEP] 10, Egg, -0.383, 1.371, 3.355, 0, 270, 0, 102 [SEP] 11, Knife, -1.777, 0.953, 1.724, 0, 0, 0, 51 [SEP] 12, Tomato, -0.401, 1.127, 3.850, 0, 270, 0, 102 [SEP] 13, Lettuce, -0.181, 1.020, 4.615, 0, 0, 0, 54 [SEP] 14, Lettuce, -4.233, 0.886, 3.347, 0, 270, 0, 101 [SEP] 15, Bread, -0.565, 1.004, 5.273, 0, 0, 0, 54 [SEP] 16, Bread, -1.610, 1.003, 1.648, 0, 0, 0, 51 [SEP] 17, Mug, -3.474, 0.077, 5.229, 0, 90, 0, 87 [SEP] 18, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 90 [SEP] 19, Egg, -3.613, 0.959, 5.182, 0, 90, 0, 69 [SEP] 20, Apple, -0.383, 1.634, 3.349, 0, 270, 0, 102 [SEP] 21, Knife, -0.488, 0.954, 5.273, 0, 180, 0, 54 [SEP] 22, Potato, -3.613, 0.956, 5.412, 0, 90, 0, 69 [SEP] 23, Fork, -1.943, 0.924, 1.951, 0, 0, 0, 51 [SEP] 24, Bowl, -0.181, 0.922, 5.273, 0, 0, 0, 54 [SEP] 25, Plate, -3.531, 0.083, 1.927, 0, 0, 0, 44 [SEP] 26, Lettuce, -3.748, 0.164, 6.416, 0, 270, 0, 95 [SEP] 27, Bread, -0.348, 1.150, 3.479, 0, 270, 0, 102 [SEP] 28, Tomato, -0.301, 1.742, 3.854, 0, 270, 0, 102 [SEP] 29, WineBottle, -3.784, 0.069, 6.292, 0, 270, 0, 95 [SEP] 30, Spatula, -4.335, 0.938, 5.418, 0, 90, 0, 69 [SEP] 31, PaperTowelRoll, -0.488, 1.029, 4.944, 0, 0, 0, 54 [SEP] 32, Cup, -1.860, 0.922, 1.8, 0, 0, 0, 51 [SEP] 33, Pencil, -0.565, 0.925, 4.944, 0, 0, 0, 54 [SEP] 34, Pan, -4.031, 0.923, 1.799, 0, 180, 0, 44 [SEP] 35, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 84 [SEP] 36, SaltShaker, -0.443, 0.742, 4.616, 0, 270, 0, 59 [SEP] 37, SoapBottle, -4.102, 0.923, 2.416, 0, 0, 0, 69 [SEP] 38, PepperShaker, -0.443, 0.742, 6.411, 0, 270, 0, 80 [SEP] 39, ButterKnife, -0.334, 0.925, 4.615, 0, 0, 0, 54 [SEP] 40, DishSponge, -2.109, 0.923, 1.951, 0, 0, 0, 51 [SEP] 41, Spoon, -0.488, 0.926, 5.932, 0, 0, 0, 54 [SEP] 42, Mug, -0.218, 1.330, 3.479, 0, 270, 0, 102 [SEP] 43, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 44, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 45, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 46, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 47, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 48, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 49, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 50, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 51, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 52, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 53, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 54, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 55, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 56, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 57, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 58, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 59, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 60, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 61, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 62, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 63, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 64, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 65, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 66, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 67, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 68, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 69, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 70, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 71, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 72, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 73, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 74, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 75, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 76, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 77, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 78, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 79, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 80, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 81, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 82, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 83, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 84, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 85, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 86, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 87, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 88, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 89, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 90, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 91, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 92, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 93, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 94, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 96, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 97, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 98, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 99, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 100, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 101, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 102, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the counter. | STEP 2: Pick up a knife on the counter. | STEP 3: Slice the bread on the counter. | STEP 4: Turn and go to the drawer. | STEP 5: Put the knife in the drawer. | STEP 6: Turn and go to the bread. | STEP 7: Pick up a slice of bread. | STEP 8: Turn and go to the microwave.  | STEP 9: Heat the slice of bread in the microwave.  | STEP 10: Turn and go to the counter by the stove. | STEP 11: Put the slice of bread on the counter. | END


Input: Place a heated slice of bread on a countertop SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.75, 0, 0, 0,  [SEP] 1, DishSponge, -4.233, 0.790, 3.222, 0, 270, 0, 101 [SEP] 2, DishSponge, -4.089, 0.077, 4.584, 0, 0, 0, 62 [SEP] 3, ButterKnife, -1.693, 0.923, 1.951, 0, 0, 0, 51 [SEP] 4, ButterKnife, -3.733, 0.923, 5.412, 0, 90, 0, 69 [SEP] 5, WineBottle, -4.033, 0.924, 4.381, 0, 90, 0, 69 [SEP] 6, Pot, -0.258, 0.926, 5.603, 0, 90, 0, 54 [SEP] 7, Spatula, -0.181, 0.940, 4.944, 0, 0, 0, 54 [SEP] 8, Cup, -4.486, 0.922, 3.863, 0, 90, 0, 69 [SEP] 9, Egg, -0.454, 1.106, 3.726, 0, 270, 0, 102 [SEP] 10, Egg, -0.383, 1.371, 3.355, 0, 270, 0, 102 [SEP] 11, Knife, -1.777, 0.953, 1.724, 0, 0, 0, 51 [SEP] 12, Tomato, -0.401, 1.127, 3.850, 0, 270, 0, 102 [SEP] 13, Lettuce, -0.181, 1.020, 4.615, 0, 0, 0, 54 [SEP] 14, Lettuce, -4.233, 0.886, 3.347, 0, 270, 0, 101 [SEP] 15, Bread, -0.565, 1.004, 5.273, 0, 0, 0, 54 [SEP] 16, Bread, -1.610, 1.003, 1.648, 0, 0, 0, 51 [SEP] 17, Mug, -3.474, 0.077, 5.229, 0, 90, 0, 87 [SEP] 18, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 90 [SEP] 19, Egg, -3.613, 0.959, 5.182, 0, 90, 0, 69 [SEP] 20, Apple, -0.383, 1.634, 3.349, 0, 270, 0, 102 [SEP] 21, Knife, -0.488, 0.954, 5.273, 0, 180, 0, 54 [SEP] 22, Potato, -3.613, 0.956, 5.412, 0, 90, 0, 69 [SEP] 23, Fork, -1.943, 0.924, 1.951, 0, 0, 0, 51 [SEP] 24, Bowl, -0.181, 0.922, 5.273, 0, 0, 0, 54 [SEP] 25, Plate, -3.531, 0.083, 1.927, 0, 0, 0, 44 [SEP] 26, Lettuce, -3.748, 0.164, 6.416, 0, 270, 0, 95 [SEP] 27, Bread, -0.348, 1.150, 3.479, 0, 270, 0, 102 [SEP] 28, Tomato, -0.301, 1.742, 3.854, 0, 270, 0, 102 [SEP] 29, WineBottle, -3.784, 0.069, 6.292, 0, 270, 0, 95 [SEP] 30, Spatula, -4.335, 0.938, 5.418, 0, 90, 0, 69 [SEP] 31, PaperTowelRoll, -0.488, 1.029, 4.944, 0, 0, 0, 54 [SEP] 32, Cup, -1.860, 0.922, 1.8, 0, 0, 0, 51 [SEP] 33, Pencil, -0.565, 0.925, 4.944, 0, 0, 0, 54 [SEP] 34, Pan, -4.031, 0.923, 1.799, 0, 180, 0, 44 [SEP] 35, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 84 [SEP] 36, SaltShaker, -0.443, 0.742, 4.616, 0, 270, 0, 59 [SEP] 37, SoapBottle, -4.102, 0.923, 2.416, 0, 0, 0, 69 [SEP] 38, PepperShaker, -0.443, 0.742, 6.411, 0, 270, 0, 80 [SEP] 39, ButterKnife, -0.334, 0.925, 4.615, 0, 0, 0, 54 [SEP] 40, DishSponge, -2.109, 0.923, 1.951, 0, 0, 0, 51 [SEP] 41, Spoon, -0.488, 0.926, 5.932, 0, 0, 0, 54 [SEP] 42, Mug, -0.218, 1.330, 3.479, 0, 270, 0, 102 [SEP] 43, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 44, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 45, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 46, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 47, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 48, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 49, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 50, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 51, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 52, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 53, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 54, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 55, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 56, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 57, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 58, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 59, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 60, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 61, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 62, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 63, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 64, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 65, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 66, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 67, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 68, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 69, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 70, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 71, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 72, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 73, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 74, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 75, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 76, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 77, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 78, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 79, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 80, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 81, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 82, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 83, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 84, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 85, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 86, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 87, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 88, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 89, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 90, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 91, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 92, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 93, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 94, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 96, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 97, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 98, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 99, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 100, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 101, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 102, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Go to the countertop | STEP 2: Pick up the knife near the load of bread | STEP 3: Cut the loaf of bread | STEP 4: Look at the drawer on the left | STEP 5: Put the knife in the drawer | STEP 6: Look at the loaf of bread | STEP 7: Take a slice of bread | STEP 8: Go to the microwave | STEP 9: Heat the slice of bread | STEP 10: Go to the counter left of the stove | STEP 11: Put the bread down on the counter | END


Input: Putting two handkerchiefs in the sink  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.904, 1.0, 0, 90, 0,  [SEP] 1, Cloth, -0.690, 0.033, 0.581, 0, 0, 0, 29 [SEP] 2, Cloth, -0.404, 0.033, 0.811, 0, 0, 0, 29 [SEP] 3, SprayBottle, -3.007, 0.050, 0.822, 0, 0, 0, 32 [SEP] 4, SoapBar, -3.103, 0.883, 0.334, 0, 90, 0, 25 [SEP] 5, SoapBar, -3.254, 1.048, 1.329, 0, 90, 0, 38 [SEP] 6, SoapBottle, -2.839, 0.110, -0.494, 0, 0, 0, 21 [SEP] 7, SoapBottle, -3.053, 1.871, 1.214, 0, 0, 0, 28 [SEP] 8, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 33 [SEP] 9, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 35 [SEP] 10, SoapBar, -0.619, 0.033, 1.499, 0, 0, 0, 29 [SEP] 11, ToiletPaper, -3.254, 1.045, 1.460, 0, 90, 0, 38 [SEP] 12, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 37 [SEP] 13, Candle, -0.994, 0.514, 1.755, 0, 154.085, 0, 24 [SEP] 14, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 15, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 16, SoapBottle, -2.903, 0.111, 0.437, 0, 0, 0, 20 [SEP] 17, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 21 [SEP] 18, SprayBottle, -3.100, 0.110, 0.286, 0, 0, 0, 26 [SEP] 19, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 20, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 21, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 22, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 23, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 24, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 25, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 26, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 27, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 28, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 29, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 30, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 31, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 32, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 33, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 34, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 35, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 36, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 37, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 38, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 39, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Go to the tub | STEP 2: Grab a handkerchief out of the tub | STEP 3: Turn around and go to the sink | STEP 4: Put the handkerchief in the sink | STEP 5: Turn left and look at the cabinets on the bottom | STEP 6: Grab the handkerchief out of the left cabinet | STEP 7: Turn right and go to the sink | STEP 8: Put the handkerchief in the sink | END


Input: Retrieve green cup from table, cook in microwave, place on counter in front of bread 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, 0.0, 0, 90, 0,  [SEP] 1, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 40 [SEP] 2, DishSponge, 1.656, 0.910, -1.717, 0, 90, 0, 41 [SEP] 3, DishSponge, 1.726, 0.910, -1.545, 0, 90, 0, 41 [SEP] 4, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 38 [SEP] 5, Spatula, 0.220, 0.925, 1.092, 0, 270, 0, 37 [SEP] 6, Egg, 1.830, 0.105, 1.540, 0, 270, 0, 55 [SEP] 7, Knife, 0.989, 0.943, 0.915, 0, 90, 0, 37 [SEP] 8, Tomato, 1.796, 0.975, -1.717, 0, 90, 0, 41 [SEP] 9, Tomato, 0.220, 0.974, 0.915, 0, 90, 0, 37 [SEP] 10, SaltShaker, 1.586, 0.906, -1.288, 0, 90, 0, 41 [SEP] 11, Lettuce, 1.757, 1.010, 1.004, 0, 90, 0, 37 [SEP] 12, Bread, -0.692, 0.537, -1.476, 0, 0, 0, 64 [SEP] 13, Apple, 1.684, 0.967, 0.518, 0, 90, 0, 37 [SEP] 14, Apple, 1.706, 1.072, -0.888, 0, 270, 0, 61 [SEP] 15, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 47 [SEP] 16, SoapBottle, 1.769, 1.643, -1.806, 0, 0, 0, 51 [SEP] 17, Cup, 0.476, 0.908, 1.004, 0, 90, 0, 37 [SEP] 18, Egg, 1.709, 0.105, 1.731, 0, 270, 0, 55 [SEP] 19, Fork, 1.757, 0.911, 0.915, 0, 180, 0, 37 [SEP] 20, Ladle, 1.201, 0.926, 0.743, 3.353, 0, 346.984, 37 [SEP] 21, Apple, -0.644, 1.446, -1.594, 0, 0, 0, 64 [SEP] 22, SaltShaker, 1.501, 0.905, 0.827, 0, 90, 0, 37 [SEP] 23, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 37 [SEP] 24, Tomato, 1.77, 0.134, 1.636, 0, 270, 0, 55 [SEP] 25, Spatula, 1.501, 0.925, 0.739, 0, 180, 0, 37 [SEP] 26, Potato, 1.355, 0.951, -1.247, 0, 90, 0, 41 [SEP] 27, Knife, 1.839, 0.943, 0.415, 0, 0, 0, 37 [SEP] 28, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 41 [SEP] 29, Bread, 0.476, 0.987, 1.180, 0, 90, 0, 37 [SEP] 30, Lettuce, 1.865, 1.011, -1.545, 0, 90, 0, 41 [SEP] 31, PepperShaker, 1.607, 0.905, 0.311, 0, 90, 0, 37 [SEP] 32, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 43 [SEP] 33, DishSponge, 1.805, 2.136, 0.918, 0, 0, 0, 45 [SEP] 34, Spoon, 1.607, 0.911, 0.467, 0, 270, 0, 37 [SEP] 35, Bowl, 0.193, 0.900, 1.170, 0, 0, 0, 37 [SEP] 36, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 63 [SEP] 37, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 38, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 39, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 40, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 41, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 42, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 43, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 44, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 45, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 46, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 47, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 48, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 49, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 50, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 51, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 52, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 53, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 54, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 55, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 56, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 57, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 58, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 59, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 60, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 61, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 62, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 63, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 64, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 65, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 66, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 67, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 68, NorthWall, , , , , , ,  [SEP] 69, EastWall, , , , , , ,  [SEP] 70, SouthWall, , , , , , ,  [SEP] 71, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to table | STEP 2: Pick up green cup from table | STEP 3: Turn around, walk to microwave | STEP 4: Cook cup in the microwave | STEP 5: Turn left, walk to counter | STEP 6: Put cup on counter in front of bread | END


Input: Examine a laptop by the light of a lamp.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.902, 0.0, 0, 270, 0,  [SEP] 1, CD, -0.950, 0.426, -1.752, 0, 0, 0, 36 [SEP] 2, CellPhone, 2.456, 0.821, 0.812, 0, 270, 0, 54 [SEP] 3, CellPhone, 2.461, 0.033, 0.880, 0, 90, 0, 52 [SEP] 4, Pen, 2.579, 0.827, 0.812, 0, 90, 0, 54 [SEP] 5, Pen, 2.394, 0.825, 0.433, 0, 270, 0, 54 [SEP] 6, Pencil, -0.393, 0.049, -1.807, 0, 0, 0, 37 [SEP] 7, KeyChain, 2.601, 0.192, 0.793, 0, 0, 0, 53 [SEP] 8, KeyChain, 2.554, 0.677, -0.128, 0, 0, 0, 49 [SEP] 9, Book, -0.788, 0.730, 0.967, 0, 0, 0, 24 [SEP] 10, Box, 0.252, 0.227, -2.042, 0, 29.078, 0,  [SEP] 11, Book, 0.369, 0.730, 0.172, 0, 0, 0, 24 [SEP] 12, Statue, 2.456, 0.827, -0.324, 0, 270, 0, 54 [SEP] 13, CellPhone, 2.703, 0.821, 0.623, 0, 270, 0, 54 [SEP] 14, Pillow, 0.176, 0.809, 0.702, 0, 0, 0, 24 [SEP] 15, Pillow, -0.441, 0.738, 1.64, 0, 348.951, 0, 24 [SEP] 16, BasketBall, -1.231, 0.121, -0.18, 0, 0, 0,  [SEP] 17, CreditCard, 2.507, 0.033, 0.618, 0, 0, 0, 52 [SEP] 18, KeyChain, 2.394, 0.820, 0.244, 0, 270, 0, 54 [SEP] 19, Pencil, 2.647, 0.037, -0.215, 0, 0, 0, 56 [SEP] 20, AlarmClock, -0.503, 0.708, -1.724, 0, 0, 0, 38 [SEP] 21, Laptop, -0.016, 0.729, 1.762, 0, 270, 0, 24 [SEP] 22, CD, 2.461, 0.675, 0.046, 0, 0, 0, 54 [SEP] 23, Pen, -0.904, 0.714, -1.779, 0, 0, 0, 34 [SEP] 24, Bed, -0.209, -0.001, 0.983, 0, 0, 0,  [SEP] 25, LightSwitch, 0.778, 1.266, 2.128, 0, 180, 0,  [SEP] 26, GarbageCan, -1.357, -0.020, -0.928, 0, 0, 0,  [SEP] 27, Painting, 2.063, 1.674, -1.865, 83.723, 0, 0,  [SEP] 28, HousePlant, -0.808, 0.953, -1.730, 0, 0, 0,  [SEP] 29, Painting, 1.871, 0.393, -1.792, 79.235, 0, 0,  [SEP] 30, Mirror, 2.842, 1.404, 1.375, 0, 90, 0,  [SEP] 31, DeskLamp, 2.676, 0.819, 0.878, 0, 0, 0,  [SEP] 32, Window, -1.700, 1.444, -0.542, 90, 90, 0,  [SEP] 33, Window, 0.535, 1.412, -2.618, 90, 0, 0,  [SEP] 34, Shelf, -0.904, 0.824, -1.754, 0, 0, 0,  [SEP] 35, Shelf, -0.802, 0.981, -1.756, 0, 0, 0,  [SEP] 36, Shelf, -0.904, 0.555, -1.754, 0, 0, 0,  [SEP] 37, Shelf, -0.327, 0.225, -1.754, 0, 0, 0,  [SEP] 38, Shelf, -0.439, 0.822, -1.754, 0, 0, 0,  [SEP] 39, Shelf, -0.619, 0.981, -1.754, 0, 0, 0,  [SEP] 40, Shelf, -0.439, 0.556, -1.754, 0, 0, 0,  [SEP] 41, Shelf, -0.709, 0.225, -1.754, 0, 0, 0,  [SEP] 42, ShelvingUnit, -0.641, 0.006, -1.745, 0, 0, 0,  [SEP] 43, Stool, 0.799, 0.004, -2.105, 0, 0, 0,  [SEP] 44, Blinds, 0.542, 2.135, -2.553, 0, 0, 0,  [SEP] 45, Blinds, -1.645, 2.145, -0.546, 0, 90, 0,  [SEP] 46, Drawer, 2.518, 0.574, 0.623, 0, 270, 0,  [SEP] 47, Drawer, 2.517, 0.411, 0.623, 0, 270, 0,  [SEP] 48, Drawer, 2.518, 0.732, 0.623, 0, 270, 0,  [SEP] 49, Drawer, 2.518, 0.732, -0.119, 0, 270, 0,  [SEP] 50, Drawer, 2.517, 0.411, -0.119, 0, 270, 0,  [SEP] 51, Drawer, 2.517, 0.247, -0.119, 0, 270, 0,  [SEP] 52, Drawer, 2.517, 0.090, 0.623, 0, 270, 0,  [SEP] 53, Drawer, 2.517, 0.247, 0.623, 0, 270, 0,  [SEP] 54, Dresser, 2.555, 0.003, 0.252, 0, 270, 0,  [SEP] 55, Drawer, 2.518, 0.574, -0.119, 0, 270, 0,  [SEP] 56, Drawer, 2.517, 0.090, -0.119, 0, 270, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, EastWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, WestWall, , , , , , ,

Output: STEP 1: Turn to the right, walk to the door, then turn left and face the bed.  | STEP 2: Close the laptop that is on the bed and pick it up.  | STEP 3: Turn around completely, walk to the wall, then turn right and face the dresser.  | STEP 4: Turn on the lamp that is on the dresser.  | END


Input: Place a box with a watch in it on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 11.75, 0.902, 1.5, 0, 90, 0,  [SEP] 1, Statue, 10.651, 0.597, 1.142, 0, 0, 0, 47 [SEP] 2, Statue, 10.264, 0.597, 0.956, 0, 0, 0, 47 [SEP] 3, Watch, 10.264, 0.591, 0.771, 0, 0, 0, 47 [SEP] 4, Watch, 14.654, 0.518, -0.714, 0, 0, 0, 50 [SEP] 5, Book, 14.252, 0.143, 1.562, 0, 0, 0, 45 [SEP] 6, Book, 9.692, 0.430, 3.216, 0, 0, 0, 48 [SEP] 7, CreditCard, 14.038, 0.754, 0.519, 0, 0, 0, 40 [SEP] 8, CreditCard, 14.693, 0.517, -0.589, 0, 0, 0, 50 [SEP] 9, RemoteControl, 14.526, 0.757, 1.825, 0, 0, 0, 40 [SEP] 10, RemoteControl, 14.199, 0.556, 0.989, 0, 0, 0, 35 [SEP] 11, Box, 14.135, 1.004, 1.564, 0, 0, 0, 40 [SEP] 12, Box, 11.661, 0.706, 3.230, 0, 0, 0, Floor|+09.92| [SEP] 13, Box, 11.232, 0.840, 0.956, 0, 0, 0, 47 [SEP] 14, Book, 10.651, 0.591, 0.771, 0, 0, 0, 47 [SEP] 15, Box, 11.020, 0.706, 3.155, 0, 0, 0, Floor|+09.92| [SEP] 16, CreditCard, 10.264, 0.590, 0.678, 0, 0, 0, 47 [SEP] 17, KeyChain, 11.448, 0.457, 3.081, 0, 0, 0, 55 [SEP] 18, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 55 [SEP] 19, Statue, 14.233, 0.761, 0.519, 0, 0, 0, 40 [SEP] 20, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 40 [SEP] 21, RemoteControl, 14.538, 0.520, -0.839, 0, 0, 0, 50 [SEP] 22, Watch, 11.232, 0.591, 1.235, 0, 0, 0, 47 [SEP] 23, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0,  [SEP] 24, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0,  [SEP] 25, Painting, 7.492, 1.835, -0.495, 90, 270, 0,  [SEP] 26, Painting, 7.492, 1.835, 2.792, 90, 270, 0,  [SEP] 27, Television, 14.459, 1.218, 0.925, 358.945, 270, 0,  [SEP] 28, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0,  [SEP] 29, Painting, 7.492, 1.779, 1.116, 90, 270, 0,  [SEP] 30, Painting, 14.763, 1.753, 1.126, 90, 270, 0,  [SEP] 31, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0,  [SEP] 32, Window, 12.029, 1.687, -1.595, 90, 180, 0,  [SEP] 33, Window, 10.227, 1.687, -1.594, 90, 180, 0,  [SEP] 34, Drawer, 14.183, 0.374, 0.556, 0, 270, 0,  [SEP] 35, Drawer, 14.183, 0.580, 1.069, 0, 270, 0,  [SEP] 36, Drawer, 14.183, 0.580, 2.095, 0, 270, 0,  [SEP] 37, Drawer, 14.183, 0.374, 1.582, 0, 270, 0,  [SEP] 38, Drawer, 14.183, 0.169, 1.069, 0, 270, 0,  [SEP] 39, Drawer, 14.183, 0.374, 1.069, 0, 270, 0,  [SEP] 40, Dresser, 14.330, 0.002, 1.323, 0, 270, 0,  [SEP] 41, Drawer, 14.183, 0.169, 2.095, 0, 270, 0,  [SEP] 42, Drawer, 14.183, 0.374, 2.095, 0, 270, 0,  [SEP] 43, Drawer, 14.183, 0.580, 0.556, 0, 270, 0,  [SEP] 44, Drawer, 14.183, 0.169, 0.556, 0, 270, 0,  [SEP] 45, Drawer, 14.183, 0.169, 1.582, 0, 270, 0,  [SEP] 46, Drawer, 14.183, 0.580, 1.582, 0, 270, 0,  [SEP] 47, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0,  [SEP] 48, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0,  [SEP] 49, SideTable, 11.377, 0.001, -1.160, 0, 90, 0,  [SEP] 50, SideTable, 14.615, -0.001, -0.776, 0, 270, 0,  [SEP] 51, SideTable, 14.331, 0.003, 0.069, 0, 0, 0,  [SEP] 52, SideTable, 14.331, 0.003, 2.585, 0, 0, 0,  [SEP] 53, SideTable, 12.308, 0.001, -1.154, 0, 0, 0,  [SEP] 54, Chair, 8.154, 0.006, 1.499, 0, 90, 0,  [SEP] 55, Sofa, 11.450, 0.002, 3.211, 0, 180, 0,  [SEP] 56, Shelf, 10.794, 0.231, 0.928, 0, 0, 0,  [SEP] 57, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0,  [SEP] 58, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0,  [SEP] 59, NorthWall, , , , , , ,  [SEP] 60, EastWall, , , , , , ,  [SEP] 61, SouthWall, , , , , , ,  [SEP] 62, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the right side of the coffee table, facing it. | STEP 2: Pick up the watch on the table. | STEP 3: Turn around and walk to the leftmost cushion of the red couch. | STEP 4: Place the watch in the leftmost box. | STEP 5: Pick up the box. | STEP 6: Walk left to the red chair and face it. | STEP 7: Place the box on the chair, to the left of the book. | END


Input: Pick up the book on the night stand, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -0.25, 0, 270, 0,  [SEP] 1, Bowl, 1.684, 0.694, -0.739, 0, 0, 0, 28 [SEP] 2, Bowl, 1.461, 0.694, -1.695, 0, 18.354, 0, 28 [SEP] 3, Pen, -0.561, 0.668, 0.470, 0, 180, 0, 31 [SEP] 4, Laptop, -2.046, 0.628, -1.297, 0, 0, 0, 19 [SEP] 5, Pillow, -1.521, 0.703, -0.198, 0, 0, 0, 19 [SEP] 6, Box, -0.015, 0.239, -2.091, 0, 0, 0,  [SEP] 7, Book, -0.487, 0.661, 0.600, 0, 180, 0, 31 [SEP] 8, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316,  [SEP] 9, Pen, 1.492, 0.479, -0.911, 0, 270, 0, 27 [SEP] 10, Pencil, -0.708, 0.666, 0.556, 0, 180, 0, 31 [SEP] 11, KeyChain, -0.670, 0.370, 0.503, 0, 0, 0, 30 [SEP] 12, Pillow, -1.694, 0.656, 0.415, 0, 0, 0, 19 [SEP] 13, CreditCard, -0.451, 0.090, 0.480, 0, 0, 0, 32 [SEP] 14, CellPhone, -2.046, 0.631, -0.473, 0, 0, 0, 19 [SEP] 15, Laptop, -2.046, 0.628, -0.748, 0, 0, 0, 19 [SEP] 16, CD, -0.451, 0.369, 0.480, 0, 0, 0, 30 [SEP] 17, Bowl, 1.222, 0.686, -2.128, 0, 0, 0, 28 [SEP] 18, AlarmClock, 1.492, 0.475, -0.715, 0, 270, 0, 27 [SEP] 19, Bed, -1.696, 0.004, -0.446, 0, 0, 0,  [SEP] 20, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0,  [SEP] 21, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0,  [SEP] 22, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0,  [SEP] 23, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0,  [SEP] 24, Mirror, 1.300, 1.422, 0.765, 0, 0, 0,  [SEP] 25, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0,  [SEP] 26, Window, 0.819, 1.496, -2.553, 90, 180, 0,  [SEP] 27, Shelf, 1.616, 0.561, -0.802, 0, 0, 0,  [SEP] 28, Desk, 0.617, -0.000, -1.511, 0, 0, 0,  [SEP] 29, Blinds, 0.796, 2.217, -2.476, 0, 0, 0,  [SEP] 30, Drawer, -0.558, 0.456, 0.462, 0, 180, 0,  [SEP] 31, SideTable, -0.557, -0.000, 0.529, 0, 180, 0,  [SEP] 32, Drawer, -0.558, 0.164, 0.462, 0, 180, 0,  [SEP] 33, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0,  [SEP] 34, NorthWall, , , , , , ,  [SEP] 35, EastWall, , , , , , ,  [SEP] 36, SouthWall, , , , , , ,  [SEP] 37, WestWall, , , , , , ,

Output: STEP 1: Head to the black night stand | STEP 2: Take the book from the night stand | STEP 3: Turn to the left, head to the desk across the room | STEP 4: Turn on the lamp | END


Input: Put a bowl with a spoon in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, 0.75, 0, 0, 0,  [SEP] 1, Pan, 3.173, 1.464, -1.284, 0, 90, 0, 78 [SEP] 2, Potato, 3.044, 0.939, -0.897, 0, 0, 0, 63 [SEP] 3, Potato, -1.018, 1.036, 1.523, 0, 90, 0, 112 [SEP] 4, Ladle, 0.101, 0.937, -1.731, 0, 90, 0, 85 [SEP] 5, Ladle, -0.285, 0.937, -1.450, 0, 135, 0, 85 [SEP] 6, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 95 [SEP] 7, ButterKnife, -0.048, 0.900, -1.584, 0, 45, 0, 85 [SEP] 8, Glassbottle, -0.253, 1.264, -1.531, 0, 45, 0, 81 [SEP] 9, Glassbottle, 3.208, 0.101, 1.573, 0, 225, 0, 105 [SEP] 10, Pot, 1.491, 0.908, 0.605, 0, 0, 0, 95 [SEP] 11, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 109 [SEP] 12, Spoon, -0.827, 0.707, 1.343, 0, 0, 0, 57 [SEP] 13, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 107 [SEP] 14, Bread, -0.935, 0.979, 0.846, 0, 0, 0, 64 [SEP] 15, SaltShaker, -1.043, 0.896, -0.691, 0, 45, 0, 64 [SEP] 16, Bowl, 2.976, 1.461, -1.648, 0, 0, 0, 62 [SEP] 17, Bowl, 3.044, 0.897, -0.698, 0, 0, 0, 63 [SEP] 18, Bowl, -0.675, 0.897, -0.753, 0, 45, 0, 64 [SEP] 19, SoapBottle, -0.131, 0.909, -1.296, 0, 45, 0, 85 [SEP] 20, SoapBottle, 0.856, 1.683, -1.619, 0, 0, 0, 79 [SEP] 21, Egg, -1.052, 1.050, 1.364, 0, 90, 0, 112 [SEP] 22, Egg, 3.277, 0.953, -0.798, 0, 0, 0, 63 [SEP] 23, Plate, -1.008, 0.913, 0.399, 0, 0, 0, 64 [SEP] 24, Knife, 0.781, 0.933, 0.452, 0, 36.810, 0, 95 [SEP] 25, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.152, 0.748, -0.034, 0, 90, 0, 109 [SEP] 27, SoapBottle, 3.279, 1.273, -0.917, 0, 0, 0, 77 [SEP] 28, Potato, 1.086, 1.111, -1.448, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.408, 0, 270, 0, 60 [SEP] 30, Ladle, -0.932, 0.937, -0.801, 0, 135, 0, 64 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.151, 0.915, -1.476, 0, 45, 0, 85 [SEP] 34, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 110 [SEP] 36, Cup, 3.197, 0.175, 0.489, 0, 0, 0, 73 [SEP] 37, SaltShaker, -0.745, 0.322, 0.401, 0, 0, 0, 65 [SEP] 38, Egg, 3.200, 0.953, -0.698, 0, 0, 0, 63 [SEP] 39, PepperShaker, 3.279, 1.260, -0.822, 0, 0, 0, 77 [SEP] 40, ButterKnife, -0.868, 0.326, -0.011, 0, 0, 0, 69 [SEP] 41, Apple, 0.887, 0.984, 0.627, 0, 0, 0, 95 [SEP] 42, Pan, 1.098, 0.907, 0.322, 0, 270, 0, 95 [SEP] 43, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 95 [SEP] 44, CellPhone, -0.868, 0.515, 0.163, 0, 0, 0, 69 [SEP] 45, DishSponge, 1.160, 1.674, -1.410, 0, 0, 0, 55 [SEP] 46, Tomato, 1.164, 0.748, -1.433, 0, 0, 0, 110 [SEP] 47, Spoon, 1.229, 0.909, 0.889, 0, 0, 0, 95 [SEP] 48, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 55 [SEP] 49, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 80 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Turn around and go around the kitchen island to approach the stove. | STEP 2: Take the spoon from the counter, behind the bowl. | STEP 3: Put the spoon in the bowl on the counter. | STEP 4: Pick up the bowl with the spoon in it. | STEP 5: Turn around, then turn left around the kitchen island, then right to face the sink. | STEP 6: Put the bowl in the sink. | END


Input: Put a bowl with the spoon in it in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, 0.75, 0, 0, 0,  [SEP] 1, Pan, 3.173, 1.464, -1.284, 0, 90, 0, 78 [SEP] 2, Potato, 3.044, 0.939, -0.897, 0, 0, 0, 63 [SEP] 3, Potato, -1.018, 1.036, 1.523, 0, 90, 0, 112 [SEP] 4, Ladle, 0.101, 0.937, -1.731, 0, 90, 0, 85 [SEP] 5, Ladle, -0.285, 0.937, -1.450, 0, 135, 0, 85 [SEP] 6, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 95 [SEP] 7, ButterKnife, -0.048, 0.900, -1.584, 0, 45, 0, 85 [SEP] 8, Glassbottle, -0.253, 1.264, -1.531, 0, 45, 0, 81 [SEP] 9, Glassbottle, 3.208, 0.101, 1.573, 0, 225, 0, 105 [SEP] 10, Pot, 1.491, 0.908, 0.605, 0, 0, 0, 95 [SEP] 11, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 109 [SEP] 12, Spoon, -0.827, 0.707, 1.343, 0, 0, 0, 57 [SEP] 13, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 107 [SEP] 14, Bread, -0.935, 0.979, 0.846, 0, 0, 0, 64 [SEP] 15, SaltShaker, -1.043, 0.896, -0.691, 0, 45, 0, 64 [SEP] 16, Bowl, 2.976, 1.461, -1.648, 0, 0, 0, 62 [SEP] 17, Bowl, 3.044, 0.897, -0.698, 0, 0, 0, 63 [SEP] 18, Bowl, -0.675, 0.897, -0.753, 0, 45, 0, 64 [SEP] 19, SoapBottle, -0.131, 0.909, -1.296, 0, 45, 0, 85 [SEP] 20, SoapBottle, 0.856, 1.683, -1.619, 0, 0, 0, 79 [SEP] 21, Egg, -1.052, 1.050, 1.364, 0, 90, 0, 112 [SEP] 22, Egg, 3.277, 0.953, -0.798, 0, 0, 0, 63 [SEP] 23, Plate, -1.008, 0.913, 0.399, 0, 0, 0, 64 [SEP] 24, Knife, 0.781, 0.933, 0.452, 0, 36.810, 0, 95 [SEP] 25, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.152, 0.748, -0.034, 0, 90, 0, 109 [SEP] 27, SoapBottle, 3.279, 1.273, -0.917, 0, 0, 0, 77 [SEP] 28, Potato, 1.086, 1.111, -1.448, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.408, 0, 270, 0, 60 [SEP] 30, Ladle, -0.932, 0.937, -0.801, 0, 135, 0, 64 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.151, 0.915, -1.476, 0, 45, 0, 85 [SEP] 34, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 110 [SEP] 36, Cup, 3.197, 0.175, 0.489, 0, 0, 0, 73 [SEP] 37, SaltShaker, -0.745, 0.322, 0.401, 0, 0, 0, 65 [SEP] 38, Egg, 3.200, 0.953, -0.698, 0, 0, 0, 63 [SEP] 39, PepperShaker, 3.279, 1.260, -0.822, 0, 0, 0, 77 [SEP] 40, ButterKnife, -0.868, 0.326, -0.011, 0, 0, 0, 69 [SEP] 41, Apple, 0.887, 0.984, 0.627, 0, 0, 0, 95 [SEP] 42, Pan, 1.098, 0.907, 0.322, 0, 270, 0, 95 [SEP] 43, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 95 [SEP] 44, CellPhone, -0.868, 0.515, 0.163, 0, 0, 0, 69 [SEP] 45, DishSponge, 1.160, 1.674, -1.410, 0, 0, 0, 55 [SEP] 46, Tomato, 1.164, 0.748, -1.433, 0, 0, 0, 110 [SEP] 47, Spoon, 1.229, 0.909, 0.889, 0, 0, 0, 95 [SEP] 48, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 55 [SEP] 49, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 80 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Turn around, then turn to your right until you face the stove | STEP 2: Pick up a spoon from the kitchen counter | STEP 3: Place the spoon into the bowl | STEP 4: Pick up the bowl with the spoon in it | STEP 5: Turn around and move until you are facing the sink | STEP 6: Put the bowl with the spoon in it in the sink | END