Input: Place the potato slice 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, -1.5, 0.900, 1.25, 0, 0, 0,  [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 43 [SEP] 2, Potato, -2.616, 0.863, 2.309, 0, 90, 0, 66 [SEP] 3, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 42 [SEP] 4, DishSponge, -2.597, 0.691, 1.474, 0, 0, 0, 53 [SEP] 5, DishSponge, -2.462, 1.848, 2.368, 0, 0, 0, 58 [SEP] 6, ButterKnife, -1.876, 0.823, 0.549, 0, 0, 0, 48 [SEP] 7, ButterKnife, -2.608, 0.823, 0.203, 0, 0, 0, 48 [SEP] 8, Spoon, -1.133, 0.699, 0.377, 0, 90, 0, 52 [SEP] 9, Spatula, -2.724, 0.838, 0.352, 0, 180, 0, 48 [SEP] 10, Egg, -0.147, 0.847, 0.426, 0, 0, 0, 48 [SEP] 11, Egg, -2.581, 0.847, 0.953, 0, 0, 0, 48 [SEP] 12, Cup, -2.540, 1.849, 2.472, 0, 0, 0, 58 [SEP] 13, Cup, -2.810, 0.921, 1.231, 0, 90, 0, 67 [SEP] 14, SoapBottle, -2.762, 1.432, 0.380, 0, 45, 0, 54 [SEP] 15, Bowl, -2.782, 1.442, 2.397, 0, 90, 0, 66 [SEP] 16, Bowl, -2.840, 0.820, 0.129, 0, 0, 0, 48 [SEP] 17, SaltShaker, -2.687, 0.116, 1.589, 0, 0, 0, 59 [SEP] 18, PepperShaker, -2.375, 0.818, 0.352, 0, 0, 0, 48 [SEP] 19, Apple, -2.810, 0.994, 1.390, 0, 90, 0, 67 [SEP] 20, Apple, -2.504, 0.896, 0.625, 0, 0, 0, 48 [SEP] 21, Fork, -2.044, 0.824, 0.528, 0, 0, 0, 48 [SEP] 22, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 50 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -0.362, 0.054, 2.674, 0, 0, 0, 68 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -0.092, 0.873, 0.992, 0, 0, 0, 48 [SEP] 27, Potato, -2.892, 1.484, 2.221, 0, 90, 0, 66 [SEP] 28, SaltShaker, -1.151, 0.818, 0.055, 0, 0, 0, 48 [SEP] 29, Plate, -1.580, 0.130, 0.362, 0, 0, 0, 61 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -1.207, 0.849, 0.539, 0, 0, 0, 48 [SEP] 32, Egg, -2.211, 0.847, 0.059, 0, 0, 0, 48 [SEP] 33, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.782, 0.908, 2.221, 0, 90, 0, 66 [SEP] 36, PepperShaker, -1.542, 0.818, 0.046, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.727, 0.121, 1.431, 0, 0, 0, 59 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -1.857, 0.698, 0.295, 0, 0, 0, 75 [SEP] 40, Mug, -2.735, 0.818, 0.953, 0, 0, 0, 48 [SEP] 41, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 60 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn around and head towards the kitchen sink. | STEP 2: Pick up knife that's on the floor. | STEP 3: Turn around and head towards door, turn left to face fridge. | STEP 4: Open fridge, slice potato on middle shelf, close the fridge door. | STEP 5: Turn left, walk up, turn right to face microwave. | STEP 6: Open microwave and place knife inside, close microwave. | STEP 7: Return to fridge and open door. | STEP 8: Take first slice of potato from fridge and close door. | STEP 9: Head towards the kitchen sink of the left. | STEP 10: Put the potato in the sink. | END


Input: Putting a potato slice 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, -1.5, 0.900, 1.25, 0, 0, 0,  [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 43 [SEP] 2, Potato, -2.616, 0.863, 2.309, 0, 90, 0, 66 [SEP] 3, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 42 [SEP] 4, DishSponge, -2.597, 0.691, 1.474, 0, 0, 0, 53 [SEP] 5, DishSponge, -2.462, 1.848, 2.368, 0, 0, 0, 58 [SEP] 6, ButterKnife, -1.876, 0.823, 0.549, 0, 0, 0, 48 [SEP] 7, ButterKnife, -2.608, 0.823, 0.203, 0, 0, 0, 48 [SEP] 8, Spoon, -1.133, 0.699, 0.377, 0, 90, 0, 52 [SEP] 9, Spatula, -2.724, 0.838, 0.352, 0, 180, 0, 48 [SEP] 10, Egg, -0.147, 0.847, 0.426, 0, 0, 0, 48 [SEP] 11, Egg, -2.581, 0.847, 0.953, 0, 0, 0, 48 [SEP] 12, Cup, -2.540, 1.849, 2.472, 0, 0, 0, 58 [SEP] 13, Cup, -2.810, 0.921, 1.231, 0, 90, 0, 67 [SEP] 14, SoapBottle, -2.762, 1.432, 0.380, 0, 45, 0, 54 [SEP] 15, Bowl, -2.782, 1.442, 2.397, 0, 90, 0, 66 [SEP] 16, Bowl, -2.840, 0.820, 0.129, 0, 0, 0, 48 [SEP] 17, SaltShaker, -2.687, 0.116, 1.589, 0, 0, 0, 59 [SEP] 18, PepperShaker, -2.375, 0.818, 0.352, 0, 0, 0, 48 [SEP] 19, Apple, -2.810, 0.994, 1.390, 0, 90, 0, 67 [SEP] 20, Apple, -2.504, 0.896, 0.625, 0, 0, 0, 48 [SEP] 21, Fork, -2.044, 0.824, 0.528, 0, 0, 0, 48 [SEP] 22, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 50 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -0.362, 0.054, 2.674, 0, 0, 0, 68 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -0.092, 0.873, 0.992, 0, 0, 0, 48 [SEP] 27, Potato, -2.892, 1.484, 2.221, 0, 90, 0, 66 [SEP] 28, SaltShaker, -1.151, 0.818, 0.055, 0, 0, 0, 48 [SEP] 29, Plate, -1.580, 0.130, 0.362, 0, 0, 0, 61 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -1.207, 0.849, 0.539, 0, 0, 0, 48 [SEP] 32, Egg, -2.211, 0.847, 0.059, 0, 0, 0, 48 [SEP] 33, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.782, 0.908, 2.221, 0, 90, 0, 66 [SEP] 36, PepperShaker, -1.542, 0.818, 0.046, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.727, 0.121, 1.431, 0, 0, 0, 59 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -1.857, 0.698, 0.295, 0, 0, 0, 75 [SEP] 40, Mug, -2.735, 0.818, 0.953, 0, 0, 0, 48 [SEP] 41, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 60 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the ground | STEP 2: Grab the knife that is on the ground | STEP 3: Turn around and head to the fridge | STEP 4: Open the fridge and cut the potato in half | STEP 5: Turn left and stop at the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn right and stop at the fridge | STEP 8: Open the fridge and grab one of the potato slices | STEP 9: Turn left and head to the sink | STEP 10: Put the potato in the sink | END


Input: Slice both potatoes, bring a slice from second potato on the small corner table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.900, -2.5, 0, 90, 0,  [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 68 [SEP] 2, Potato, -3.260, 0.792, -3.354, 0, 244.125, 0, 85 [SEP] 3, Potato, -2.419, 0.131, -3.472, 0, 0, 0, 74 [SEP] 4, Potato, -0.740, 0.845, -3.588, 0, 315, 0, 78 [SEP] 5, DishSponge, -0.157, 0.940, -1.362, 0, 0, 0, 67 [SEP] 6, DishSponge, -4.002, 0.690, -0.187, 0, 0, 0, 84 [SEP] 7, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 50 [SEP] 8, Fork, -0.524, 0.747, -1.488, 0, 90, 0, 53 [SEP] 9, Spoon, -4.182, 0.692, -0.491, 0, 180, 0, 84 [SEP] 10, Spatula, -0.440, 0.766, -2.632, 0, 270, 0, 54 [SEP] 11, Egg, -0.293, 1.327, -0.762, 0, 270, 0, 79 [SEP] 12, Egg, -0.214, 0.983, -3.041, 0, 45, 0, 49 [SEP] 13, Cup, -0.202, 1.939, -1.791, 0, 0, 0, 58 [SEP] 14, Cup, -0.334, 1.287, -0.297, 0, 270, 0, 79 [SEP] 15, Plate, -3.565, 0.908, -0.462, 0, 270, 0, 86 [SEP] 16, Plate, -0.994, 0.956, -3.733, 0, 45, 0, 49 [SEP] 17, Knife, -3.350, 0.785, -3.480, 0, 199.125, 0, 85 [SEP] 18, SoapBottle, -2.761, 0.892, -0.548, 0, 270, 0, 86 [SEP] 19, SoapBottle, -0.212, 1.500, -1.409, 0, 0, 0, 60 [SEP] 20, Tomato, -4.242, 0.742, -0.430, 0, 0, 0, 84 [SEP] 21, Bowl, -0.427, 0.080, -1.410, 0, 0, 0, 65 [SEP] 22, Bowl, -0.376, 1.284, -0.645, 0, 270, 0, 79 [SEP] 23, Lettuce, -1.694, 1.033, -3.751, 0, 0, 0, 49 [SEP] 24, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 79 [SEP] 25, SaltShaker, -4.242, 0.687, -0.308, 0, 0, 0, 84 [SEP] 26, PepperShaker, -3.163, 0.890, -0.548, 0, 270, 0, 86 [SEP] 27, Apple, -3.882, 0.752, -0.248, 0, 0, 0, 84 [SEP] 28, SoapBottle, -0.096, 1.500, -2.788, 0, 0, 0, 49 [SEP] 29, Pot, -3.631, 0.761, -3.155, 0, 334.125, 0, 85 [SEP] 30, Fork, -0.236, 0.941, -1.494, 0, 0, 0, 67 [SEP] 31, Cup, -3.364, 0.895, -0.548, 0, 270, 0, 86 [SEP] 32, Tomato, -2.359, 0.945, -0.119, 0, 270, 0, 86 [SEP] 33, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 68 [SEP] 34, Plate, -0.283, 1.502, -0.529, 0, 270, 0, 79 [SEP] 35, Bread, -0.397, 1.023, -2.729, 0, 0, 0, 49 [SEP] 36, Spatula, -1.248, 0.957, -3.595, 0, 0, 0, 49 [SEP] 37, Knife, -2.761, 0.920, -0.462, 0, 0, 0, 86 [SEP] 38, SaltShaker, -0.253, 1.934, -1.002, 0, 0, 0, 57 [SEP] 39, PepperShaker, -2.359, 0.890, -0.633, 0, 270, 0, 86 [SEP] 40, ButterKnife, -2.560, 0.894, -0.548, 0, 270, 0, 86 [SEP] 41, Apple, -0.201, 1.636, -2.096, 0, 270, 0, 81 [SEP] 42, DishSponge, -3.364, 0.894, -0.204, 0, 270, 0, 86 [SEP] 43, Potato, -0.394, 0.973, -1.406, 0, 0, 0, 67 [SEP] 44, Egg, -0.157, 0.982, -1.494, 0, 0, 0, 67 [SEP] 45, Spoon, -3.553, 0.761, -3.460, 0, 334.125, 0, 85 [SEP] 46, Lettuce, -4.062, 0.782, -0.369, 0, 0, 0, 84 [SEP] 47, Mug, -0.134, 1.574, -1.884, 0, 0, 0, 81 [SEP] 48, Bowl, -4.182, 0.688, -0.187, 0, 0, 0, 84 [SEP] 49, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 50, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 51, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 52, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 53, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 54, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 55, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 56, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 57, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 58, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 59, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 60, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 61, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 62, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 63, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 64, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 65, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 66, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 67, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 68, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 69, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 70, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 71, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 72, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 73, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 74, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 75, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 76, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 77, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 78, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 79, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 80, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 81, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 82, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 83, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 84, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 85, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 86, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 87, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 88, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,

Output: STEP 1: Walk towards the counter | STEP 2: Pick up potato from plastic bin under the counter | STEP 3: Walk with potato towards small table on the corner | STEP 4: Set potato in the corner table | STEP 5: Walk towards white table | STEP 6: Pick up yellow knife from white table | STEP 7: Walk with yellow knife towards small table in the corner | STEP 8: Slice potato on the small corner table | STEP 9: Walk with knife towards counter next to stove | STEP 10: Slice potato on counter next to stove | STEP 11: Put knife on counter with the  | STEP 12: Take a slice of potato from the potato | STEP 13: Walk with the slice of potato towards the small corner table | STEP 14: Set the slice of potato on the corner table | END


Input: Place the knife in a cup in front of the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0,  [SEP] 1, Ladle, 0.408, 0.975, 0.076, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.850, 0.913, -2.085, 0, 0, 0, 62 [SEP] 3, ButterKnife, -0.230, 0.913, -1.725, 0, 0, 0, 62 [SEP] 4, WineBottle, 0.119, 0.914, -1.725, 0, 0, 0, 62 [SEP] 5, WineBottle, 1.985, 1.658, -1.479, 0, 270, 0, 52 [SEP] 6, Egg, 1.466, 0.967, -1.212, 0, 0, 0, 62 [SEP] 7, Egg, -1.219, 1.069, -1.846, 0, 90, 0, 68 [SEP] 8, Cup, -1.572, 1.504, -0.495, 0, 90, 0, 70 [SEP] 9, Plate, -0.210, 0.767, -2.026, 0, 0, 0, 74 [SEP] 10, Knife, 0.294, 0.953, 1.220, 0, 0, 0, 79 [SEP] 11, SoapBottle, 1.557, 0.912, -1.095, 0, 0, 0, 62 [SEP] 12, SoapBottle, -1.316, 1.658, -1.854, 0, 90, 0, 45 [SEP] 13, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 88 [SEP] 14, SaltShaker, -0.720, 0.909, -2.167, 0, 0, 0, 62 [SEP] 15, SaltShaker, 1.359, 0.549, 2.379, 0, 0, 0, 82 [SEP] 16, PepperShaker, -0.346, 0.909, -1.725, 0, 0, 0, 62 [SEP] 17, PepperShaker, -1.109, 0.909, -2.115, 0, 0, 0, 62 [SEP] 18, Bread, -1.495, 1.228, -0.806, 0, 90, 0, 70 [SEP] 19, Mug, -0.047, 0.925, 0.991, 0, 0, 0, 79 [SEP] 20, Apple, -1.380, 1.254, -0.392, 0, 90, 0, 70 [SEP] 21, Potato, 0.008, 0.793, -2.026, 0, 0, 0, 74 [SEP] 22, Bowl, 0.522, 0.927, 0.534, 0, 0, 0, 79 [SEP] 23, SoapBottle, 1.958, 0.085, 0.083, 0, 0, 0, 63 [SEP] 24, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 79 [SEP] 25, Ladle, 1.403, 1.704, -2.162, 0, 0, 0, 49 [SEP] 26, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 79 [SEP] 27, Lettuce, 0.457, 0.994, -1.918, 0, 0, 0, 62 [SEP] 28, WineBottle, -0.668, 0.914, -2.267, 0, 0, 0, 62 [SEP] 29, Spatula, 0.408, 0.941, 1.448, 0, 0, 0, 79 [SEP] 30, Plate, -0.657, 0.115, -1.873, 0, 0, 0, 55 [SEP] 31, SaltShaker, 0.294, 0.923, 0.305, 0, 0, 0, 79 [SEP] 32, Pot, 1.738, 0.911, -1.329, 0, 0, 0, 62 [SEP] 33, Cup, -1.533, 1.504, -0.392, 0, 90, 0, 70 [SEP] 34, PepperShaker, 1.670, 0.549, 2.586, 0, 0, 0, 88 [SEP] 35, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 59 [SEP] 36, ButterKnife, 0.408, 0.930, 0.991, 0, 0, 0, 79 [SEP] 37, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 62 [SEP] 38, DishSponge, -0.927, 0.913, -2.224, 0, 0, 0, 62 [SEP] 39, Egg, -1.610, 1.237, -0.495, 0, 90, 0, 70 [SEP] 40, Spoon, 0.522, 0.928, 0.076, 0, 0, 0, 79 [SEP] 41, Knife, -0.356, 0.787, -1.981, 0, 270, 0, 74 [SEP] 42, Mug, 0.444, 1.653, -2.200, 0, 0, 0, 51 [SEP] 43, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 44, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 45, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 46, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 47, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 54, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 55, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 57, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 58, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 59, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 60, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 61, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 62, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 63, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 64, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 65, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 66, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 67, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 68, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 69, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 70, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 71, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 72, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 73, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 74, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 79, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 80, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 81, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 82, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 83, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 84, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 85, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 86, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 87, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 88, , , , , , , ,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn left towards the stove and then turn left towards the middle of the table to your left. | STEP 2: Pick up the knife in front of the white cup. | STEP 3: Turn left, walk towards the dishwasher and look up above the counter to find the cabinets. | STEP 4: Open the right cabinet door and place the knife in the cup inside. | STEP 5: Take the cup out of the cabinet and close the door. | STEP 6: Take a step to the left to face the toaster on the cabinet. | STEP 7: Place the cup in front of the toaster. | END


Input: Place a mug with the spoon in it on the kitchen 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, 0.900, -0.5, 0, 180, 0,  [SEP] 1, Ladle, 0.408, 0.975, 0.076, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.850, 0.913, -2.085, 0, 0, 0, 62 [SEP] 3, ButterKnife, -0.230, 0.913, -1.725, 0, 0, 0, 62 [SEP] 4, WineBottle, 0.119, 0.914, -1.725, 0, 0, 0, 62 [SEP] 5, WineBottle, 1.985, 1.658, -1.479, 0, 270, 0, 52 [SEP] 6, Egg, 1.466, 0.967, -1.212, 0, 0, 0, 62 [SEP] 7, Egg, -1.219, 1.069, -1.846, 0, 90, 0, 68 [SEP] 8, Cup, -1.572, 1.504, -0.495, 0, 90, 0, 70 [SEP] 9, Plate, -0.210, 0.767, -2.026, 0, 0, 0, 74 [SEP] 10, Knife, 0.294, 0.953, 1.220, 0, 0, 0, 79 [SEP] 11, SoapBottle, 1.557, 0.912, -1.095, 0, 0, 0, 62 [SEP] 12, SoapBottle, -1.316, 1.658, -1.854, 0, 90, 0, 45 [SEP] 13, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 88 [SEP] 14, SaltShaker, -0.720, 0.909, -2.167, 0, 0, 0, 62 [SEP] 15, SaltShaker, 1.359, 0.549, 2.379, 0, 0, 0, 82 [SEP] 16, PepperShaker, -0.346, 0.909, -1.725, 0, 0, 0, 62 [SEP] 17, PepperShaker, -1.109, 0.909, -2.115, 0, 0, 0, 62 [SEP] 18, Bread, -1.495, 1.228, -0.806, 0, 90, 0, 70 [SEP] 19, Mug, -0.047, 0.925, 0.991, 0, 0, 0, 79 [SEP] 20, Apple, -1.380, 1.254, -0.392, 0, 90, 0, 70 [SEP] 21, Potato, 0.008, 0.793, -2.026, 0, 0, 0, 74 [SEP] 22, Bowl, 0.522, 0.927, 0.534, 0, 0, 0, 79 [SEP] 23, SoapBottle, 1.958, 0.085, 0.083, 0, 0, 0, 63 [SEP] 24, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 79 [SEP] 25, Ladle, 1.403, 1.704, -2.162, 0, 0, 0, 49 [SEP] 26, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 79 [SEP] 27, Lettuce, 0.457, 0.994, -1.918, 0, 0, 0, 62 [SEP] 28, WineBottle, -0.668, 0.914, -2.267, 0, 0, 0, 62 [SEP] 29, Spatula, 0.408, 0.941, 1.448, 0, 0, 0, 79 [SEP] 30, Plate, -0.657, 0.115, -1.873, 0, 0, 0, 55 [SEP] 31, SaltShaker, 0.294, 0.923, 0.305, 0, 0, 0, 79 [SEP] 32, Pot, 1.738, 0.911, -1.329, 0, 0, 0, 62 [SEP] 33, Cup, -1.533, 1.504, -0.392, 0, 90, 0, 70 [SEP] 34, PepperShaker, 1.670, 0.549, 2.586, 0, 0, 0, 88 [SEP] 35, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 59 [SEP] 36, ButterKnife, 0.408, 0.930, 0.991, 0, 0, 0, 79 [SEP] 37, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 62 [SEP] 38, DishSponge, -0.927, 0.913, -2.224, 0, 0, 0, 62 [SEP] 39, Egg, -1.610, 1.237, -0.495, 0, 90, 0, 70 [SEP] 40, Spoon, 0.522, 0.928, 0.076, 0, 0, 0, 79 [SEP] 41, Knife, -0.356, 0.787, -1.981, 0, 270, 0, 74 [SEP] 42, Mug, 0.444, 1.653, -2.200, 0, 0, 0, 51 [SEP] 43, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 44, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 45, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 46, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 47, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 54, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 55, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 57, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 58, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 59, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 60, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 61, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 62, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 63, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 64, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 65, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 66, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 67, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 68, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 69, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 70, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 71, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 72, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 73, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 74, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 79, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 80, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 81, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 82, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 83, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 84, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 85, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 86, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 87, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 88, , , , , , , ,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn around and then turn to your left to face the table | STEP 2: Pick up a knife off of the table | STEP 3: Turn to your left until you are facing the right cabinet | STEP 4: Open the cabinet and put the knife in a mug | STEP 5: Pick up the mug with the knife in and close the cabinet | STEP 6: Move to your left so you are now facing the toaster | STEP 7: Place the mug with the spoon in it on the kitchen counter | END


Input: Put a cold tomato in a garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 270, 0,  [SEP] 1, Statue, 2.694, 0.559, 0.090, 0, 90, 0, 88 [SEP] 2, Statue, 1.194, 0.918, -1.844, 0, 0, 0, 82 [SEP] 3, Potato, -0.822, 1.161, 0.529, 0, 0, 0, 78 [SEP] 4, Potato, 1.845, 0.093, 0.109, 0, 0, 0, 85 [SEP] 5, Ladle, -0.997, 0.950, -0.048, 0, 0, 0, 75 [SEP] 6, Ladle, 0.969, 0.948, -2.014, 0, 180, 0, 82 [SEP] 7, DishSponge, -1.063, 0.913, 0.294, 0, 0, 0, 75 [SEP] 8, DishSponge, 1.469, 1.653, -2.164, 0, 90, 0, 55 [SEP] 9, ButterKnife, 0.969, 0.911, -1.760, 0, 0, 0, 82 [SEP] 10, ButterKnife, -1.080, 0.913, -0.231, 0, 0, 0, 75 [SEP] 11, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 54 [SEP] 12, Pot, -1.289, 0.957, -0.756, 0, 180, 0, 57 [SEP] 13, Fork, -0.205, 0.914, 0.188, 0, 0, 0, 75 [SEP] 14, Plate, 1.688, 0.115, -1.266, 0, 0, 0, 56 [SEP] 15, SoapBottle, 1.113, 1.658, -2.126, 0, 0, 0, 61 [SEP] 16, Tomato, 1.963, 0.112, 0.166, 0, 0, 0, 85 [SEP] 17, Bowl, 1.945, 1.424, -0.458, 0, 270, 0, 89 [SEP] 18, Lettuce, 2.000, 0.893, -0.551, 0, 270, 0, 89 [SEP] 19, Lettuce, -0.420, 0.990, 0.241, 0, 0, 0, 75 [SEP] 20, Mug, -0.375, 1.126, 0.573, 0, 180, 0, 78 [SEP] 21, Mug, 2.900, 0.874, 0.087, 0, 180, 0, 86 [SEP] 22, Apple, -1.413, 0.962, -0.231, 0, 0, 0, 75 [SEP] 23, Apple, 1.878, 1.064, -1.192, 0, 270, 0, 87 [SEP] 24, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 79 [SEP] 25, Knife, 1.644, 0.934, -2.183, 0, 90, 0, 82 [SEP] 26, Bowl, -0.612, 0.109, 0.132, 0, 180, 0, 77 [SEP] 27, Fork, -0.290, 0.763, -1.952, 0, 0, 0, 92 [SEP] 28, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 92 [SEP] 29, Ladle, -0.634, 0.950, 0.241, 0, 0, 0, 75 [SEP] 30, Apple, -1.322, 0.959, -1.806, 0, 0, 0, 82 [SEP] 31, Kettle, -1.047, 0.953, -2.094, 0, 0, 0, 82 [SEP] 32, Vase, 0.888, 1.660, -2.200, 0, 0, 0, 61 [SEP] 33, Potato, 1.910, 1.045, -1.297, 0, 270, 0, 87 [SEP] 34, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 72 [SEP] 35, Bread, 0.071, 1.213, 0.573, 0, 0, 0, 78 [SEP] 36, Plate, -0.598, 1.129, 0.573, 0, 0, 0, 78 [SEP] 37, Spatula, -0.897, 0.926, -1.845, 0, 180, 0, 82 [SEP] 38, PaperTowelRoll, -0.152, 1.235, 0.441, 0, 0, 0, 78 [SEP] 39, Vase, -1.247, 0.919, -0.353, 0, 0, 0, 75 [SEP] 40, Egg, 1.836, 0.850, -0.458, 0, 270, 0, 89 [SEP] 41, SoapBottle, -0.152, 1.131, 0.618, 0, 0, 0, 78 [SEP] 42, SaltShaker, -0.910, 0.907, -1.891, 0, 0, 0, 82 [SEP] 43, Lettuce, 1.945, 1.504, -0.644, 0, 270, 0, 89 [SEP] 44, PepperShaker, -0.634, 0.909, 0.135, 0, 0, 0, 75 [SEP] 45, ButterKnife, -0.565, 0.911, -1.702, 0, 0, 0, 82 [SEP] 46, DishSponge, -0.611, 0.691, 0.102, 0, 180, 0, 76 [SEP] 47, Vase, 2.593, 0.877, 0.141, 0, 180, 0, 86 [SEP] 48, Spoon, -0.657, 0.693, -1.935, 0, 0, 0, 52 [SEP] 49, Tomato, -0.031, 0.812, -1.952, 0, 0, 0, 92 [SEP] 50, Mug, -1.239, 1.657, 0.094, 0, 0, 0, 66 [SEP] 51, Statue, -0.849, 0.920, 0.241, 0, 270, 0, 75 [SEP] 52, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 53, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 54, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 55, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 57, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 58, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 59, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 60, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 63, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 64, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 65, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 66, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 67, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 68, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 69, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 70, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 71, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 72, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 73, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 74, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 75, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 76, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 77, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 78, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 79, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 80, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 81, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 82, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 83, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 84, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 85, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 86, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 87, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 88, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 89, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 90, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 91, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 92, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 93, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 94, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 95, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 96, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 97, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 98, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 99, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 100, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 101, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Go forward, turn around to the blue garbage can next to the fridge. | STEP 2: Pick up the tomato that is in the garbage can. | STEP 3: Turn around, go to the left to the fridge. | STEP 4: Put the tomato in the fridge and close the door, remove it once it is cold.  | STEP 5: Turn to the left, go to the garbage can to the left of the fridge. | STEP 6: Put the tomato in the garbage can. | END


Input: Hold a book and 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, 0.25, 0.900, -0.75, 0, 270, 0,  [SEP] 1, Bowl, -1.259, 0.794, -1.696, 0, 0, 0, 43 [SEP] 2, Bowl, -1.283, 1.824, -1.519, 0, 0, 0, 30 [SEP] 3, Pencil, -1.283, 1.462, -1.431, 0, 0, 0, 27 [SEP] 4, Pencil, 0.227, 0.684, 1.303, 0, 0, 0, 35 [SEP] 5, Book, 1.532, 0.578, -0.649, 0, 0, 0, 44 [SEP] 6, Book, 1.387, 0.578, -0.166, 0, 0, 0, 44 [SEP] 7, Laptop, 0.953, 0.574, -0.649, 0, 0, 0, 44 [SEP] 8, Laptop, 0.953, 0.574, -0.166, 0, 0, 0, 22 [SEP] 9, Book, -0.66, 0.783, -1.69, 0, 312.959, 0, 43 [SEP] 10, Pencil, -1.283, 1.826, -1.168, 0, 0, 0, 30 [SEP] 11, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 43 [SEP] 12, Pen, -1.265, 0.798, -1.243, 0, 0, 0, 43 [SEP] 13, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180,  [SEP] 14, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 44 [SEP] 15, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 22 [SEP] 16, CellPhone, 1.693, 0.041, 0.541, 0, 0, 0, 39 [SEP] 17, KeyChain, -0.856, 0.837, -2.038, 0, 0, 0, 26 [SEP] 18, AlarmClock, -0.585, 0.838, -2.107, 0, 0, 0, 26 [SEP] 19, CreditCard, -1.052, 0.793, -1.028, 0, 0, 0, 43 [SEP] 20, CD, -1.309, 1.822, -0.339, 0, 0, 0, 29 [SEP] 21, Bowl, -1.194, 0.794, -0.385, 0, 0, 0, 43 [SEP] 22, Bed, 1.242, -0.001, -0.881, 0, 180, 0,  [SEP] 23, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0,  [SEP] 24, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168,  [SEP] 25, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0,  [SEP] 26, Shelf, -0.469, 0.828, -2.038, 0, 0, 0,  [SEP] 27, Shelf, -1.286, 1.451, -1.343, 0, 0, 0,  [SEP] 28, Shelf, -1.286, 1.451, -0.602, 0, 0, 0,  [SEP] 29, Shelf, -1.286, 1.814, -0.602, 0, 0, 0,  [SEP] 30, Shelf, -1.286, 1.814, -1.343, 0, 0, 0,  [SEP] 31, Painting, 1.111, 1.628, -1.865, 90, 0, 0,  [SEP] 32, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0,  [SEP] 33, Mirror, -1.383, 1.565, 0.512, 0, 270, 0,  [SEP] 34, Window, -0.472, 1.396, -2.252, 90, 0, 0,  [SEP] 35, SideTable, 0.304, -0.001, 1.225, 0, 180, 0,  [SEP] 36, Drawer, 0.304, 0.165, 1.159, 0, 180, 0,  [SEP] 37, Drawer, 0.304, 0.457, 1.159, 0, 180, 0,  [SEP] 38, Blinds, -0.453, 2.156, -2.242, 0, 0, 0,  [SEP] 39, Safe, 1.623, 5.960, 0.448, 0, 270, 0,  [SEP] 40, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0,  [SEP] 41, Drawer, 0.416, 0.532, -1.553, 0, 0, 0,  [SEP] 42, SideTable, 0.413, 0.000, -1.684, 0, 0, 0,  [SEP] 43, Desk, -0.788, 0.000, -1.032, 0, 90, 0,  [SEP] 44, , , , , , , ,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and then right again. Face the bed on the right side. | STEP 2: Pick up the book from the left front side of the bed. | STEP 3: Hold the book and turn around to the small table. | STEP 4: Hold the book and turn on the lamp. | END


Input: Put a cup with water in it 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, -1.0, 0.900, -0.75, 0, 0, 0,  [SEP] 1, Potato, -2.393, 1.336, -0.790, 0, 90, 0, 76 [SEP] 2, Potato, -2.669, 0.214, -0.791, 0, 90, 0, 76 [SEP] 3, ButterKnife, -2.455, 0.910, 1.230, 0, 0, 0, 72 [SEP] 4, ButterKnife, -0.081, 0.910, 0.647, 0, 0, 0, 44 [SEP] 5, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 55 [SEP] 6, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 44 [SEP] 7, Fork, -0.471, 0.911, 0.647, 0, 0, 0, 44 [SEP] 8, Spatula, -0.081, 0.925, 1.317, 0, 270, 0, 44 [SEP] 9, Spatula, 0.919, 0.925, -1.632, 0, 45, 0, 54 [SEP] 10, Egg, -2.559, 0.625, -0.872, 0, 90, 0, 76 [SEP] 11, Cup, 1.426, 0.908, 0.435, 0, 0, 0, 53 [SEP] 12, Cup, -2.635, 1.013, 2.481, 0, 90, 0, 84 [SEP] 13, Knife, 1.645, 0.936, -0.794, 0, 45, 0, 54 [SEP] 14, Knife, -0.471, 0.936, 1.540, 0, 0, 0, 44 [SEP] 15, Tomato, 1.646, 0.227, 0.651, 0, 0, 0, 83 [SEP] 16, Tomato, 0.683, 0.953, -1.369, 0, 0, 0, 54 [SEP] 17, SoapBottle, -2.289, 0.912, 1.530, 0, 0, 0, 72 [SEP] 18, SoapBottle, -2.621, 0.912, 0.631, 0, 0, 0, 72 [SEP] 19, Bowl, -2.564, 1.534, 1.483, 0, 0, 0, 57 [SEP] 20, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 44 [SEP] 21, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 73 [SEP] 22, Knife, 1.598, 0.936, 0.494, 0, 0, 0, 53 [SEP] 23, Apple, -2.439, 1.150, -1.074, 0, 90, 0, 76 [SEP] 24, Bowl, -2.310, 0.111, -0.023, 0, 0, 0, 60 [SEP] 25, Fork, -2.379, 0.774, 1.322, 0, 90, 0, 75 [SEP] 26, Bread, -2.289, 0.996, 0.331, 0, 0, 0, 72 [SEP] 27, Plate, 1.734, 1.659, 0.239, 0, 0, 0, 63 [SEP] 28, Egg, 1.729, 0.215, 0.623, 0, 0, 0, 83 [SEP] 29, Kettle, -0.341, 0.911, 1.094, 0, 0, 0, 44 [SEP] 30, Potato, -2.559, 0.631, -1.051, 0, 90, 0, 76 [SEP] 31, SaltShaker, 1.662, 1.658, -0.694, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.081, 0.994, 1.540, 0, 0, 0, 44 [SEP] 33, Cup, -2.572, 1.931, -1.150, 0, 0, 0, 65 [SEP] 34, SoapBottle, 1.855, 0.913, 0.406, 0, 0, 0, 53 [SEP] 35, Spatula, -2.704, 0.925, 0.031, 0, 90, 0, 72 [SEP] 36, PaperTowelRoll, 0.999, 1.015, -1.758, 0, 45, 0, 54 [SEP] 37, ButterKnife, -2.289, 0.910, 0.931, 0, 0, 0, 72 [SEP] 38, PepperShaker, -2.384, 0.109, 0.541, 0, 0, 0, 69 [SEP] 39, DishSponge, -0.211, 0.910, 1.317, 0, 0, 0, 44 [SEP] 40, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 70 [SEP] 41, Spoon, -2.318, 0.775, 0.809, 0, 90, 0, 49 [SEP] 42, Tomato, -2.485, 1.342, -0.885, 0, 90, 0, 76 [SEP] 43, Mug, -2.349, 0.109, 1.475, 0, 0, 0, 50 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Move forward toward the kitchen island, then turn right and go toward the stove, then go to the counter to the left of the stove. | STEP 2: Pick up the cup from the counter. | STEP 3: Turn around and move forward, then turn left to go to the sink. | STEP 4: Fill the cup with water in the sink. | STEP 5: Turn around and go forward to the wall, then turn left and go straight to the microwave. | STEP 6: Put the cup in the microwave. | END


Input: To fill a mug with water and put it 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, -1.0, 0.900, -0.75, 0, 0, 0,  [SEP] 1, Potato, -2.393, 1.336, -0.790, 0, 90, 0, 76 [SEP] 2, Potato, -2.669, 0.214, -0.791, 0, 90, 0, 76 [SEP] 3, ButterKnife, -2.455, 0.910, 1.230, 0, 0, 0, 72 [SEP] 4, ButterKnife, -0.081, 0.910, 0.647, 0, 0, 0, 44 [SEP] 5, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 55 [SEP] 6, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 44 [SEP] 7, Fork, -0.471, 0.911, 0.647, 0, 0, 0, 44 [SEP] 8, Spatula, -0.081, 0.925, 1.317, 0, 270, 0, 44 [SEP] 9, Spatula, 0.919, 0.925, -1.632, 0, 45, 0, 54 [SEP] 10, Egg, -2.559, 0.625, -0.872, 0, 90, 0, 76 [SEP] 11, Cup, 1.426, 0.908, 0.435, 0, 0, 0, 53 [SEP] 12, Cup, -2.635, 1.013, 2.481, 0, 90, 0, 84 [SEP] 13, Knife, 1.645, 0.936, -0.794, 0, 45, 0, 54 [SEP] 14, Knife, -0.471, 0.936, 1.540, 0, 0, 0, 44 [SEP] 15, Tomato, 1.646, 0.227, 0.651, 0, 0, 0, 83 [SEP] 16, Tomato, 0.683, 0.953, -1.369, 0, 0, 0, 54 [SEP] 17, SoapBottle, -2.289, 0.912, 1.530, 0, 0, 0, 72 [SEP] 18, SoapBottle, -2.621, 0.912, 0.631, 0, 0, 0, 72 [SEP] 19, Bowl, -2.564, 1.534, 1.483, 0, 0, 0, 57 [SEP] 20, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 44 [SEP] 21, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 73 [SEP] 22, Knife, 1.598, 0.936, 0.494, 0, 0, 0, 53 [SEP] 23, Apple, -2.439, 1.150, -1.074, 0, 90, 0, 76 [SEP] 24, Bowl, -2.310, 0.111, -0.023, 0, 0, 0, 60 [SEP] 25, Fork, -2.379, 0.774, 1.322, 0, 90, 0, 75 [SEP] 26, Bread, -2.289, 0.996, 0.331, 0, 0, 0, 72 [SEP] 27, Plate, 1.734, 1.659, 0.239, 0, 0, 0, 63 [SEP] 28, Egg, 1.729, 0.215, 0.623, 0, 0, 0, 83 [SEP] 29, Kettle, -0.341, 0.911, 1.094, 0, 0, 0, 44 [SEP] 30, Potato, -2.559, 0.631, -1.051, 0, 90, 0, 76 [SEP] 31, SaltShaker, 1.662, 1.658, -0.694, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.081, 0.994, 1.540, 0, 0, 0, 44 [SEP] 33, Cup, -2.572, 1.931, -1.150, 0, 0, 0, 65 [SEP] 34, SoapBottle, 1.855, 0.913, 0.406, 0, 0, 0, 53 [SEP] 35, Spatula, -2.704, 0.925, 0.031, 0, 90, 0, 72 [SEP] 36, PaperTowelRoll, 0.999, 1.015, -1.758, 0, 45, 0, 54 [SEP] 37, ButterKnife, -2.289, 0.910, 0.931, 0, 0, 0, 72 [SEP] 38, PepperShaker, -2.384, 0.109, 0.541, 0, 0, 0, 69 [SEP] 39, DishSponge, -0.211, 0.910, 1.317, 0, 0, 0, 44 [SEP] 40, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 70 [SEP] 41, Spoon, -2.318, 0.775, 0.809, 0, 90, 0, 49 [SEP] 42, Tomato, -2.485, 1.342, -0.885, 0, 90, 0, 76 [SEP] 43, Mug, -2.349, 0.109, 1.475, 0, 0, 0, 50 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the counter to the left of the stove,  | STEP 2: Pick up the mug to the right of the knife.  | STEP 3: Walk to think sink on the right.  | STEP 4: Put the mug in the sink, fill the mug with water, pick up the mug.  | STEP 5: Turn around and walk over to the microwave.  | STEP 6: Put the mug inside of the microwave.  | END


Input: Put a piece of cold bread in the trash. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, -3.0, 0, 90, 0,  [SEP] 1, Potato, -3.027, 0.685, -2.125, 0, 90, 0, 86 [SEP] 2, DishSponge, -0.792, 1.292, -4.005, 0, 0, 0, 59 [SEP] 3, DishSponge, -0.374, 0.080, -1.414, 0, 0, 0, 50 [SEP] 4, ButterKnife, -2.270, 0.913, -3.804, 0, 0, 0, 45 [SEP] 5, ButterKnife, -0.257, 0.916, -1.493, 0, 0, 0, 72 [SEP] 6, Spatula, -3.167, 0.731, -0.797, 0, 225, 0, 89 [SEP] 7, Spatula, -2.928, 0.728, -0.922, 0, 90, 0, 89 [SEP] 8, Spoon, -1.638, 0.791, -3.704, 0, 0, 0, 87 [SEP] 9, Fork, -0.076, 0.914, -3.012, 0, 0, 0, 45 [SEP] 10, Fork, -2.865, 0.714, -0.638, 0, 0, 0, 89 [SEP] 11, Cup, -0.732, 0.082, -3.675, 0, 0, 0, 47 [SEP] 12, Tomato, -3.130, 0.690, -1.879, 0, 90, 0, 86 [SEP] 13, Tomato, -3.234, 1.448, -2.125, 0, 90, 0, 86 [SEP] 14, SoapBottle, -3.034, 0.713, -0.930, 0, 225, 0, 89 [SEP] 15, SoapBottle, -0.419, 0.915, -1.370, 0, 0, 0, 72 [SEP] 16, Bowl, -3.393, 0.911, -3.327, 0, 0, 0, 45 [SEP] 17, Bowl, -2.581, 0.711, -0.621, 0, 90, 0, 89 [SEP] 18, SaltShaker, -3.225, 0.910, -2.825, 0, 0, 0, 45 [SEP] 19, PepperShaker, -0.471, 0.742, -1.563, 0, 0, 0, 68 [SEP] 20, Lettuce, -2.581, 0.804, -0.433, 0, 270, 0, 89 [SEP] 21, Lettuce, -3.155, 0.804, -0.608, 0, 225, 0, 89 [SEP] 22, Apple, -0.095, 0.958, -1.616, 0, 0, 0, 72 [SEP] 23, Apple, -0.189, 1.055, -0.900, 0, 270, 0, 82 [SEP] 24, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 74 [SEP] 25, Egg, -0.419, 0.951, -1.555, 0, 0, 0, 72 [SEP] 26, Cup, -1.058, 0.914, -3.581, 0, 0, 0, 45 [SEP] 27, Bread, -0.326, 0.948, -3.680, 0, 298.262, 0, 45 [SEP] 28, Fork, -0.500, 0.746, -3.079, 0, 90, 0, 75 [SEP] 29, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 70 [SEP] 30, Potato, -0.243, 0.949, -3.878, 0, 0, 0, 45 [SEP] 31, Lettuce, -1.324, 0.988, -3.759, 1.633, 253.772, 357.214, 45 [SEP] 32, Tomato, -3.234, 0.690, -2.064, 0, 90, 0, 86 [SEP] 33, Apple, -0.127, 1.055, -0.752, 0, 270, 0, 82 [SEP] 34, SoapBottle, -2.608, 0.716, -0.150, 0, 315, 0, 89 [SEP] 35, Spatula, -0.412, 0.761, -2.913, 0, 270, 0, 75 [SEP] 36, SaltShaker, -0.527, 0.077, -3.139, 0, 0, 0, 56 [SEP] 37, Knife, -3.140, 0.946, -3.428, 0, 0, 0, 45 [SEP] 38, PepperShaker, -2.733, 0.710, -0.363, 0, 135, 0, 89 [SEP] 39, ButterKnife, -2.987, 0.913, -3.804, 0, 0, 0, 45 [SEP] 40, Plate, -1.614, 0.081, -3.634, 0, 0, 0, 61 [SEP] 41, DishSponge, -0.413, 0.745, -3.376, 0, 0, 0, 73 [SEP] 42, Spoon, -2.721, 0.714, -0.439, 0, 225, 0, 89 [SEP] 43, Mug, -0.257, 0.910, -0.524, 0, 90, 0, 72 [SEP] 44, Bowl, -0.854, 0.911, -3.729, 0, 0, 0, 45 [SEP] 45, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 46, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 47, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 48, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 49, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 51, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 52, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 53, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 54, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 55, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 56, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 57, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 58, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 59, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 60, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 61, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 62, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 63, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 64, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 65, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 66, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 67, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 68, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 69, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 70, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 71, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 72, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 73, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 74, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 75, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 76, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 77, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 78, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 79, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 80, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 81, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 82, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 83, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 84, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 85, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 86, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 87, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 88, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 89, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 90, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 91, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 92, NorthWall, , , , , , ,  [SEP] 93, EastWall, , , , , , ,  [SEP] 94, SouthWall, , , , , , ,  [SEP] 95, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the counter by the microwave. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Go to the counter next to the toaster. | STEP 4: Slice the bread on the counter. | STEP 5: Go across the room to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the counter with the toaster on it. | STEP 8: Pick up a slice of bread. | STEP 9: Go across the room to the fridge. | STEP 10: Put the bread in the fridge to cool it off. | STEP 11: Go to the trash bin at the end of the counter. | STEP 12: Put the cold bread in the trash bin. | END


Input: Pick up the knife and glass cup and put them into the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0,  [SEP] 1, Potato, -0.203, 1.259, 0.475, 0, 0, 0, 84 [SEP] 2, Potato, -3.240, 0.942, 2.778, 0, 90, 0, 78 [SEP] 3, DishSponge, -0.415, 1.047, 2.369, 0, 0, 0, 61 [SEP] 4, DishSponge, -3.644, 0.112, 2.038, 0, 0, 0, 82 [SEP] 5, ButterKnife, -2.514, 1.124, 0.284, 0, 0, 0, 71 [SEP] 6, ButterKnife, -0.715, 1.124, 0.387, 0, 0, 0, 73 [SEP] 7, ButterKnife, -0.415, 1.048, 1.920, 0, 0, 0, 61 [SEP] 8, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 66 [SEP] 9, Fork, -2.137, 1.125, 0.662, 0, 0, 0, 71 [SEP] 10, Fork, -0.827, 1.125, 0.478, 0, 0, 0, 73 [SEP] 11, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 58 [SEP] 12, Spatula, -2.388, 1.139, 0.095, 0, 90, 0, 71 [SEP] 13, Spatula, -0.538, 1.063, 3.266, 0, 0, 0, 61 [SEP] 14, Egg, -3.742, 1.155, 0.473, 0, 0, 0, 68 [SEP] 15, Cup, -0.662, 1.045, 2.369, 0, 0, 0, 61 [SEP] 16, Cup, -0.908, 1.045, 2.593, 0, 0, 0, 61 [SEP] 17, Cup, -3.266, 0.726, 3.061, 0, 90, 0, 78 [SEP] 18, Plate, -2.262, 1.123, 0.473, 0, 0, 0, 71 [SEP] 19, Plate, -1.601, 0.047, 0.608, 0, 0, 0, 76 [SEP] 20, Knife, -0.662, 1.079, 1.920, 0, 0, 0, 61 [SEP] 21, Knife, -0.785, 1.080, 3.042, 0, 90, 0, 61 [SEP] 22, Tomato, -3.373, 1.601, 2.920, 0, 90, 0, 78 [SEP] 23, Tomato, -3.798, 0.153, 1.978, 0, 0, 0, 82 [SEP] 24, Bowl, -0.908, 1.044, 3.042, 0, 0, 0, 61 [SEP] 25, Bowl, -0.908, 1.044, 2.817, 0, 0, 0, 61 [SEP] 26, SaltShaker, -1.680, 0.045, 0.438, 0, 0, 0, 76 [SEP] 27, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 65 [SEP] 28, PepperShaker, -2.042, 0.483, 0.545, 0, 0, 0, 62 [SEP] 29, Bread, -0.785, 1.133, 1.920, 0, 0, 0, 61 [SEP] 30, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 78 [SEP] 31, Lettuce, -0.785, 1.125, 2.144, 0, 0, 0, 61 [SEP] 32, Mug, -1.235, 0.044, 0.494, 0, 0, 0, 65 [SEP] 33, Mug, -0.908, 1.043, 2.369, 0, 0, 0, 61 [SEP] 34, Fork, -0.827, 1.125, 0.659, 0, 0, 0, 73 [SEP] 35, SoapBottle, -2.497, 0.095, 0.646, 0, 0, 0, 64 [SEP] 36, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 57 [SEP] 37, Ladle, -1.922, 1.139, 0.377, 351.020, 45, 351.752, 71 [SEP] 38, Potato, -2.011, 1.155, 0.284, 0, 0, 0, 71 [SEP] 39, Plate, -0.908, 1.046, 3.266, 0, 0, 0, 61 [SEP] 40, Bread, -0.662, 1.133, 2.817, 0, 0, 0, 61 [SEP] 41, Lettuce, -0.662, 1.124, 3.042, 0, 0, 0, 61 [SEP] 42, Spatula, -0.538, 1.063, 2.593, 0, 90, 0, 61 [SEP] 43, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 61 [SEP] 44, Egg, -3.266, 0.758, 2.991, 0, 90, 0, 78 [SEP] 45, Cup, -1.568, 1.151, 0.095, 0, 0, 0, 58 [SEP] 46, SaltShaker, -0.715, 1.121, 0.206, 0, 0, 0, 73 [SEP] 47, Knife, -3.814, 1.157, 0.284, 0, 90, 0, 68 [SEP] 48, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 61 [SEP] 49, PepperShaker, -1.156, 0.045, 0.664, 0, 0, 0, 65 [SEP] 50, ButterKnife, -3.778, 1.124, 0.473, 0, 90, 0, 68 [SEP] 51, Apple, -0.415, 1.295, 0.410, 0, 0, 0, 84 [SEP] 52, Tomato, -3.639, 1.327, 2.991, 0, 90, 0, 78 [SEP] 53, DishSponge, -1.885, 1.124, 0.095, 0, 0, 0, 71 [SEP] 54, Spoon, -2.497, 0.488, 0.579, 0, 0, 0, 74 [SEP] 55, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 77 [SEP] 56, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 57, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 58, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 59, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 60, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 61, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 62, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 63, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 64, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 65, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 66, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 67, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 68, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 69, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 70, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 71, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 72, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 73, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 74, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 75, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 76, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 77, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 78, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 79, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 80, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 81, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 82, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 83, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 84, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 85, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 86, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 87, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,

Output: STEP 1: Turn around and move to the right of the stove. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn around and move to the wooden table on the opposite corner of the room. | STEP 4: Place the knife into the glass cup. | STEP 5: Pick up the glass cup with the knife inside. | STEP 6: Turn to the right and move to the sink. | STEP 7: Place the glass cup with the knife inside into the sink. | END


Input: Put a cup with a knife in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0,  [SEP] 1, Potato, -0.203, 1.259, 0.475, 0, 0, 0, 84 [SEP] 2, Potato, -3.240, 0.942, 2.778, 0, 90, 0, 78 [SEP] 3, DishSponge, -0.415, 1.047, 2.369, 0, 0, 0, 61 [SEP] 4, DishSponge, -3.644, 0.112, 2.038, 0, 0, 0, 82 [SEP] 5, ButterKnife, -2.514, 1.124, 0.284, 0, 0, 0, 71 [SEP] 6, ButterKnife, -0.715, 1.124, 0.387, 0, 0, 0, 73 [SEP] 7, ButterKnife, -0.415, 1.048, 1.920, 0, 0, 0, 61 [SEP] 8, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 66 [SEP] 9, Fork, -2.137, 1.125, 0.662, 0, 0, 0, 71 [SEP] 10, Fork, -0.827, 1.125, 0.478, 0, 0, 0, 73 [SEP] 11, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 58 [SEP] 12, Spatula, -2.388, 1.139, 0.095, 0, 90, 0, 71 [SEP] 13, Spatula, -0.538, 1.063, 3.266, 0, 0, 0, 61 [SEP] 14, Egg, -3.742, 1.155, 0.473, 0, 0, 0, 68 [SEP] 15, Cup, -0.662, 1.045, 2.369, 0, 0, 0, 61 [SEP] 16, Cup, -0.908, 1.045, 2.593, 0, 0, 0, 61 [SEP] 17, Cup, -3.266, 0.726, 3.061, 0, 90, 0, 78 [SEP] 18, Plate, -2.262, 1.123, 0.473, 0, 0, 0, 71 [SEP] 19, Plate, -1.601, 0.047, 0.608, 0, 0, 0, 76 [SEP] 20, Knife, -0.662, 1.079, 1.920, 0, 0, 0, 61 [SEP] 21, Knife, -0.785, 1.080, 3.042, 0, 90, 0, 61 [SEP] 22, Tomato, -3.373, 1.601, 2.920, 0, 90, 0, 78 [SEP] 23, Tomato, -3.798, 0.153, 1.978, 0, 0, 0, 82 [SEP] 24, Bowl, -0.908, 1.044, 3.042, 0, 0, 0, 61 [SEP] 25, Bowl, -0.908, 1.044, 2.817, 0, 0, 0, 61 [SEP] 26, SaltShaker, -1.680, 0.045, 0.438, 0, 0, 0, 76 [SEP] 27, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 65 [SEP] 28, PepperShaker, -2.042, 0.483, 0.545, 0, 0, 0, 62 [SEP] 29, Bread, -0.785, 1.133, 1.920, 0, 0, 0, 61 [SEP] 30, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 78 [SEP] 31, Lettuce, -0.785, 1.125, 2.144, 0, 0, 0, 61 [SEP] 32, Mug, -1.235, 0.044, 0.494, 0, 0, 0, 65 [SEP] 33, Mug, -0.908, 1.043, 2.369, 0, 0, 0, 61 [SEP] 34, Fork, -0.827, 1.125, 0.659, 0, 0, 0, 73 [SEP] 35, SoapBottle, -2.497, 0.095, 0.646, 0, 0, 0, 64 [SEP] 36, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 57 [SEP] 37, Ladle, -1.922, 1.139, 0.377, 351.020, 45, 351.752, 71 [SEP] 38, Potato, -2.011, 1.155, 0.284, 0, 0, 0, 71 [SEP] 39, Plate, -0.908, 1.046, 3.266, 0, 0, 0, 61 [SEP] 40, Bread, -0.662, 1.133, 2.817, 0, 0, 0, 61 [SEP] 41, Lettuce, -0.662, 1.124, 3.042, 0, 0, 0, 61 [SEP] 42, Spatula, -0.538, 1.063, 2.593, 0, 90, 0, 61 [SEP] 43, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 61 [SEP] 44, Egg, -3.266, 0.758, 2.991, 0, 90, 0, 78 [SEP] 45, Cup, -1.568, 1.151, 0.095, 0, 0, 0, 58 [SEP] 46, SaltShaker, -0.715, 1.121, 0.206, 0, 0, 0, 73 [SEP] 47, Knife, -3.814, 1.157, 0.284, 0, 90, 0, 68 [SEP] 48, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 61 [SEP] 49, PepperShaker, -1.156, 0.045, 0.664, 0, 0, 0, 65 [SEP] 50, ButterKnife, -3.778, 1.124, 0.473, 0, 90, 0, 68 [SEP] 51, Apple, -0.415, 1.295, 0.410, 0, 0, 0, 84 [SEP] 52, Tomato, -3.639, 1.327, 2.991, 0, 90, 0, 78 [SEP] 53, DishSponge, -1.885, 1.124, 0.095, 0, 0, 0, 71 [SEP] 54, Spoon, -2.497, 0.488, 0.579, 0, 0, 0, 74 [SEP] 55, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 77 [SEP] 56, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 57, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 58, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 59, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 60, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 61, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 62, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 63, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 64, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 65, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 66, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 67, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 68, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 69, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 70, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 71, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 72, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 73, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 74, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 75, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 76, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 77, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 78, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 79, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 80, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 81, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 82, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 83, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 84, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 85, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 86, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 87, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk and stand in front of the stove to your right. | STEP 2: Pick up the butter knife that's to the right of the stove. | STEP 3: Turn left and take three steps then take two steps to your left and walk to the table that's in front of you with the mug on it. . | STEP 4: Put the knife in the clear cup that's above the mug. | STEP 5: Pick up the glass with the knife in it. | STEP 6: Turn right and walk to the sink then take a small step to the left. | STEP 7: Put the cup in the sink. | END


Input: Put two watches on a coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.902, -4.25, 0, 270, 0,  [SEP] 1, Watch, -1.883, 0.482, -5.076, 0, 0, 0, 32 [SEP] 2, Pen, -2.469, 0.592, -2.822, 0, 0, 0, 33 [SEP] 3, CreditCard, -4.461, 0.333, -1.462, 0, 0, 0, 35 [SEP] 4, RemoteControl, -3.503, 0.706, -5.046, 0, 0, 0, 36 [SEP] 5, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 6, Book, -2.151, 0.587, -2.822, 0, 0, 0, 33 [SEP] 7, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 35 [SEP] 8, Watch, -3.218, 0.705, -5.188, 0, 0, 0, 36 [SEP] 9, Pen, -4.073, 0.710, -5.046, 0, 0, 0, 36 [SEP] 10, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 11, Pillow, -4.262, 0.442, -3.520, 0, 90, 0, 30 [SEP] 12, CreditCard, -4.112, 0.335, -3.302, 0, 90, 0, 30 [SEP] 13, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 36 [SEP] 14, KeyChain, -2.469, 0.588, -2.657, 0, 0, 0, 33 [SEP] 15, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 36 [SEP] 16, Laptop, -2.257, 0.585, -2.492, 0, 0, 0, 33 [SEP] 17, Statue, -3.218, 0.710, -4.999, 0, 0, 0, 36 [SEP] 18, Vase, -2.151, 0.592, -2.161, 0, 0, 0, 33 [SEP] 19, RemoteControl, -2.786, 0.590, -1.996, 0, 0, 0, 33 [SEP] 20, Vase, -2.933, 0.704, -5.141, 0, 0, 0, 36 [SEP] 21, Mirror, -3.402, 2.028, 0.000, 0, 0, 0,  [SEP] 22, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0,  [SEP] 23, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0,  [SEP] 24, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0,  [SEP] 25, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0,  [SEP] 26, Painting, -3.372, 1.800, -5.392, 90, 180, 0,  [SEP] 27, Television, -0.606, 1.674, -2.602, 0, 270, 0,  [SEP] 28, Window, -8.237, 1.411, -1.509, 90, 270, 0,  [SEP] 29, Window, -8.237, 1.411, -4.081, 90, 270, 0,  [SEP] 30, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0,  [SEP] 31, Shelf, -2.475, 0.124, -2.486, 0, 90, 0,  [SEP] 32, SideTable, -2.016, 0.002, -5.075, 0, 180, 0,  [SEP] 33, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0,  [SEP] 34, SideTable, -5.428, 0.002, -5.123, 0, 180, 0,  [SEP] 35, Sofa, -4.354, 0.009, -2.089, 0, 90, 0,  [SEP] 36, Dresser, -3.505, 0.003, -5.101, 0, 0, 0,  [SEP] 37, Drawer, -2.981, 0.481, -5.031, 0, 0, 0,  [SEP] 38, Drawer, -4.022, 0.169, -5.013, 0, 0, 0,  [SEP] 39, Drawer, -2.978, 0.169, -5.013, 0, 0, 0,  [SEP] 40, Drawer, -4.022, 0.477, -5.013, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around, go forward, turn right to the statue on the dresser. Go to the dresser. | STEP 2: Take the watch from behind the statue on the dresser. | STEP 3: Turn left, go forward to the wall, turn left, go forward, turn left to the coffee table. | STEP 4: Put the watch on the coffee table to the right of the computer. | STEP 5: Turn left, go forward to the wall, turn right. | STEP 6: Take the watch from the small table. | STEP 7: Turn right, go forward, turn left to the coffee table. | STEP 8: Put the watch on the coffee table behind the first watch. | END


Input: Put a cold tomato in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.5, 0, 270, 0,  [SEP] 1, DishSponge, -2.318, 0.772, -0.025, 0, 0, 0, 62 [SEP] 2, DishSponge, -2.277, 0.114, 1.371, 0, 0, 0, 50 [SEP] 3, Spoon, -2.379, 0.775, 0.391, 0, 90, 0, 61 [SEP] 4, Spoon, -0.341, 0.912, 0.647, 0, 0, 0, 44 [SEP] 5, Spatula, -0.341, 0.925, 1.764, 0, 90, 0, 44 [SEP] 6, Spatula, -0.211, 0.925, 1.540, 0, 90, 0, 44 [SEP] 7, Pot, 1.337, 0.923, -1.115, 0, 225, 0, 58 [SEP] 8, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 73 [SEP] 9, Egg, -2.374, 0.625, -0.872, 0, 90, 0, 76 [SEP] 10, Egg, 1.562, 0.215, 0.596, 0, 0, 0, 83 [SEP] 11, Cup, -2.605, 1.936, -0.465, 0, 0, 0, 66 [SEP] 12, Plate, 0.516, 1.666, -1.766, 0, 90, 0, 51 [SEP] 13, Plate, -2.621, 0.913, 0.931, 0, 0, 0, 72 [SEP] 14, Tomato, 1.127, 0.813, -1.394, 0, 225, 0, 82 [SEP] 15, Tomato, -2.372, 0.953, 0.631, 0, 0, 0, 72 [SEP] 16, Tomato, -2.206, 0.953, 1.830, 0, 0, 0, 72 [SEP] 17, Bowl, -2.372, 0.908, 0.931, 0, 0, 0, 72 [SEP] 18, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 44 [SEP] 19, Bread, 1.342, 0.996, -0.726, 0, 0, 0, 58 [SEP] 20, Bread, -2.538, 0.996, 0.631, 0, 0, 0, 72 [SEP] 21, Pan, -2.372, 0.910, 1.530, 0, 0, 0, 72 [SEP] 22, Knife, -0.471, 0.936, 1.317, 0, 0, 0, 44 [SEP] 23, Apple, -2.439, 1.150, -0.602, 0, 90, 0, 76 [SEP] 24, Bowl, -0.471, 0.908, 1.764, 0, 0, 0, 44 [SEP] 25, Fork, 0.822, 0.911, -1.627, 0, 45, 0, 54 [SEP] 26, Bread, -0.211, 0.996, 1.317, 0, 0, 0, 44 [SEP] 27, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 72 [SEP] 28, Egg, -2.558, 0.209, -0.570, 0, 90, 0, 76 [SEP] 29, Kettle, 1.771, 1.657, 0.239, 0, 0, 0, 63 [SEP] 30, Potato, -0.081, 0.947, 0.423, 0, 0, 0, 44 [SEP] 31, SaltShaker, -2.538, 0.905, 0.331, 0, 0, 0, 72 [SEP] 32, Lettuce, -0.730, 0.994, 0.423, 0, 0, 0, 44 [SEP] 33, Cup, -2.485, 1.087, -0.790, 0, 90, 0, 76 [SEP] 34, SoapBottle, -2.605, 1.539, 2.550, 0, 0, 0, 48 [SEP] 35, Spatula, -2.287, 0.789, 0.952, 0, 270, 0, 49 [SEP] 36, PaperTowelRoll, 0.835, 1.015, -1.408, 0, 45, 0, 54 [SEP] 37, ButterKnife, -0.211, 0.910, 0.647, 0, 0, 0, 44 [SEP] 38, PepperShaker, -2.645, 1.532, 0.270, 0, 0, 0, 67 [SEP] 39, DishSponge, -2.287, 0.772, 1.322, 0, 0, 0, 75 [SEP] 40, Pot, -0.601, 0.914, 0.870, 0, 0, 0, 44 [SEP] 41, Spoon, 1.599, 0.912, -0.726, 0, 0, 0, 54 [SEP] 42, Tomato, 1.687, 0.227, 0.706, 0, 0, 0, 83 [SEP] 43, Mug, -0.471, 0.905, 1.094, 0, 0, 0, 44 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the stove then turn left and walk to the end of the counter then turn right to face the grey trash can. | STEP 2: Take the tomato from the trash can. | STEP 3: Turn right and walk to the dishwasher then turn right and walk to the fridge. | STEP 4: Cool the tomato in the fridge then take it out. | STEP 5: Turn around and walk to the stove then turn right and walk to the grey trash can. | STEP 6: Put the tomato in the trash can. | END


Input: Put the clean spatula in the drawer.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Pen, 1.414, 1.164, -1.002, 0, 0, 0, 88 [SEP] 2, Potato, 0.852, 0.953, -1.789, 0, 0, 0, 82 [SEP] 3, Potato, 1.494, 1.203, -1.688, 0, 0, 0, 88 [SEP] 4, Ladle, 1.401, 1.700, -0.815, 0, 0, 0, 70 [SEP] 5, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 84 [SEP] 6, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 78 [SEP] 7, Kettle, 0.279, 1.656, -1.801, 0, 0, 0, 72 [SEP] 8, ButterKnife, 0.217, 0.919, -1.708, 0, 270, 0, 61 [SEP] 9, ButterKnife, -1.962, 0.910, -1.448, 0, 0, 0, 80 [SEP] 10, Glassbottle, 0.973, 0.115, -0.699, 0, 0, 0, 66 [SEP] 11, Glassbottle, 1.375, 1.368, 1.726, 0, 270, 0, 101 [SEP] 12, Spatula, 0.852, 0.926, -1.619, 0, 90, 0, 82 [SEP] 13, Spatula, -2.323, 0.925, 0.204, 0, 0, 0, 84 [SEP] 14, Spatula, -1.957, 0.925, 0.377, 0, 90, 0, 84 [SEP] 15, Egg, 1.538, 1.294, -0.021, 0, 270, 0, 104 [SEP] 16, Egg, 1.296, 1.191, 0.370, 0, 0, 0, 88 [SEP] 17, Cup, -2.140, 0.112, -1.632, 0, 0, 0, 85 [SEP] 18, Cup, 1.420, 1.720, 1.775, 0, 270, 0, 101 [SEP] 19, Plate, 1.461, 1.656, -1.342, 0, 0, 0, 74 [SEP] 20, Knife, -1.886, 0.940, -1.448, 0, 180, 0, 80 [SEP] 21, Tomato, 0.149, 0.959, -1.607, 0, 270, 0, 61 [SEP] 22, Tomato, 1.332, 1.857, 2.369, 0, 270, 0, 101 [SEP] 23, Bowl, -0.603, 1.656, -1.876, 0, 0, 0, 64 [SEP] 24, Bowl, 1.148, 0.115, -0.699, 0, 0, 0, 66 [SEP] 25, SaltShaker, -1.764, 0.111, -1.732, 0, 0, 0, 89 [SEP] 26, SaltShaker, 1.414, 1.157, -1.345, 0, 0, 0, 88 [SEP] 27, Bread, 1.343, 0.989, -0.309, 0, 0, 0, 82 [SEP] 28, Lettuce, -2.079, 0.979, 0.377, 0, 0, 0, 84 [SEP] 29, Lettuce, 1.376, 1.436, 2.226, 0, 270, 0, 101 [SEP] 30, Mug, 1.441, 1.260, 0.188, 0, 270, 0, 104 [SEP] 31, Apple, 0.149, 0.954, -1.758, 0, 270, 0, 61 [SEP] 32, Apple, 1.356, 1.754, 1.963, 0, 270, 0, 101 [SEP] 33, Tomato, 1.341, 0.254, 1.022, 0, 0, 0, 99 [SEP] 34, Glassbottle, -0.037, 1.656, -1.876, 0, 0, 0, 72 [SEP] 35, Knife, -0.401, 0.941, -1.704, 0, 0, 0, 82 [SEP] 36, Plate, 1.342, 1.656, -0.500, 0, 0, 0, 70 [SEP] 37, Fork, -1.835, 0.911, 0.032, 0, 0, 0, 84 [SEP] 38, Ladle, 1.414, 1.206, -1.002, 0, 0, 0, 88 [SEP] 39, Potato, 0.569, 0.953, -1.534, 0, 0, 0, 82 [SEP] 40, Lettuce, -2.201, 0.979, 0.118, 0, 0, 0, 84 [SEP] 41, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 92 [SEP] 42, Pen, 0.664, 0.913, -1.619, 0, 0, 0, 82 [SEP] 43, SaltShaker, 1.092, 0.112, 0.606, 0, 0, 0, 65 [SEP] 44, Cup, 1.275, 1.367, 2.101, 0, 270, 0, 101 [SEP] 45, Egg, 0.304, 0.940, -1.983, 0, 0, 0, 61 [SEP] 46, Spatula, 1.335, 1.177, -1.688, 0, 90, 0, 88 [SEP] 47, Bowl, -0.996, 1.851, -1.802, 0, 0, 0, 62 [SEP] 48, SprayBottle, -1.524, 1.857, -1.874, 0, 0, 0, 75 [SEP] 49, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 83 [SEP] 50, SoapBottle, 0.285, 0.919, -1.808, 0, 0, 0, 61 [SEP] 51, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 90 [SEP] 52, ButterKnife, -2.079, 0.910, 0.032, 0, 0, 0, 84 [SEP] 53, PepperShaker, -0.458, 1.650, -1.801, 0, 0, 0, 64 [SEP] 54, DishSponge, -1.712, 0.910, 0.377, 0, 0, 0, 84 [SEP] 55, Bread, -0.703, 0.989, -1.789, 0, 0, 0, 82 [SEP] 56, Apple, 1.275, 1.402, 2.476, 0, 270, 0, 101 [SEP] 57, Spoon, 0.528, 0.774, -1.566, 0, 90, 0, 86 [SEP] 58, Mug, 1.476, 1.362, 1.975, 0, 270, 0, 101 [SEP] 59, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 60, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 61, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 62, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 63, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 64, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 65, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 66, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 67, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 68, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 69, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 70, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 71, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 72, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 73, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 74, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 75, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 76, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 77, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 78, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 79, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 80, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 81, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 82, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 83, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 84, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 85, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 86, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 87, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 88, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 89, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 90, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 91, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 92, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 93, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 94, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 95, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 96, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 97, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 98, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 99, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 100, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 101, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 102, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 103, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 104, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 105, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 106, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 107, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 108, NorthWall, , , , , , ,  [SEP] 109, EastWall, , , , , , ,  [SEP] 110, SouthWall, , , , , , ,  [SEP] 111, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk across the room to the counter, and turn right. | STEP 2: Pick up the spatula next to the potatoes.  | STEP 3: Turn right, take a few steps, turn left to face the sink.  | STEP 4: Put the spatula in the sink, turn on the water, turn off the water, pick up the spatula.  | STEP 5: Turn left to face the counter against the other wall.  | STEP 6: Open the top drawer under the potato, put the spatula in the drawer, close the drawer. | END


Input: Examine a credit card next to the light of a tall 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, 0.909, 2.0, 0, 90, 0,  [SEP] 1, Candle, -0.357, 1.308, 4.106, 0, 0, 0, 37 [SEP] 2, Candle, -0.155, 0.844, 0.710, 0, 0, 0, 31 [SEP] 3, KeyChain, -0.099, 0.842, 0.516, 0, 0, 0, 31 [SEP] 4, KeyChain, -2.964, 0.474, 1.286, 0, 0, 0, 47 [SEP] 5, RemoteControl, -3.298, 0.544, 3.808, 0, 0, 0, 40 [SEP] 6, RemoteControl, 0.063, 1.041, 2.306, 0, 0, 0, 33 [SEP] 7, Box, -3.190, 0.659, 0.043, 0, 0, 0, 45 [SEP] 8, Laptop, -0.245, 1.303, 3.278, 0, 0, 0, 37 [SEP] 9, Box, -2.264, 0.667, 1.251, 0, 0, 0, 47 [SEP] 10, TissueBox, -2.664, 0.478, 1.286, 0, 0, 0, 47 [SEP] 11, KeyChain, -2.514, 0.474, 1.224, 0, 0, 0, 47 [SEP] 12, Boots, -0.443, 0.009, -0.549, 0, 339.553, 0,  [SEP] 13, Candle, -2.514, 0.475, 1.349, 0, 0, 0, 47 [SEP] 14, RemoteControl, -2.936, 0.464, -0.208, 0, 0, 0, 45 [SEP] 15, CreditCard, -2.514, 0.473, 1.036, 0, 0, 0, 47 [SEP] 16, Laptop, -2.011, 0.447, -0.086, 0, 332.629, 0, 45 [SEP] 17, Pillow, -3.707, 0.635, 3.745, 0, 0, 0, 40 [SEP] 18, Statue, -0.300, 1.294, 3.926, 0, 0, 0, 37 [SEP] 19, GarbageCan, -5.166, -0.026, -0.382, 0, 0, 0,  [SEP] 20, Television, 0.145, 1.528, 1.996, 0, 270, 0,  [SEP] 21, LightSwitch, -6.0, 1.381, 2.882, 0, 90, 0,  [SEP] 22, Painting, -0.048, 1.912, 3.687, 90, 270, 0,  [SEP] 23, Painting, -5.353, 1.990, -0.694, 90, 180, 0,  [SEP] 24, HousePlant, -0.289, 0.840, 0.301, 0, 0, 0,  [SEP] 25, FloorLamp, -4.100, 0.013, -0.468, 0, 0, 0,  [SEP] 26, Window, -4.131, 1.557, -0.827, 90, 180, 0,  [SEP] 27, Window, -0.972, 1.557, -0.827, 90, 180, 0,  [SEP] 28, Window, -2.553, 1.557, -0.827, 90, 180, 0,  [SEP] 29, Drawer, -0.359, 0.583, 0.516, 0, 270, 0,  [SEP] 30, Drawer, -0.359, 0.220, 0.516, 0, 270, 0,  [SEP] 31, SideTable, -0.276, 0.015, 0.516, 0, 270, 0,  [SEP] 32, TVStand, 0.172, 0.591, 1.982, 0, 270, 0,  [SEP] 33, DiningTable, 0.172, 0.859, 1.982, 0, 270, 0,  [SEP] 34, DiningTable, 0.172, 0.673, 1.982, 0, 270, 0,  [SEP] 35, Drawer, -0.309, 1.052, 3.610, 0, 270, 0,  [SEP] 36, Drawer, -0.309, 0.761, 3.610, 0, 270, 0,  [SEP] 37, Dresser, -0.265, 0.007, 3.609, 0, 270, 0,  [SEP] 38, Drawer, -0.309, 0.471, 3.610, 0, 270, 0,  [SEP] 39, Drawer, -0.309, 0.181, 3.610, 0, 270, 0,  [SEP] 40, Sofa, -3.786, 0.015, 3.893, 0, 180, 0,  [SEP] 41, RoomDecor, -5.815, 0.010, 4.406, 0, 0, 0,  [SEP] 42, RoomDecor, -0.333, 0.010, 4.396, 0, 0, 0,  [SEP] 43, RoomDecor, -0.178, 0.010, -0.448, 0, 0, 0,  [SEP] 44, RoomDecor, -5.805, 0.010, -0.486, 0, 0, 0,  [SEP] 45, Sofa, -2.683, 0.011, -0.124, 0, 0, 0,  [SEP] 46, ArmChair, -2.062, 0.014, 4.216, 0, 180, 0,  [SEP] 47, CoffeeTable, -2.646, 0.007, 1.150, 0, 0, 0,  [SEP] 48, Chair, -1.347, 0.009, 4.243, 0, 180, 0,  [SEP] 49, NorthWall, , , , , , ,  [SEP] 50, EastWall, , , , , , ,  [SEP] 51, SouthWall, , , , , , ,  [SEP] 52, WestWall, , , , , , ,

Output: STEP 1: Turn right, head towards the sofa, and then turn right towards the coffee table on your right. | STEP 2: Pick up the credit card on the table. | STEP 3: Turn left and walk towards the tall lamp next to the sofa. | STEP 4: Turn on the lamp. | END


Input: Put a chilled bowl in the cabinet above the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.25, 0, 180, 0,  [SEP] 1, Potato, -0.597, 0.938, -0.730, 0, 45, 0, 64 [SEP] 2, Ladle, 2.966, 0.937, -0.499, 0, 180, 0, 63 [SEP] 3, DishSponge, -0.033, 0.899, -1.291, 0, 45, 0, 85 [SEP] 4, ButterKnife, 3.029, 0.712, -0.454, 0, 180, 0, 60 [SEP] 5, ButterKnife, -1.008, 0.900, 0.176, 0, 0, 0, 64 [SEP] 6, Glassbottle, -0.290, 0.901, -1.547, 0, 45, 0, 85 [SEP] 7, Fork, -0.827, 0.131, 0.839, 0, 0, 0, 94 [SEP] 8, Fork, 3.044, 0.901, -0.698, 0, 0, 0, 63 [SEP] 9, CellPhone, -0.868, 0.323, 1.168, 0, 0, 0, 52 [SEP] 10, CellPhone, 0.710, 0.908, 0.627, 0, 0, 0, 95 [SEP] 11, Mug, 0.773, 0.706, -1.459, 0, 0, 0, 110 [SEP] 12, Lettuce, 0.929, 0.951, -1.503, 0, 0, 0, 110 [SEP] 13, SaltShaker, 0.422, 0.701, -1.475, 0, 0, 0, 72 [SEP] 14, PepperShaker, -0.683, 0.130, -0.706, 0, 45, 0, 84 [SEP] 15, PepperShaker, 0.468, 0.316, -1.556, 0, 0, 0, 70 [SEP] 16, Bowl, -1.052, 0.994, 1.364, 0, 90, 0, 112 [SEP] 17, SoapBottle, 2.888, 0.909, -0.599, 0, 0, 0, 63 [SEP] 18, SoapBottle, -0.964, 0.909, -0.667, 0, 45, 0, 64 [SEP] 19, Tomato, 3.200, 0.937, -0.698, 0, 0, 0, 63 [SEP] 20, Tomato, 0.059, 0.937, -1.383, 0, 45, 0, 85 [SEP] 21, Egg, 1.164, 0.938, -1.531, 0, 0, 0, 110 [SEP] 22, Cup, -0.789, 0.898, 0.399, 0, 0, 0, 64 [SEP] 23, Knife, -0.880, 0.925, -0.850, 0, 135, 0, 64 [SEP] 24, Knife, 0.022, 0.925, -1.731, 0, 90, 0, 85 [SEP] 25, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.279, 1.265, -0.790, 0, 0, 0, 77 [SEP] 27, SoapBottle, 3.315, 1.473, -1.333, 0, 0, 0, 78 [SEP] 28, Potato, 3.262, 0.139, 1.573, 0, 225, 0, 105 [SEP] 29, Fork, 3.07, 0.753, 0.098, 0, 270, 0, 109 [SEP] 30, Ladle, 3.102, 1.501, -1.186, 0, 0, 0, 78 [SEP] 31, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 32, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 66 [SEP] 33, Spatula, 3.044, 0.915, -0.499, 0, 0, 0, 63 [SEP] 34, Knife, 3.315, 0.926, -0.279, 0, 90, 0, 63 [SEP] 35, Lettuce, 0.710, 0.976, 0.426, 0, 0, 0, 95 [SEP] 36, Cup, 3.044, 1.462, -1.697, 0, 0, 0, 62 [SEP] 37, SaltShaker, -0.779, 0.130, -0.708, 0, 45, 0, 90 [SEP] 38, Egg, 0.929, 1.126, -1.448, 0, 0, 0, 110 [SEP] 39, PepperShaker, 0.494, 0.896, -1.373, 0, 0, 0, 85 [SEP] 40, ButterKnife, 1.229, 0.911, 0.605, 0, 0, 0, 95 [SEP] 41, Apple, -0.705, 0.974, -0.621, 0, 45, 0, 64 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, 0.445, 0.986, 0.727, 0, 0, 0, 95 [SEP] 44, CellPhone, 0.967, 0.905, 0.322, 0, 0, 0, 95 [SEP] 45, DishSponge, 3.141, 0.175, -0.744, 0, 0, 0, 76 [SEP] 46, Tomato, 1.164, 1.110, -1.503, 0, 0, 0, 110 [SEP] 47, Spoon, 3.070, 0.748, 0.231, 0, 90, 0, 109 [SEP] 48, Bowl, 0.808, 1.671, -1.410, 0, 0, 0, 79 [SEP] 49, Mug, 0.929, 0.706, -1.407, 0, 0, 0, 110 [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 right, go across the room, turn right and then turn left to face the bowl on the counter. | STEP 2: Pick up the bowl on the counter. | STEP 3: Turn left and go to the fridge. | STEP 4: Chill the bowl in the fridge and then take it back out. | STEP 5: Look up at the cabinet above the fridge. | STEP 6: Put the bowl in the right cabinet above the fridge. | END


Input: Get spoon from back of sink, put in bowl in refrigerator, put bowl and spoon on table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.0, 0, 180, 0,  [SEP] 1, Potato, -1.199, 0.962, 0.636, 0, 0, 0, 71 [SEP] 2, Potato, -0.908, 1.077, 1.920, 0, 0, 0, 49 [SEP] 3, Ladle, -2.011, 1.164, 0.190, 0, 90, 0, 59 [SEP] 4, DishSponge, -1.562, 0.048, 0.551, 0, 0, 0, 64 [SEP] 5, ButterKnife, -0.785, 1.048, 3.042, 0, 0, 0, 49 [SEP] 6, ButterKnife, -1.199, 0.931, 0.567, 0, 0, 0, 71 [SEP] 7, Pot, -3.373, 0.916, 2.849, 0, 90, 0, 66 [SEP] 8, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 71 [SEP] 9, Egg, -0.538, 1.078, 3.042, 0, 0, 0, 49 [SEP] 10, Egg, -1.376, 0.961, 0.221, 0, 0, 0, 71 [SEP] 11, Plate, -3.373, 0.910, 3.132, 0, 90, 0, 66 [SEP] 12, Plate, -3.572, 1.561, 3.132, 0, 90, 0, 66 [SEP] 13, Knife, -2.137, 1.157, 0.567, 0, 0, 0, 59 [SEP] 14, Knife, -0.662, 1.080, 2.817, 0, 0, 0, 49 [SEP] 15, SoapBottle, -1.995, 0.488, 0.646, 0, 0, 0, 50 [SEP] 16, SaltShaker, -1.156, 0.045, 0.381, 0, 0, 0, 53 [SEP] 17, PepperShaker, -2.601, 0.898, 0.612, 0, 0, 0, 58 [SEP] 18, Bread, -3.44, 1.647, 2.920, 0, 90, 0, 66 [SEP] 19, Bread, -0.908, 1.133, 2.817, 0, 0, 0, 49 [SEP] 20, Lettuce, -0.908, 1.124, 3.042, 0, 0, 0, 49 [SEP] 21, Apple, -1.111, 0.998, 0.221, 0, 0, 0, 71 [SEP] 22, Fork, -0.538, 1.048, 3.266, 0, 0, 0, 49 [SEP] 23, SoapBottle, -3.778, 1.125, 0.379, 0, 0, 0, 56 [SEP] 24, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 47 [SEP] 25, Ladle, -0.827, 1.164, 0.478, 0, 0, 0, 61 [SEP] 26, Potato, -0.883, 1.155, 0.659, 0, 0, 0, 61 [SEP] 27, Plate, -1.553, 0.930, 0.498, 0, 0, 0, 71 [SEP] 28, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 49 [SEP] 29, Lettuce, -0.785, 1.125, 1.920, 0, 0, 0, 49 [SEP] 30, Spatula, -1.376, 0.946, 0.428, 0, 90, 0, 71 [SEP] 31, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 63 [SEP] 32, Egg, -3.644, 0.142, 2.008, 0, 0, 0, 70 [SEP] 33, Cup, -0.292, 1.045, 2.593, 0, 0, 0, 49 [SEP] 34, SaltShaker, -2.592, 0.091, 0.512, 0, 0, 0, 52 [SEP] 35, Knife, -0.538, 1.080, 2.593, 0, 0, 0, 49 [SEP] 36, Bowl, -3.307, 1.284, 2.920, 0, 90, 0, 66 [SEP] 37, PepperShaker, -3.959, 1.121, 0.284, 0, 0, 0, 56 [SEP] 38, ButterKnife, -2.262, 1.124, 0.379, 0, 0, 0, 59 [SEP] 39, Apple, -2.388, 1.192, 0.662, 0, 0, 0, 59 [SEP] 40, Tomato, -2.639, 1.165, 0.379, 0, 0, 0, 59 [SEP] 41, DishSponge, -0.538, 1.047, 2.369, 0, 0, 0, 49 [SEP] 42, Spoon, -1.092, 1.154, 0.108, 0, 0, 0, 46 [SEP] 43, Mug, -0.715, 1.119, 0.206, 0, 0, 0, 61 [SEP] 44, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 45, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 46, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 47, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 48, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 49, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 50, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 51, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 52, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 53, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 54, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 55, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 56, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 57, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 58, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 59, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 60, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 61, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 62, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 63, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 64, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 65, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 66, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 67, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 68, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 69, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 70, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 71, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 72, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 73, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 74, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 75, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 76, NorthWall, , , , , , ,  [SEP] 77, SouthWall, , , , , , ,  [SEP] 78, SouthWall, , , , , , ,

Output: STEP 1: Turn right, go until between counter and sink.  Turn left to face counter and sink. | STEP 2: Pick up spoon front the back of the sink, behind the apple. | STEP 3: Turn right, proceed across room, turn left, go to refrigerator. | STEP 4: Open refrigerator, put spoon in bowl on middle shelf. | STEP 5: Pick up bowl and spoon from refrigerator.  Shut refrigerator. | STEP 6: Turn around, proceed to table across room. | STEP 7: Place bowl and spoon on table, below fork, to the left of the lettuce. | END


Input: Place the knife on the square plate on the white table behind the box on the right. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.75, 0, 0, 0,  [SEP] 1, Potato, -4.122, 0.723, -0.126, 0, 0, 0, 79 [SEP] 2, DishSponge, -3.586, 0.759, -2.841, 0, 199.125, 0, 80 [SEP] 3, ButterKnife, -4.002, 0.691, -0.369, 0, 0, 0, 79 [SEP] 4, ButterKnife, -0.236, 0.941, -1.581, 0, 0, 0, 62 [SEP] 5, Pot, -0.394, 0.942, -1.450, 0, 0, 0, 62 [SEP] 6, Fork, -3.364, 0.895, -0.548, 0, 270, 0, 81 [SEP] 7, Fork, -3.163, 0.895, -0.204, 0, 270, 0, 81 [SEP] 8, Spatula, -3.738, 0.775, -3.278, 0, 289.125, 0, 80 [SEP] 9, Spatula, -0.178, 0.957, -2.901, 0, 315, 0, 44 [SEP] 10, Egg, -0.293, 1.327, -0.878, 0, 270, 0, 74 [SEP] 11, Cup, -0.164, 1.939, -1.844, 0, 0, 0, 53 [SEP] 12, Plate, -4.182, 0.705, -0.308, 0, 0, 0, 79 [SEP] 13, Knife, -4.062, 0.716, -0.430, 0, 0, 0, 79 [SEP] 14, SoapBottle, -2.452, 0.097, -3.571, 0, 0, 0, 69 [SEP] 15, Tomato, -3.396, 0.810, -3.073, 0, 244.125, 0, 80 [SEP] 16, Bread, -3.163, 0.976, -0.462, 0, 270, 0, 81 [SEP] 17, Lettuce, -3.148, 0.851, -3.230, 0, 244.125, 0, 80 [SEP] 18, Lettuce, -2.359, 0.985, -0.290, 0, 270, 0, 81 [SEP] 19, PepperShaker, -3.942, 0.687, -0.248, 0, 0, 0, 79 [SEP] 20, Mug, -3.882, 0.685, -0.430, 0, 0, 0, 79 [SEP] 21, Mug, -3.314, 0.755, -3.241, 0, 244.125, 0, 80 [SEP] 22, Apple, -0.245, 1.550, -0.297, 0, 270, 0, 74 [SEP] 23, SoapBottle, -0.057, 1.500, -2.876, 0, 270, 0, 44 [SEP] 24, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 45 [SEP] 25, Fork, -3.305, 0.760, -3.684, 0, 334.125, 0, 80 [SEP] 26, Cup, -0.389, 0.081, -2.737, 0, 0, 0, 57 [SEP] 27, Tomato, -1.248, 0.993, -3.673, 0, 0, 0, 44 [SEP] 28, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 63 [SEP] 29, Plate, -0.201, 1.589, -1.937, 0, 270, 0, 76 [SEP] 30, Bread, -2.761, 0.976, -0.633, 0, 270, 0, 81 [SEP] 31, Spatula, -4.100, 0.775, -3.286, 0, 109.125, 0, 80 [SEP] 32, Knife, -3.578, 0.785, -3.007, 0, 199.125, 0, 80 [SEP] 33, SaltShaker, -1.151, 0.078, -3.454, 0, 0, 0, 59 [SEP] 34, PepperShaker, -0.465, 0.743, -1.375, 0, 0, 0, 48 [SEP] 35, ButterKnife, -3.364, 0.894, -0.204, 0, 270, 0, 81 [SEP] 36, Apple, -4.242, 0.752, -0.491, 0, 0, 0, 79 [SEP] 37, DishSponge, -0.126, 1.938, -2.179, 0, 0, 0, 54 [SEP] 38, Potato, -4.062, 0.722, -0.491, 0, 0, 0, 79 [SEP] 39, Egg, -0.252, 1.327, -0.762, 0, 270, 0, 74 [SEP] 40, Spoon, -3.350, 0.761, -3.480, 0, 109.125, 0, 80 [SEP] 41, Lettuce, -2.560, 0.985, -0.204, 0, 270, 0, 81 [SEP] 42, Mug, -0.359, 1.483, -0.529, 0, 270, 0, 74 [SEP] 43, Bowl, -0.529, 0.811, -3.221, 0, 315, 0, 73 [SEP] 44, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0,  [SEP] 45, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0,  [SEP] 46, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0,  [SEP] 47, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0,  [SEP] 48, Drawer, -0.500, 0.779, -1.450, 0, 0, 0,  [SEP] 49, Drawer, -0.481, 0.777, -2.739, 0, 0, 0,  [SEP] 50, Drawer, -1.154, 0.782, -3.499, 0, 0, 0,  [SEP] 51, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0,  [SEP] 52, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0,  [SEP] 53, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0,  [SEP] 54, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0,  [SEP] 55, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0,  [SEP] 56, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0,  [SEP] 57, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0,  [SEP] 58, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0,  [SEP] 59, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0,  [SEP] 60, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0,  [SEP] 61, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0,  [SEP] 62, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0,  [SEP] 63, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0,  [SEP] 64, Sink, -0.600, 0.929, -3.388, 0, 0, 0,  [SEP] 65, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180,  [SEP] 66, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180,  [SEP] 67, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180,  [SEP] 68, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180,  [SEP] 69, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0,  [SEP] 70, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0,  [SEP] 71, Window, -1.389, 1.610, -4.113, 90, 0, 0,  [SEP] 72, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0,  [SEP] 73, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0,  [SEP] 74, Fridge, -0.314, 0.0, -0.646, 0, 0, 0,  [SEP] 75, Toaster, -1.970, 0.930, -3.763, 0, 0, 0,  [SEP] 76, Microwave, -0.216, 1.470, -2.054, 0, 270, 0,  [SEP] 77, Blinds, -1.373, 2.205, -3.961, 0, 0, 0,  [SEP] 78, Faucet, -0.393, 0.930, -3.614, 270, 225, 0,  [SEP] 79, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0,  [SEP] 80, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0,  [SEP] 81, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0,  [SEP] 82, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0,  [SEP] 83, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,

Output: STEP 1: Go to the left then straight to face the black shelf in the corner. | STEP 2: Pick the yellow knife up from off of the shelf. | STEP 3: Place the knife on the square plate. | STEP 4: Pick the square plate up from off of the black shelf. | STEP 5: Move to the right to face the white table. | STEP 6: Place the knife on the plate behind the box on the right. | END