Input: To move two cushions from the bed to the brown chair.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0,  [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0,  [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0,  [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0,  [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0,  [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0,  [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0,  [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0,  [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0,  [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0,  [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0,  [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0,  [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0,  [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0,  [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0,  [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Move in front of the left cushion on the bed.  | STEP 2: Pick up the cushion that's to the right of the lap top.  | STEP 3: Turn left and walk to the brown chair to the right of the window.  | STEP 4: Place the cushion on the brown chair right next to the keys.  | STEP 5: Turn right and walk back to the foot of the bed.  | STEP 6: Pick up the remaining cushion from the right edge of the bed.  | STEP 7: Turn left and walk back to the chair to the right of the window.  | STEP 8: Place the cushion on the brown chair to the right of the first cushion.  | END


Input: Put two pillows on a chair.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0,  [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0,  [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0,  [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0,  [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0,  [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0,  [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0,  [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0,  [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0,  [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0,  [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0,  [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0,  [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0,  [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0,  [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0,  [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0,  [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn to the left, go forward, turn to face the bed.  | STEP 2: Pick up the leftmost purple pillow on the bed.  | STEP 3: Turn to the left, go to the wall, turn to the right, go to the chair.  | STEP 4: Put the pillow on the left side of the chair cushion.  | STEP 5: Turn around, go to the bed, turn right, go to the end of the bed, turn left, go to the far side of the bed.   | STEP 6: Pick up the purple pillow that is on the bed.  | STEP 7: Turn left, go to the wall, turn right, go to the chair.  | STEP 8: Put the pillow on the chair to the right of the other pillow.  | END


Input: Pick up a box from the floor and place it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -2.5, 0, 180, 0,  [SEP] 1, Laptop, 0.794, 0.543, 0.814, 0, 180, 0, 31 [SEP] 2, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 44 [SEP] 3, Bowl, -1.743, 0.757, -0.350, 0, 90, 0, 38 [SEP] 4, KeyChain, 2.151, 0.506, -2.309, 0, 0, 0, 44 [SEP] 5, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 39 [SEP] 6, Statue, -1.802, 1.315, -2.467, 0, 270, 0, 36 [SEP] 7, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 31 [SEP] 8, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 38 [SEP] 9, Vase, -1.680, 0.172, -0.950, 0, 90, 0, 40 [SEP] 10, Statue, -1.871, 0.858, -1.055, 0, 90, 0, 38 [SEP] 11, RemoteControl, 2.321, 0.453, -2.141, 0, 270, 0, 44 [SEP] 12, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 28 [SEP] 13, CreditCard, 0.353, 0.545, 0.723, 0, 180, 0, 31 [SEP] 14, Vase, -1.807, 0.760, -1.290, 0, 90, 0, 38 [SEP] 15, Statue, -0.001, 0.189, -2.521, 0, 90, 0, 28 [SEP] 16, Painting, 0.172, 1.781, 1.934, 0, 0, 0,  [SEP] 17, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0,  [SEP] 18, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0,  [SEP] 19, Television, -0.035, 1.239, -2.439, 0, 0, 0,  [SEP] 20, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0,  [SEP] 21, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0,  [SEP] 22, Window, -0.816, 1.534, -2.719, 90, 0, 0,  [SEP] 23, Window, 0.791, 1.534, -2.718, 90, 0, 0,  [SEP] 24, Shelf, 0.340, 0.474, -2.377, 0, 0, 0,  [SEP] 25, Shelf, 0.341, 0.273, -2.377, 0, 0, 0,  [SEP] 26, TVStand, -0.025, -0.000, -2.385, 0, 0, 0,  [SEP] 27, Shelf, -0.393, 0.302, -2.382, 0, 0, 0,  [SEP] 28, Shelf, -0.026, 0.442, -2.380, 0, 0, 0,  [SEP] 29, Shelf, -0.393, 0.597, -2.382, 0, 0, 0,  [SEP] 30, Shelf, 0.340, 0.643, -2.377, 0, 0, 0,  [SEP] 31, Sofa, 0.124, 0.008, 1.032, 0, 180, 0,  [SEP] 32, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0,  [SEP] 33, Shelf, -1.827, 2.041, -2.356, 0, 90, 0,  [SEP] 34, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0,  [SEP] 35, Shelf, -1.827, 1.744, -2.356, 0, 90, 0,  [SEP] 36, Shelf, -1.827, 1.452, -2.356, 0, 90, 0,  [SEP] 37, Shelf, -1.730, 0.278, -1.635, 0, 90, 0,  [SEP] 38, TVStand, -1.733, -0.000, -1.058, 0, 90, 0,  [SEP] 39, Shelf, -1.730, 0.302, -0.479, 0, 90, 0,  [SEP] 40, Shelf, -1.732, 0.446, -1.056, 0, 90, 0,  [SEP] 41, Shelf, -1.731, 0.596, -0.478, 0, 90, 0,  [SEP] 42, Shelf, -1.733, 0.648, -1.635, 0, 90, 0,  [SEP] 43, Shelf, -1.730, 0.477, -1.635, 0, 90, 0,  [SEP] 44, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0,  [SEP] 45, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Walk behind you to the box next to the chair. | STEP 2: Grab the box from the floor. | STEP 3: Walk to the edge of the coffee table. | STEP 4: Put the box on the table. | END


Input: Put a heated mug in the cupboard above the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Potato, -0.160, 0.959, 0.991, 0, 0, 0, 78 [SEP] 2, Potato, -1.572, 1.533, -0.806, 0, 90, 0, 69 [SEP] 3, ButterKnife, 0.180, 0.930, 0.534, 0, 0, 0, 78 [SEP] 4, Pot, -1.438, 0.857, -0.910, 0, 180, 0, 69 [SEP] 5, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 6, Spatula, 1.153, 0.928, -2.002, 0, 0, 0, 61 [SEP] 7, Egg, 1.618, 0.967, -1.751, 0, 0, 0, 61 [SEP] 8, Cup, 0.294, 0.930, 0.991, 0, 0, 0, 78 [SEP] 9, Plate, 1.850, 0.916, -1.918, 0, 0, 0, 61 [SEP] 10, Plate, 1.647, 0.916, -1.329, 0, 0, 0, 61 [SEP] 11, Tomato, -0.137, 0.816, -2.071, 0, 0, 0, 73 [SEP] 12, Bowl, 0.066, 0.927, 0.762, 0, 0, 0, 78 [SEP] 13, Lettuce, 0.522, 1.011, 0.534, 0, 0, 0, 78 [SEP] 14, PepperShaker, 0.066, 0.923, 0.076, 0, 0, 0, 78 [SEP] 15, Mug, -0.047, 0.925, 0.305, 0, 0, 0, 78 [SEP] 16, Mug, -0.616, 0.908, -2.167, 0, 0, 0, 61 [SEP] 17, Apple, -1.553, 1.254, -0.599, 0, 90, 0, 69 [SEP] 18, Apple, -1.186, 1.086, -1.638, 0, 90, 0, 67 [SEP] 19, Apple, -0.160, 0.997, 0.762, 0, 0, 0, 78 [SEP] 20, Potato, 0.066, 0.959, 1.448, 0, 0, 0, 78 [SEP] 21, Bowl, -1.277, 1.656, -1.729, 0, 90, 0, 44 [SEP] 22, SoapBottle, 1.464, 0.879, 2.483, 0, 0, 0, 82 [SEP] 23, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 61 [SEP] 24, Ladle, 1.913, 1.702, -1.199, 0, 270, 0, 52 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 78 [SEP] 26, Lettuce, -0.283, 0.845, -2.026, 0, 0, 0, 73 [SEP] 27, WineBottle, 1.566, 0.881, 2.429, 0, 0, 0, 82 [SEP] 28, Spatula, 0.294, 0.941, 0.305, 0, 0, 0, 78 [SEP] 29, Plate, -1.438, 1.187, -0.806, 0, 90, 0, 69 [SEP] 30, SaltShaker, 0.457, 0.909, -2.085, 0, 0, 0, 61 [SEP] 31, Pot, 0.408, 0.928, 1.220, 0, 90, 0, 78 [SEP] 32, Cup, 1.294, 0.119, -1.968, 0, 0, 0, 53 [SEP] 33, PepperShaker, -0.160, 0.926, 0.076, 0, 0, 0, 78 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 0.066, 0.930, 0.305, 0, 0, 0, 78 [SEP] 36, Tomato, -0.824, 0.965, -2.167, 0, 0, 0, 61 [SEP] 37, DishSponge, 1.748, 0.120, -1.463, 0, 270, 0, 55 [SEP] 38, Egg, -1.284, 1.059, -1.742, 0, 90, 0, 67 [SEP] 39, Spoon, -0.064, 0.765, -2.026, 0, 180, 0, 73 [SEP] 40, Knife, 0.119, 0.936, -1.689, 0, 0, 0, 61 [SEP] 41, Mug, 1.181, 0.114, -1.968, 0, 0, 0, 53 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Turn right, then left then right and go towards the fridge, then turn left and go to the sink | STEP 2: Pick up the mug from the counter | STEP 3: Turn right and go to the microwave | STEP 4: Heat the mug in the microwave with the fruit then take the mug out of the microwave | STEP 5: Lift the mug up high towards the cupboard above the microwave | STEP 6: Put the mug in the cupboard next to the bowl | END


Input: Put a heated mug in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 180, 0,  [SEP] 1, Potato, -0.160, 0.959, 0.991, 0, 0, 0, 78 [SEP] 2, Potato, -1.572, 1.533, -0.806, 0, 90, 0, 69 [SEP] 3, ButterKnife, 0.180, 0.930, 0.534, 0, 0, 0, 78 [SEP] 4, Pot, -1.438, 0.857, -0.910, 0, 180, 0, 69 [SEP] 5, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 6, Spatula, 1.153, 0.928, -2.002, 0, 0, 0, 61 [SEP] 7, Egg, 1.618, 0.967, -1.751, 0, 0, 0, 61 [SEP] 8, Cup, 0.294, 0.930, 0.991, 0, 0, 0, 78 [SEP] 9, Plate, 1.850, 0.916, -1.918, 0, 0, 0, 61 [SEP] 10, Plate, 1.647, 0.916, -1.329, 0, 0, 0, 61 [SEP] 11, Tomato, -0.137, 0.816, -2.071, 0, 0, 0, 73 [SEP] 12, Bowl, 0.066, 0.927, 0.762, 0, 0, 0, 78 [SEP] 13, Lettuce, 0.522, 1.011, 0.534, 0, 0, 0, 78 [SEP] 14, PepperShaker, 0.066, 0.923, 0.076, 0, 0, 0, 78 [SEP] 15, Mug, -0.047, 0.925, 0.305, 0, 0, 0, 78 [SEP] 16, Mug, -0.616, 0.908, -2.167, 0, 0, 0, 61 [SEP] 17, Apple, -1.553, 1.254, -0.599, 0, 90, 0, 69 [SEP] 18, Apple, -1.186, 1.086, -1.638, 0, 90, 0, 67 [SEP] 19, Apple, -0.160, 0.997, 0.762, 0, 0, 0, 78 [SEP] 20, Potato, 0.066, 0.959, 1.448, 0, 0, 0, 78 [SEP] 21, Bowl, -1.277, 1.656, -1.729, 0, 90, 0, 44 [SEP] 22, SoapBottle, 1.464, 0.879, 2.483, 0, 0, 0, 82 [SEP] 23, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 61 [SEP] 24, Ladle, 1.913, 1.702, -1.199, 0, 270, 0, 52 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 78 [SEP] 26, Lettuce, -0.283, 0.845, -2.026, 0, 0, 0, 73 [SEP] 27, WineBottle, 1.566, 0.881, 2.429, 0, 0, 0, 82 [SEP] 28, Spatula, 0.294, 0.941, 0.305, 0, 0, 0, 78 [SEP] 29, Plate, -1.438, 1.187, -0.806, 0, 90, 0, 69 [SEP] 30, SaltShaker, 0.457, 0.909, -2.085, 0, 0, 0, 61 [SEP] 31, Pot, 0.408, 0.928, 1.220, 0, 90, 0, 78 [SEP] 32, Cup, 1.294, 0.119, -1.968, 0, 0, 0, 53 [SEP] 33, PepperShaker, -0.160, 0.926, 0.076, 0, 0, 0, 78 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 0.066, 0.930, 0.305, 0, 0, 0, 78 [SEP] 36, Tomato, -0.824, 0.965, -2.167, 0, 0, 0, 61 [SEP] 37, DishSponge, 1.748, 0.120, -1.463, 0, 270, 0, 55 [SEP] 38, Egg, -1.284, 1.059, -1.742, 0, 90, 0, 67 [SEP] 39, Spoon, -0.064, 0.765, -2.026, 0, 180, 0, 73 [SEP] 40, Knife, 0.119, 0.936, -1.689, 0, 0, 0, 61 [SEP] 41, Mug, 1.181, 0.114, -1.968, 0, 0, 0, 53 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Cross the room to the left and stand in front of the sink. | STEP 2: Pick the white mug up from the sink. | STEP 3: Turn to the right and face the microwave. | STEP 4: Put the mug in the microwave and shut the door and then open the door and grab the mug and shut the door again. | STEP 5: Look up and face the large cabinet above the microwave. | STEP 6: Put the mug in the cabinet above the microwave with a silver bowl. | END


Input: Place a cleaned cloth towel in a bath tub basin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.903, 4.5, 0, 180, 0,  [SEP] 1, Cloth, -1.391, 0.164, 0.736, 0, 0, 0, 33 [SEP] 2, Cloth, -2.163, 0.704, 0.280, 0, 0, 0, 24 [SEP] 3, SoapBar, -2.322, 0.704, 0.717, 0, 0, 0, 24 [SEP] 4, SoapBar, 0.081, 1.054, 3.629, 0, 0, 0, 27 [SEP] 5, Candle, 0.046, 1.063, 3.432, 0, 0, 0, 27 [SEP] 6, SprayBottle, -0.122, 0.153, 1.349, 0, 90, 0, 35 [SEP] 7, SprayBottle, 0.668, 1.048, 4.277, 0, 270, 0, 36 [SEP] 8, SoapBottle, 0.729, 1.051, 4.473, 0, 0, 0, 36 [SEP] 9, SoapBottle, -0.944, 0.707, 1.080, 0, 0, 0, 24 [SEP] 10, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 30 [SEP] 11, Candle, 0.112, 1.063, 2.108, 0, 0, 0, 27 [SEP] 12, Cloth, -0.680, 0.164, 0.465, 0, 0, 0, 33 [SEP] 13, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 34 [SEP] 14, Plunger, 0.480, 0.002, 4.793, 0, 0, 0,  [SEP] 15, SoapBar, 0.377, 0.097, 3.070, 0, 0, 0, 23 [SEP] 16, ToiletPaper, 0.232, 0.094, 3.070, 0, 0, 0, 23 [SEP] 17, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 31 [SEP] 18, SoapBottle, 0.112, 1.058, 2.200, 0, 0, 0, 27 [SEP] 19, SprayBottle, 0.786, 1.055, 2.604, 0, 0, 0, 25 [SEP] 20, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0,  [SEP] 21, Sink, 0.426, 1.037, 2.947, 0, 270, 0,  [SEP] 22, Window, -2.548, 1.673, 2.405, 0, 0, 0,  [SEP] 23, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0,  [SEP] 24, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0,  [SEP] 25, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0,  [SEP] 26, Mirror, 0.858, 1.863, 2.972, 0, 0, 0,  [SEP] 27, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0,  [SEP] 28, Faucet, -0.207, 0.687, 0.546, 0, 0, 0,  [SEP] 29, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0,  [SEP] 30, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0,  [SEP] 31, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0,  [SEP] 32, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0,  [SEP] 33, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0,  [SEP] 34, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0,  [SEP] 35, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0,  [SEP] 36, Toilet, 0.376, 0.002, 4.470, 0, 0, 0,  [SEP] 37, Faucet, 0.661, 1.043, 3.371, 0, 270, 0,  [SEP] 38, Faucet, 0.661, 1.043, 2.520, 0, 270, 0,  [SEP] 39, NorthWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,  [SEP] 42, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the bath tub. | STEP 2: Pick up the cloth towel out of the bath tub. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the cloth towel in the sink, rinse it off, and take it back out. | STEP 5: Turn right and walk back to the bath tub. | STEP 6: Put the cloth towel back in the bath tub basin. | END


Input: Put the plunger in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 1.75, 0, 180, 0,  [SEP] 1, TissueBox, -0.859, 0.860, 0.374, 0, 270, 0, 19 [SEP] 2, SoapBar, -1.779, 0.850, 0.364, 0, 0, 0, 40 [SEP] 3, Candle, -0.812, 1.134, 0.228, 0, 0, 0, 30 [SEP] 4, SprayBottle, -0.858, 0.119, 0.311, 0, 0, 0, 21 [SEP] 5, SoapBottle, -3.098, 0.692, 1.730, 0, 0, 0, 23 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -3.324, 0.219, 0.449, 0, 0, 0, 39 [SEP] 8, ToiletPaper, -0.767, 1.650, 0.311, 0, 0, 0, 29 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -0.256, 0.952, 2.669, 0, 270, 0, 38 [SEP] 11, TissueBox, -0.812, 1.134, 0.466, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -2.071, 1.297, 2.096, 0, 0, 0, 32 [SEP] 13, SoapBottle, -0.991, 1.137, 0.110, 0, 0, 0, 30 [SEP] 14, SprayBottle, -2.076, 0.109, 2.100, 0, 0, 0, 20 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.449, 0.219, 1.104, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0,  [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0,  [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0,  [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0,  [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0,  [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0,  [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0,  [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0,  [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0,  [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0,  [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0,  [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0,  [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0,  [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0,  [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0,  [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0,  [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0,  [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0,  [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0,  [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0,  [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0,  [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0,  [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0,  [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0,  [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0,  [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Turn right, go forward, then turn right to face the toilet. | STEP 2: Pick up the plunger, to the left of the toilet. | STEP 3: Turn around, move forward, then turn right to face the cabinet. | STEP 4: Put the plunger in the cabinet in front of you. | END


Input: Put a washed soap away in a cabinet.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 3.0, 0, 0, 0,  [SEP] 1, SoapBar, -3.701, 0.185, 2.895, 0, 0, 0, 19 [SEP] 2, Candle, -1.229, 0.048, 4.828, 0, 0, 0, 30 [SEP] 3, Candle, -3.597, 0.550, 1.293, 0, 90, 0, 36 [SEP] 4, SoapBottle, -1.095, 0.968, 4.734, 0, 0, 0, 26 [SEP] 5, SoapBottle, -1.279, 0.044, 5.006, 0, 0, 0, 30 [SEP] 6, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 34 [SEP] 7, Candle, -0.911, 0.046, 4.708, 0, 0, 0, 29 [SEP] 8, SoapBottle, -0.294, 0.044, 4.946, 0, 0, 0, 20 [SEP] 9, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 38 [SEP] 10, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 33 [SEP] 11, SoapBar, -2.227, 0.034, 4.948, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -0.188, 1.036, 3.374, 0, 0, 0, 40 [SEP] 13, TissueBox, -3.828, 0.541, 0.741, 0, 90, 0, 36 [SEP] 14, Cloth, -0.811, 0.038, 4.768, 0, 90, 0, 29 [SEP] 15, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 39 [SEP] 16, SprayBottle, -0.285, 1.045, 3.157, 0, 270, 0, 40 [SEP] 17, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 18, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 19, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0,  [SEP] 20, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0,  [SEP] 21, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0,  [SEP] 22, Faucet, -3.475, 0.711, 3.811, 0, 0, 0,  [SEP] 23, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0,  [SEP] 24, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0,  [SEP] 25, Faucet, -1.524, 1.047, 5.096, 0, 180, 0,  [SEP] 26, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0,  [SEP] 27, Mirror, -0.975, 1.577, 5.145, 0, 0, 0,  [SEP] 28, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0,  [SEP] 29, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0,  [SEP] 30, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0,  [SEP] 31, Window, -1.993, 1.888, 0.144, 0, 0, 0,  [SEP] 32, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0,  [SEP] 33, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0,  [SEP] 34, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0,  [SEP] 35, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0,  [SEP] 36, Shelf, -3.713, 0.531, 0.951, 0, 90, 0,  [SEP] 37, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0,  [SEP] 38, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0,  [SEP] 39, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0,  [SEP] 40, Toilet, -0.517, -0.000, 3.220, 0, 0, 0,  [SEP] 41, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0,  [SEP] 42, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0,  [SEP] 43, Sink, -0.579, 0.926, 4.874, 0, 180, 0,  [SEP] 44, Sink, -1.524, 0.926, 4.874, 0, 180, 0,  [SEP] 45, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0,  [SEP] 46, Faucet, -0.583, 1.047, 5.096, 0, 180, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Move forward to the trash can. | STEP 2: Pick up the soap from the trash can.  | STEP 3: Move right with the soap and face the sink on the right.  | STEP 4: Wash the soap in the sink with water.  | STEP 5: Bring the washed soap to the right cabinet under the right sink.  | STEP 6: Put the washed soap in the right cabinet under the right sink.  | END


Input: To ultimately cook tomatoes 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, 1.25, 0.901, 0.0, 0, 270, 0,  [SEP] 1, Pan, 2.074, 0.937, 1.964, 0, 90, 0, 58 [SEP] 2, Potato, 0.033, 0.831, 0.377, 0, 0, 0, 85 [SEP] 3, Potato, -0.349, 0.831, 1.386, 0, 0, 0, 85 [SEP] 4, WineBottle, -0.167, 0.938, 2.827, 0, 0, 0, 58 [SEP] 5, DishSponge, 1.223, 0.794, 2.695, 0, 0, 0, 82 [SEP] 6, DishSponge, 2.225, 0.937, 0.806, 0, 0, 0, 69 [SEP] 7, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 85 [SEP] 8, Spatula, 0.033, 0.805, 0.713, 0, 90, 0, 85 [SEP] 9, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 85 [SEP] 10, Fork, -0.119, 0.791, 1.386, 0, 0, 0, 85 [SEP] 11, Egg, -0.425, 0.833, 0.881, 0, 0, 0, 85 [SEP] 12, Egg, 2.168, 1.363, -0.007, 0, 270, 0, 79 [SEP] 13, Cup, 2.280, 1.501, 0.388, 0, 0, 0, 66 [SEP] 14, Cup, -0.362, 1.034, 1.907, 0, 90, 0, 83 [SEP] 15, Plate, 1.156, 0.085, 2.523, 0, 0, 0, 64 [SEP] 16, Plate, 2.164, 0.606, -0.460, 0, 270, 0, 79 [SEP] 17, Knife, 0.735, 0.827, 2.695, 0, 270, 0, 82 [SEP] 18, SoapBottle, 2.127, 1.504, 0.695, 0, 0, 0, 66 [SEP] 19, Tomato, -0.295, 0.083, -0.769, 0, 90, 0, 80 [SEP] 20, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 69 [SEP] 21, Tomato, -0.042, 0.837, 1.386, 0, 0, 0, 85 [SEP] 22, Bowl, -0.042, 0.787, 0.545, 0, 0, 0, 85 [SEP] 23, SaltShaker, 0.566, 0.076, 2.484, 0, 0, 0, 65 [SEP] 24, PepperShaker, -0.119, 0.785, 0.377, 0, 0, 0, 85 [SEP] 25, Mug, 2.167, 1.943, 1.097, 0, 0, 0, 68 [SEP] 26, Apple, 2.168, 1.371, -0.369, 0, 270, 0, 79 [SEP] 27, Egg, -0.053, 0.980, 2.688, 0, 0, 0, 58 [SEP] 28, Lettuce, -0.349, 0.852, 0.545, 0, 0, 0, 85 [SEP] 29, Fork, 1.815, 0.747, 2.060, 0, 90, 0, 73 [SEP] 30, SoapBottle, -0.282, 0.938, 2.618, 0, 0, 0, 58 [SEP] 31, Ladle, 0.779, 0.125, 2.523, 0, 0, 0, 65 [SEP] 32, Ladle, -0.096, 0.942, 2.546, 6.838, 45, 340.406, 58 [SEP] 33, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 85 [SEP] 34, SaltShaker, -0.118, 0.932, 2.451, 0, 0, 0, 58 [SEP] 35, Potato, 2.250, 0.642, -0.188, 0, 270, 0, 79 [SEP] 36, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 53 [SEP] 37, WineBottle, -0.053, 0.938, 2.827, 0, 0, 0, 58 [SEP] 38, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 57 [SEP] 39, Knife, -0.119, 0.816, 1.217, 0, 0, 0, 85 [SEP] 40, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 85 [SEP] 41, Apple, 2.158, 0.910, -0.007, 0, 270, 0, 79 [SEP] 42, ButterKnife, 0.682, 0.795, 2.64, 0, 0, 0, 82 [SEP] 43, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 62 [SEP] 44, PepperShaker, -0.349, 0.785, 0.377, 0, 0, 0, 85 [SEP] 45, Cup, 1.855, 1.501, 2.767, 0, 0, 0, 59 [SEP] 46, DishSponge, 0.629, 0.794, 2.695, 0, 0, 0, 82 [SEP] 47, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 54 [SEP] 48, Spoon, 1.917, 0.939, 0.806, 0, 0, 0, 69 [SEP] 49, Mug, -0.261, 1.030, 2.014, 0, 90, 0, 83 [SEP] 50, Bowl, 2.024, 1.515, -0.278, 0, 270, 0, 79 [SEP] 51, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 52, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 53, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 54, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 55, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 56, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 57, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 58, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 59, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 60, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 61, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 62, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 63, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 64, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 65, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 66, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 67, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 68, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 69, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 70, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 71, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 72, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 73, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 75, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 76, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 77, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 78, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 79, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 80, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 81, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 82, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 83, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 84, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 85, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 86, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 87, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 88, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Move to the left end of the white table where there are two tomatoes and utensils. | STEP 2: Pick up the knife that is on the table.  | STEP 3: Slice the tomato on the left side.  | STEP 4: Move down to the very end of the table.  | STEP 5: Slice the tomato on the right side.  | STEP 6: Move across the room to the microwave. | STEP 7: Put the knife inside the microwave. | STEP 8: Return to the table with the tomatoes. | STEP 9: Pick up the tomatoes off of the table.  | STEP 10: Move to the microwave and open the door.  | STEP 11: Place the tomatoes inside the microwave. | STEP 12: Close the door. Move back to the white table with the tomatoes. | STEP 13: Pick up another slice of tomato that is on the counter.  | STEP 14: Move back to the microwave and open the door.  | STEP 15: Put the tomato in the microwave and close the door. | END


Input: Grab two cards from the dresser, put them in the bookcase SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, -0.25, 0, 270, 0,  [SEP] 1, Mug, -1.515, 0.597, -0.816, 0, 0, 0, 52 [SEP] 2, Vase, 1.853, 0.978, -2.298, 0, 0, 0, 32 [SEP] 3, Vase, 0.536, 0.729, -2.588, 0, 180, 0, 45 [SEP] 4, CellPhone, 0.306, 0.728, -2.705, 0, 180, 0, 45 [SEP] 5, CellPhone, -0.794, 0.417, -1.488, 0, 0, 0, 51 [SEP] 6, Pen, 0.536, 0.734, -2.471, 0, 180, 0, 45 [SEP] 7, Pen, 0.651, 0.734, -2.588, 0, 270, 0, 45 [SEP] 8, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 52 [SEP] 9, CreditCard, 0.306, 0.728, -2.530, 0, 180, 0, 45 [SEP] 10, CreditCard, 0.076, 0.730, -2.764, 0, 180, 0, 45 [SEP] 11, CreditCard, -1.901, 0.508, -1.232, 0, 0, 0, 54 [SEP] 12, KeyChain, -1.864, 0.509, -1.107, 0, 0, 0, 54 [SEP] 13, Book, -0.564, 0.418, -1.855, 0, 0, 0, 51 [SEP] 14, Box, 1.996, 0.316, -1.042, 0, 254.839, 0,  [SEP] 15, Book, -1.024, 0.418, -2.100, 0, 0, 0, 51 [SEP] 16, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 51 [SEP] 17, CellPhone, 0.766, 0.730, -2.764, 0, 180, 0, 45 [SEP] 18, Vase, -1.846, 0.599, -0.533, 0, 0, 0, 52 [SEP] 19, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0,  [SEP] 20, CreditCard, 0.076, 0.730, -2.471, 0, 180, 0, 45 [SEP] 21, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714,  [SEP] 22, KeyChain, -1.718, 0.509, -1.148, 0, 0, 0, 54 [SEP] 23, AlarmClock, -1.582, 0.599, -0.533, 0, 0, 0, 52 [SEP] 24, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0,  [SEP] 25, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 52 [SEP] 26, CD, 0.735, 0.724, -2.547, 0, 0, 0, 45 [SEP] 27, CD, 1.257, 1.178, -2.277, 0, 0, 0, 33 [SEP] 28, Pen, 1.851, 0.060, -2.240, 0, 0, 0, 63 [SEP] 29, Pencil, 1.384, 0.058, -2.240, 0, 0, 0, 61 [SEP] 30, Mug, 1.917, 1.575, -2.298, 0, 0, 0, 36 [SEP] 31, Shelf, 1.311, 0.969, -2.298, 0, 0, 0,  [SEP] 32, Shelf, 1.843, 0.969, -2.298, 0, 0, 0,  [SEP] 33, Shelf, 1.311, 1.171, -2.298, 0, 0, 0,  [SEP] 34, Shelf, 1.843, 1.171, -2.298, 0, 0, 0,  [SEP] 35, Shelf, 1.311, 1.368, -2.298, 0, 0, 0,  [SEP] 36, Shelf, 1.843, 1.570, -2.298, 0, 0, 0,  [SEP] 37, Shelf, 1.843, 1.368, -2.298, 0, 0, 0,  [SEP] 38, Shelf, 1.311, 1.570, -2.298, 0, 0, 0,  [SEP] 39, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0,  [SEP] 40, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0,  [SEP] 41, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0,  [SEP] 42, Poster, 0.001, 1.495, -2.642, 90, 90, 0,  [SEP] 43, Mirror, -1.072, 1.469, 0.497, 0, 0, 0,  [SEP] 44, Window, 0.435, 1.398, -2.855, 90, 0, 0,  [SEP] 45, SideTable, 0.435, 0.036, -2.647, 0, 0, 0,  [SEP] 46, Drawer, 0.433, 0.203, -2.445, 0, 0, 0,  [SEP] 47, Drawer, 0.433, 0.505, -2.445, 0, 0, 0,  [SEP] 48, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0,  [SEP] 49, Blinds, 0.449, 2.164, -2.845, 0, 0, 0,  [SEP] 50, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412,  [SEP] 51, Bed, -1.047, -0.000, -1.851, 0, 270, 0,  [SEP] 52, Desk, -1.710, 0.000, -0.374, 0, 90, 0,  [SEP] 53, Drawer, -1.790, 0.245, -1.144, 0, 90, 0,  [SEP] 54, SideTable, -1.824, 0.000, -1.144, 0, 90, 0,  [SEP] 55, Drawer, -1.790, 0.392, -1.144, 0, 90, 0,  [SEP] 56, Drawer, -1.790, 0.097, -1.144, 0, 90, 0,  [SEP] 57, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0,  [SEP] 58, Shelf, 1.591, 0.606, -2.305, 0, 0, 0,  [SEP] 59, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0,  [SEP] 60, Shelf, 1.854, 0.453, -2.298, 0, 0, 0,  [SEP] 61, Shelf, 1.321, 0.155, -2.296, 0, 0, 0,  [SEP] 62, Shelf, 1.323, 0.456, -2.300, 0, 0, 0,  [SEP] 63, Shelf, 1.852, 0.152, -2.294, 0, 0, 0,  [SEP] 64, NorthWall, , , , , , ,  [SEP] 65, EastWall, , , , , , ,  [SEP] 66, SouthWall, , , , , , ,  [SEP] 67, WestWall, , , , , , ,

Output: STEP 1: Walk towards the dresser | STEP 2: Grab a card from the dresser | STEP 3: Walk towards the bookcase | STEP 4: Put the card in top of the cd inside the bookcase | STEP 5: Walk to the dresser | STEP 6: Grab a card from the dresser | STEP 7: Walk towards the bookcase | STEP 8: Put card next to the cd | END


Input: The robot must be accurate at both the spoon,the  bowl to be handled.  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, 2.0, 0, 180, 0,  [SEP] 1, Potato, 2.074, 0.806, 4.176, 0, 329.999, 0, 52 [SEP] 2, DishSponge, 1.743, 1.026, 1.802, 0, 136.999, 0, 51 [SEP] 3, DishSponge, 1.961, 0.801, 1.252, 0, 317.0, 0, 65 [SEP] 4, ButterKnife, 2.299, 1.026, 1.205, 0, 136.999, 0, 51 [SEP] 5, ButterKnife, 2.555, 0.764, 3.865, 0, 225, 0, 52 [SEP] 6, WineBottle, -0.360, 1.028, 1.356, 0, 0, 0, 54 [SEP] 7, Glassbottle, -0.987, 0.786, -0.516, 0, 90, 0, 95 [SEP] 8, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 50 [SEP] 9, Spatula, 1.297, 0.805, -1.633, 0, 90, 0, 58 [SEP] 10, Plate, 2.621, 1.027, -0.541, 0, 0, 0, 51 [SEP] 11, Knife, 2.376, 0.789, 4.145, 0, 180, 0, 52 [SEP] 12, Knife, 1.230, 1.052, -1.881, 0, 90, 0, 51 [SEP] 13, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 52 [SEP] 14, Bowl, -0.544, 1.025, 0.600, 0, 0, 0, 54 [SEP] 15, SaltShaker, 2.840, 0.760, 4.359, 0, 225, 0, 52 [SEP] 16, PepperShaker, 2.475, 1.023, 1.648, 0, 136.999, 0, 51 [SEP] 17, PepperShaker, -0.891, 0.042, 1.954, 0, 0, 0, 56 [SEP] 18, Bread, 2.276, 0.832, 3.821, 0, 270, 0, 52 [SEP] 19, Lettuce, -0.947, 0.844, -0.184, 0, 90, 0, 95 [SEP] 20, Lettuce, 2.276, 0.822, 4.044, 0, 270, 0, 52 [SEP] 21, Mug, -0.714, 0.811, 1.259, 0, 270, 0, 108 [SEP] 22, Mug, -0.714, 0.811, 1.570, 0, 180, 0, 108 [SEP] 23, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 55 [SEP] 24, Glassbottle, -1.059, 1.442, -0.627, 0, 90, 0, 95 [SEP] 25, Knife, -0.714, 0.849, 1.337, 0, 90, 0, 108 [SEP] 26, SoapBottle, 2.735, 0.763, 4.464, 0, 225, 0, 52 [SEP] 27, Egg, 2.228, 0.808, 3.445, 0, 0, 0, 52 [SEP] 28, Fork, 2.763, 0.765, 4.177, 0, 225, 0, 52 [SEP] 29, Potato, -0.922, 1.484, -0.738, 0, 90, 0, 95 [SEP] 30, Ladle, 2.649, 1.066, 1.252, 0, 136.999, 0, 51 [SEP] 31, Tomato, 2.998, 0.818, 4.202, 0, 225, 0, 52 [SEP] 32, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 94 [SEP] 33, WineBottle, -0.956, 0.078, 2.811, 0, 0, 0, 106 [SEP] 34, Plate, -0.852, 2.290, -0.614, 0, 0, 0, 83 [SEP] 35, Spatula, 2.111, 0.779, 4.410, 0, 329.999, 0, 52 [SEP] 36, PaperTowelRoll, 2.658, 0.868, 4.282, 0, 225, 0, 52 [SEP] 37, Lettuce, -0.851, 0.874, 1.492, 0, 90, 0, 108 [SEP] 38, Apple, -0.645, 0.866, 1.414, 0, 90, 0, 108 [SEP] 39, SaltShaker, -0.661, 0.797, 2.372, 0, 0, 0, 57 [SEP] 40, PepperShaker, 2.738, 0.760, 3.942, 0, 225, 0, 52 [SEP] 41, ButterKnife, 2.599, 0.764, 3.62, 0, 0, 0, 52 [SEP] 42, Bread, 2.875, 1.094, -0.846, 0, 0, 0, 51 [SEP] 43, Cup, 2.376, 0.763, 4.32, 0, 0, 0, 52 [SEP] 44, DishSponge, -1.074, 1.027, 1.519, 0, 0, 0, 54 [SEP] 45, Bowl, -0.922, 1.440, -0.295, 0, 90, 0, 95 [SEP] 46, Spoon, 1.350, 1.028, -1.560, 0, 90, 0, 51 [SEP] 47, Mug, -0.669, 1.022, 2.189, 0, 0, 0, 54 [SEP] 48, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 49, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 50, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 51, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 52, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 53, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 54, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 55, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 56, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 57, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 58, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 59, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 60, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 62, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 63, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 64, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 65, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 66, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 67, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 68, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 69, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 70, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 71, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 72, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 73, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 74, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 75, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 76, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 77, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 78, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 79, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 80, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 81, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 82, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 83, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 84, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 85, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 86, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 87, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 88, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 89, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 90, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 91, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 92, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 93, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 94, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 95, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 96, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 97, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 98, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 99, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 100, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 101, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 102, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 103, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 104, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 105, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 106, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 107, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 108, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 109, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 110, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 111, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 112, , , , , , , ,  [SEP] 113, NorthWall, , , , , , ,  [SEP] 114, EastWall, , , , , , ,  [SEP] 115, SouthWall, , , , , , ,  [SEP] 116, WestWall, , , , , , ,

Output: STEP 1: Take the path across the room in a straight walk to the white door. Turn left to the  counter. | STEP 2: Take the spoon only in hand. | STEP 3: Take an right and an right again with the spoon. Place at the bowl behind in the stove plate. | STEP 4: Pick the two up together in hand. | STEP 5: Turn all the way around. | STEP 6: Turn left and turn to the right across the room for the white table. | STEP 7: Drop the bowl and spoon down on the table. | END


Input: Put the cooked egg in the kitchen sink 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, 2.0, 0, 90, 0,  [SEP] 1, Potato, 0.180, 0.959, 0.076, 0, 0, 0, 81 [SEP] 2, Potato, 0.294, 0.956, 1.220, 0, 0, 0, 81 [SEP] 3, WineBottle, -0.616, 0.914, -2.267, 0, 0, 0, 64 [SEP] 4, WineBottle, -0.047, 0.931, 0.762, 0, 0, 0, 81 [SEP] 5, Spatula, -0.346, 0.928, -1.737, 0, 0, 0, 64 [SEP] 6, Spoon, 1.738, 0.914, -1.680, 0, 0, 0, 64 [SEP] 7, Spoon, -0.720, 0.914, -2.134, 0, 0, 0, 64 [SEP] 8, Cup, 1.566, 0.881, 2.537, 0, 0, 0, 85 [SEP] 9, Tomato, -0.047, 0.982, 0.305, 0, 0, 0, 81 [SEP] 10, Tomato, 0.066, 0.978, 0.762, 0, 0, 0, 81 [SEP] 11, SoapBottle, -1.284, 2.146, -0.910, 0, 90, 0, 48 [SEP] 12, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 81 [SEP] 13, Bowl, -1.553, 1.180, -0.910, 0, 180, 0, 72 [SEP] 14, Lettuce, 0.180, 1.011, 1.448, 0, 0, 0, 81 [SEP] 15, Lettuce, 0.066, 1.008, 0.534, 0, 0, 0, 81 [SEP] 16, SaltShaker, 1.362, 0.877, 2.429, 0, 0, 0, 85 [SEP] 17, SaltShaker, -0.311, 2.147, -2.067, 0, 0, 0, 49 [SEP] 18, PepperShaker, 1.464, 0.877, 2.456, 0, 0, 0, 85 [SEP] 19, Mug, -1.284, 1.010, -1.846, 0, 90, 0, 70 [SEP] 20, Mug, -1.572, 1.499, -0.910, 0, 90, 0, 72 [SEP] 21, Apple, -1.000, 0.984, -2.115, 0, 0, 0, 64 [SEP] 22, Apple, -1.380, 1.254, -0.806, 0, 90, 0, 72 [SEP] 23, Potato, -0.064, 0.793, -1.936, 0, 0, 0, 76 [SEP] 24, Bowl, 0.522, 0.927, 0.534, 0, 0, 0, 81 [SEP] 25, SoapBottle, 1.771, 0.879, 2.483, 0, 0, 0, 90 [SEP] 26, Fork, 0.180, 0.927, 0.534, 0, 0, 0, 81 [SEP] 27, Ladle, 0.066, 0.971, 1.220, 0, 0, 0, 81 [SEP] 28, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 81 [SEP] 29, Lettuce, -0.047, 1.011, 0.991, 0, 0, 0, 81 [SEP] 30, WineBottle, -0.047, 0.927, 1.220, 0, 0, 0, 81 [SEP] 31, Spatula, -0.283, 0.779, -1.981, 0, 270, 0, 76 [SEP] 32, Plate, 1.773, 0.556, 2.534, 0, 0, 0, 84 [SEP] 33, SaltShaker, 0.180, 0.923, 0.305, 0, 0, 0, 81 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, -1.533, 1.504, -0.599, 0, 90, 0, 72 [SEP] 36, PepperShaker, 0.066, 0.926, 0.305, 0, 0, 0, 81 [SEP] 37, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 45 [SEP] 38, ButterKnife, -0.047, 0.930, 0.076, 0, 0, 0, 81 [SEP] 39, Tomato, -1.533, 1.556, -0.392, 0, 90, 0, 72 [SEP] 40, DishSponge, 0.522, 0.930, 1.448, 0, 0, 0, 81 [SEP] 41, Egg, 1.557, 0.967, -1.680, 0, 0, 0, 64 [SEP] 42, Spoon, 1.647, 0.914, -1.329, 0, 0, 0, 64 [SEP] 43, Knife, 0.180, 0.950, 0.762, 0, 90, 0, 81 [SEP] 44, Mug, 1.850, 0.908, -2.169, 0, 0, 0, 64 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 90, , , , , , , ,  [SEP] 91, NorthWall, , , , , , ,  [SEP] 92, EastWall, , , , , , ,  [SEP] 93, SouthWall, , , , , , ,  [SEP] 94, WestWall, , , , , , ,

Output: STEP 1: Walk forward then turn right and walk up to the counter right of the stove | STEP 2: Pick up the egg from the counter | STEP 3: Turn around and walk up to the microwave | STEP 4: Cook the egg in the microwave then remove it | STEP 5: Turn left to face the kitchen sink | STEP 6: Put the egg in the sink | END


Input: Place a slice of heated slice of bread 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, -1.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk straight towards the counter in between the sink and microwave. | STEP 2: Pick up the yellow knife in front of the spatula on the counter. | STEP 3: Turn right and head towards the loaf of bread next to the stove on your left. | STEP 4: Slice a piece of bread on the counter. | STEP 5: Place the knife on the counter. | STEP 6: Pick up the slice of bread from the counter. | STEP 7: Turn left and walk towards the microwave on  the counter to your left. | STEP 8: Place the bread in the microwave, heat it cup, and take it out of the microwave. | STEP 9: Turn left and walk towards the toaster on the counter to your left. | STEP 10: Place the slice of in front of the toaster on the counter. | END


Input: Place a warm piece of bread by the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Walk to your right to reach the counter top to the right of the sink. | STEP 2: Pick up the knife to the left of the tomato. | STEP 3: Turn left, hang a left at the wall with the window and head to the counter with the bread. | STEP 4: Slice the loaf of bread on the counter top. | STEP 5: Put the knife down in front of the loaf of bread. | STEP 6: Pick up the slice of bread closest to the knife on the counter top. | STEP 7: Turn left, hang a left before the white table and head to the microwave. | STEP 8: Place the bread inside the microwave, heat it for three seconds, remove the bread from the microwave and close the door. | STEP 9: Turn left and hang a left at the sink to head to the red toaster on the counter top. | STEP 10: Place the bread slice in front of the toaster on the counter. | END


Input: Place a slice of microwaved bread onto the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the counter between the sink and the microwave. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the counter right of the stove. | STEP 4: Slice the bread with the knife. | STEP 5: Put the knife on the counter. | STEP 6: Pick up a slice of bread. | STEP 7: Turn left, move to the counter where the microwave is. | STEP 8: Put the bread slice in the microwave, cook it, pick it back up. | STEP 9: Turn left, move to the counter where the toaster is. | STEP 10: Put the bread slice on the counter. | END


Input: Move a warmed slice of bread to the counter 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, -1.0, 0.900, 0.0, 0, 90, 0,  [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Move to stand in front of the counter between the kitchen sink and microwave.  | STEP 2: Pick up the sharp knife from the counter.  | STEP 3: Carry the knife to the small counter space to the right of the stove.  | STEP 4: Slice the loaf of bread on the counter using the knife.  | STEP 5: Place the knife on the counter in front of the loaf of bread.  | STEP 6: Pick up the end slice of bread from the counter.  | STEP 7: Carry the slice of bread to the microwave.  | STEP 8: Place the bread inside the microwave and then remove it once it's done heating.  | STEP 9: Turn and carry the slice of bread to the counter where the toaster is.  | STEP 10: Place the slice of bread on the counter in front of the toaster. | END


Input: Put the two candles in the bathroom onto the bottom shelf of the organizer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 0.75, 0, 90, 0,  [SEP] 1, TissueBox, -0.767, 1.654, 0.262, 0, 0, 0, 29 [SEP] 2, TissueBox, -0.753, 1.134, 0.347, 0, 0, 0, 30 [SEP] 3, Candle, -1.557, 0.812, 0.108, 0, 0, 0, 24 [SEP] 4, SprayBottle, -2.031, 0.109, 2.282, 0, 0, 0, 20 [SEP] 5, ToiletPaper, -2.010, 0.843, 2.097, 0, 0, 0, 22 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.527, 0.812, 0.228, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -0.254, 0.023, 0.240, 0, 0, 0, 41 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -0.931, 1.134, 0.288, 0, 0, 0, 30 [SEP] 11, TissueBox, -2.016, 0.518, 0.313, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -0.633, 1.131, 0.288, 0, 0, 0, 30 [SEP] 13, SoapBottle, -3.103, 0.692, 0.126, 0, 0, 0, 23 [SEP] 14, SprayBottle, -0.178, 0.027, 0.179, 0, 270, 0, 41 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -0.813, 0.118, 0.360, 0, 0, 0, 21 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0,  [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0,  [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0,  [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0,  [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0,  [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0,  [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0,  [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0,  [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0,  [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0,  [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0,  [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0,  [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0,  [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0,  [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0,  [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0,  [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0,  [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0,  [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0,  [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0,  [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0,  [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0,  [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0,  [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0,  [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0,  [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Move to the left side of sink | STEP 2: Pick up candle from off the counter | STEP 3: Move to bathroom organizer to the right of the bath tub | STEP 4: Place candle onto the bottom shelf of the organizer | STEP 5: Move to drawers to the left of the sink | STEP 6: Pick up candle from off of the drawers top | STEP 7: Move to the organizer behind you | STEP 8: Place candle onto the bathroom organizer next to the other one | END


Input: Put a microwaved slice of bread in the refrigerator.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -3.25, 0, 0, 0,  [SEP] 1, Potato, -2.809, 0.757, -0.640, 0, 135, 0, 81 [SEP] 2, DishSponge, -0.413, 0.080, -0.528, 0, 0, 0, 41 [SEP] 3, ButterKnife, -2.765, 0.713, -0.395, 0, 225, 0, 81 [SEP] 4, Spatula, -0.471, 0.761, -0.912, 0, 90, 0, 63 [SEP] 5, Fork, -1.845, 0.791, -3.747, 0, 0, 0, 79 [SEP] 6, Fork, -2.740, 0.714, -0.211, 0, 90, 0, 81 [SEP] 7, Knife, -0.530, 0.778, -2.913, 0, 270, 0, 67 [SEP] 8, Knife, -0.338, 0.948, -1.432, 0, 0, 0, 64 [SEP] 9, SoapBottle, -2.516, 1.295, -3.927, 0, 0, 0, 50 [SEP] 10, SoapBottle, -1.058, 0.913, -3.729, 0, 0, 0, 37 [SEP] 11, SaltShaker, -3.169, 0.742, -2.802, 0, 0, 0, 59 [SEP] 12, PepperShaker, -2.431, 0.713, -0.665, 0, 135, 0, 81 [SEP] 13, PepperShaker, -0.412, 0.742, -2.858, 0, 0, 0, 67 [SEP] 14, Bread, -3.309, 0.954, -2.926, 0, 0, 0, 37 [SEP] 15, Mug, -3.234, 0.636, -2.002, 0, 90, 0, 78 [SEP] 16, Pot, -0.165, 0.975, -2.450, 0, 0, 0, 69 [SEP] 17, Egg, -3.059, 0.922, -2.409, 0, 90, 0, 78 [SEP] 18, Cup, -1.263, 0.080, -3.750, 0, 0, 0, 52 [SEP] 19, Bread, -3.066, 0.757, -0.697, 0, 225, 0, 81 [SEP] 20, Fork, -0.076, 0.914, -2.911, 0, 0, 0, 37 [SEP] 21, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 68 [SEP] 22, Potato, -1.914, 0.834, -3.661, 0, 0, 0, 79 [SEP] 23, Lettuce, -3.130, 1.101, -2.002, 0, 90, 0, 78 [SEP] 24, Tomato, -2.581, 0.763, -0.433, 0, 270, 0, 81 [SEP] 25, Apple, -3.309, 0.956, -3.227, 0, 0, 0, 37 [SEP] 26, SoapBottle, -3.079, 0.713, -0.886, 0, 225, 0, 81 [SEP] 27, Spatula, -2.576, 0.728, -0.608, 0, 315, 0, 81 [SEP] 28, SaltShaker, -2.732, 1.291, -4.005, 0, 0, 0, 50 [SEP] 29, Knife, -2.803, 0.749, -0.922, 0, 0, 0, 81 [SEP] 30, PepperShaker, -2.652, 0.713, -0.105, 0, 225, 0, 81 [SEP] 31, ButterKnife, -2.987, 0.913, -3.655, 0, 0, 0, 37 [SEP] 32, Plate, -3.182, 1.397, -2.125, 0, 90, 0, 78 [SEP] 33, DishSponge, -0.500, 0.915, -1.616, 0, 0, 0, 64 [SEP] 34, Spoon, -2.519, 0.714, -0.238, 0, 225, 0, 81 [SEP] 35, Mug, -0.189, 1.007, -0.752, 0, 270, 0, 74 [SEP] 36, Bowl, -0.373, 0.078, -2.853, 0, 90, 0, 48 [SEP] 37, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 38, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 39, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 40, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 41, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 42, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 43, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 44, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 45, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 46, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 47, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 48, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 49, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 50, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 51, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 52, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 53, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 54, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 55, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 56, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 57, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 58, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 59, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 60, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 61, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 62, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 63, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 64, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 65, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 66, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 67, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 68, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 69, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 70, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 71, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 72, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 73, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 74, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 75, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 76, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 77, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 78, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 79, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 80, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 81, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 82, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 83, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Go to the counter with the microwave on the right.  | STEP 2: Pick up the yellow knife on the counter. | STEP 3: Turn around and go to the round wooden table. | STEP 4: Slice the bread on the table. | STEP 5: Turn around to go to the front of the refrigerator on the right.  | STEP 6: Place the knife in front of the lettuce in the refrigerator. | STEP 7: Turn right to go back to the round wooden table with bread on it. | STEP 8: Pick up one slice of bread | STEP 9: Turn right to go to the microwave on the counter. | STEP 10: Microwave the slice of bread and take it out.  | STEP 11: Turn around to go to the front of the refrigerator.  | STEP 12: Place the bread slice in the refrigerator on the shelf below the knife and the lettuce  | END


Input: Warming bread and putting it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -3.25, 0, 0, 0,  [SEP] 1, Potato, -2.809, 0.757, -0.640, 0, 135, 0, 81 [SEP] 2, DishSponge, -0.413, 0.080, -0.528, 0, 0, 0, 41 [SEP] 3, ButterKnife, -2.765, 0.713, -0.395, 0, 225, 0, 81 [SEP] 4, Spatula, -0.471, 0.761, -0.912, 0, 90, 0, 63 [SEP] 5, Fork, -1.845, 0.791, -3.747, 0, 0, 0, 79 [SEP] 6, Fork, -2.740, 0.714, -0.211, 0, 90, 0, 81 [SEP] 7, Knife, -0.530, 0.778, -2.913, 0, 270, 0, 67 [SEP] 8, Knife, -0.338, 0.948, -1.432, 0, 0, 0, 64 [SEP] 9, SoapBottle, -2.516, 1.295, -3.927, 0, 0, 0, 50 [SEP] 10, SoapBottle, -1.058, 0.913, -3.729, 0, 0, 0, 37 [SEP] 11, SaltShaker, -3.169, 0.742, -2.802, 0, 0, 0, 59 [SEP] 12, PepperShaker, -2.431, 0.713, -0.665, 0, 135, 0, 81 [SEP] 13, PepperShaker, -0.412, 0.742, -2.858, 0, 0, 0, 67 [SEP] 14, Bread, -3.309, 0.954, -2.926, 0, 0, 0, 37 [SEP] 15, Mug, -3.234, 0.636, -2.002, 0, 90, 0, 78 [SEP] 16, Pot, -0.165, 0.975, -2.450, 0, 0, 0, 69 [SEP] 17, Egg, -3.059, 0.922, -2.409, 0, 90, 0, 78 [SEP] 18, Cup, -1.263, 0.080, -3.750, 0, 0, 0, 52 [SEP] 19, Bread, -3.066, 0.757, -0.697, 0, 225, 0, 81 [SEP] 20, Fork, -0.076, 0.914, -2.911, 0, 0, 0, 37 [SEP] 21, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 68 [SEP] 22, Potato, -1.914, 0.834, -3.661, 0, 0, 0, 79 [SEP] 23, Lettuce, -3.130, 1.101, -2.002, 0, 90, 0, 78 [SEP] 24, Tomato, -2.581, 0.763, -0.433, 0, 270, 0, 81 [SEP] 25, Apple, -3.309, 0.956, -3.227, 0, 0, 0, 37 [SEP] 26, SoapBottle, -3.079, 0.713, -0.886, 0, 225, 0, 81 [SEP] 27, Spatula, -2.576, 0.728, -0.608, 0, 315, 0, 81 [SEP] 28, SaltShaker, -2.732, 1.291, -4.005, 0, 0, 0, 50 [SEP] 29, Knife, -2.803, 0.749, -0.922, 0, 0, 0, 81 [SEP] 30, PepperShaker, -2.652, 0.713, -0.105, 0, 225, 0, 81 [SEP] 31, ButterKnife, -2.987, 0.913, -3.655, 0, 0, 0, 37 [SEP] 32, Plate, -3.182, 1.397, -2.125, 0, 90, 0, 78 [SEP] 33, DishSponge, -0.500, 0.915, -1.616, 0, 0, 0, 64 [SEP] 34, Spoon, -2.519, 0.714, -0.238, 0, 225, 0, 81 [SEP] 35, Mug, -0.189, 1.007, -0.752, 0, 270, 0, 74 [SEP] 36, Bowl, -0.373, 0.078, -2.853, 0, 90, 0, 48 [SEP] 37, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 38, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 39, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 40, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 41, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 42, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 43, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 44, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 45, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 46, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 47, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 48, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 49, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 50, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 51, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 52, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 53, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 54, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 55, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 56, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 57, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 58, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 59, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 60, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 61, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 62, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 63, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 64, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 65, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 66, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 67, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 68, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 69, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 70, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 71, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 72, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 73, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 74, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 75, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 76, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 77, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 78, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 79, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 80, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 81, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 82, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 83, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Go straight and turn right towards the counter with the microwave | STEP 2: Pick up the knife to the left of the sponge | STEP 3: Turn around and go in between the table and fridge then turn right towards the table | STEP 4: Slice half of the loaf of bread | STEP 5: Turn right and move to the fridge | STEP 6: Open the fridge doors and put the knife on the shelf under where the lettuce is | STEP 7: Turn around and go back to the table | STEP 8: Pick up a slice of bread | STEP 9: Turn right and go towards the cabinet with the microwave | STEP 10: Open the microwave and place the bread inside, close the microwave, turn it on, wait, open microwave and pull out the bread, close the microwave | STEP 11: Turn around and move to the fridge | STEP 12: Open the fridge, place the bread on the middle shelf, close the fridge door | END


Input: move the golden cup from the counter to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 270, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 2, CreditCard, -0.153, 1.108, 1.707, 0, 315, 0, 69 [SEP] 3, DishSponge, -0.049, 1.662, -1.435, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.254, 0.747, -1.052, 0, 0, 0, 77 [SEP] 5, ButterKnife, 0.997, 0.911, -1.032, 0, 0, 0, 76 [SEP] 6, ButterKnife, -2.026, 0.746, -0.966, 0, 0, 0, 71 [SEP] 7, Kettle, -1.048, 1.663, -1.397, 0, 0, 0, 65 [SEP] 8, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 9, Fork, 0.842, 0.911, -1.115, 0, 0, 0, 76 [SEP] 10, Cup, -2.853, 0.909, 0.021, 0, 0, 0, 68 [SEP] 11, Plate, -1.494, 1.664, -1.360, 0, 0, 0, 50 [SEP] 12, Egg, -2.619, 0.854, 0.690, 0, 90, 0, 88 [SEP] 13, Egg, -2.619, 0.854, 0.932, 0, 90, 0, 88 [SEP] 14, SoapBottle, -2.936, 0.912, -0.147, 0, 0, 0, 68 [SEP] 15, SoapBottle, 0.625, 1.112, 1.556, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 0.869, 1.013, 0, 90, 0, 88 [SEP] 17, Tomato, -0.133, 0.960, -1.365, 0, 0, 0, 76 [SEP] 18, Lettuce, -2.740, 1.752, 0.771, 0, 90, 0, 88 [SEP] 19, SaltShaker, -2.521, 0.907, -0.062, 0, 0, 0, 68 [SEP] 20, SaltShaker, 0.644, 1.108, 1.229, 0, 315, 0, 69 [SEP] 21, Mug, -2.438, 0.906, -0.147, 0, 0, 0, 68 [SEP] 22, Mug, -2.860, 1.468, 0.609, 0, 90, 0, 88 [SEP] 23, Apple, -2.740, 0.430, 0.690, 0, 90, 0, 88 [SEP] 24, Apple, -0.556, 0.963, -1.449, 0, 0, 0, 76 [SEP] 25, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 26, Apple, -2.521, 0.963, 0.359, 0, 0, 0, 68 [SEP] 27, Fork, -1.987, 0.747, -1.094, 0, 90, 0, 71 [SEP] 28, Kettle, -1.505, 0.850, -1.194, 0, 0, 0, 86 [SEP] 29, CreditCard, 0.013, 1.108, 1.706, 0, 315, 0, 69 [SEP] 30, Bread, -2.740, 1.528, 0.932, 0, 90, 0, 88 [SEP] 31, Plate, -1.627, 0.119, -1.031, 0, 0, 0, 53 [SEP] 32, SoapBottle, 0.608, 0.118, -1.128, 0, 0, 0, 56 [SEP] 33, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 68 [SEP] 34, Lettuce, -2.860, 0.899, 0.690, 0, 90, 0, 88 [SEP] 35, SaltShaker, 0.413, 1.108, 0.998, 0, 315, 0, 69 [SEP] 36, Tomato, -2.920, 0.427, 1.013, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 68 [SEP] 38, ButterKnife, -1.332, 0.849, -1.194, 0, 0, 0, 86 [SEP] 39, Pot, 0.586, 1.112, 0.825, 0, 315, 0, 69 [SEP] 40, DishSponge, 0.298, 1.111, 1.575, 0, 315, 0, 69 [SEP] 41, Egg, -1.246, 0.886, -1.25, 0, 0, 0, 86 [SEP] 42, Spoon, -0.157, 0.9, -1.015, 0, 0, 0, 76 [SEP] 43, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 69 [SEP] 44, Cup, -2.619, 1.671, 1.094, 0, 90, 0, 88 [SEP] 45, Mug, -2.736, 1.790, -0.803, 0, 90, 0, 47 [SEP] 46, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 76 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: walk to the counter between the refrigerator and the stove | STEP 2: grab the golden cup in the back on the counter | STEP 3: turn around, walk to the sink | STEP 4: put the golden cup in the sink | END


Input: Put an orange cup 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, 0.5, 0.900, -0.5, 0, 270, 0,  [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 2, CreditCard, -0.153, 1.108, 1.707, 0, 315, 0, 69 [SEP] 3, DishSponge, -0.049, 1.662, -1.435, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.254, 0.747, -1.052, 0, 0, 0, 77 [SEP] 5, ButterKnife, 0.997, 0.911, -1.032, 0, 0, 0, 76 [SEP] 6, ButterKnife, -2.026, 0.746, -0.966, 0, 0, 0, 71 [SEP] 7, Kettle, -1.048, 1.663, -1.397, 0, 0, 0, 65 [SEP] 8, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 9, Fork, 0.842, 0.911, -1.115, 0, 0, 0, 76 [SEP] 10, Cup, -2.853, 0.909, 0.021, 0, 0, 0, 68 [SEP] 11, Plate, -1.494, 1.664, -1.360, 0, 0, 0, 50 [SEP] 12, Egg, -2.619, 0.854, 0.690, 0, 90, 0, 88 [SEP] 13, Egg, -2.619, 0.854, 0.932, 0, 90, 0, 88 [SEP] 14, SoapBottle, -2.936, 0.912, -0.147, 0, 0, 0, 68 [SEP] 15, SoapBottle, 0.625, 1.112, 1.556, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 0.869, 1.013, 0, 90, 0, 88 [SEP] 17, Tomato, -0.133, 0.960, -1.365, 0, 0, 0, 76 [SEP] 18, Lettuce, -2.740, 1.752, 0.771, 0, 90, 0, 88 [SEP] 19, SaltShaker, -2.521, 0.907, -0.062, 0, 0, 0, 68 [SEP] 20, SaltShaker, 0.644, 1.108, 1.229, 0, 315, 0, 69 [SEP] 21, Mug, -2.438, 0.906, -0.147, 0, 0, 0, 68 [SEP] 22, Mug, -2.860, 1.468, 0.609, 0, 90, 0, 88 [SEP] 23, Apple, -2.740, 0.430, 0.690, 0, 90, 0, 88 [SEP] 24, Apple, -0.556, 0.963, -1.449, 0, 0, 0, 76 [SEP] 25, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 26, Apple, -2.521, 0.963, 0.359, 0, 0, 0, 68 [SEP] 27, Fork, -1.987, 0.747, -1.094, 0, 90, 0, 71 [SEP] 28, Kettle, -1.505, 0.850, -1.194, 0, 0, 0, 86 [SEP] 29, CreditCard, 0.013, 1.108, 1.706, 0, 315, 0, 69 [SEP] 30, Bread, -2.740, 1.528, 0.932, 0, 90, 0, 88 [SEP] 31, Plate, -1.627, 0.119, -1.031, 0, 0, 0, 53 [SEP] 32, SoapBottle, 0.608, 0.118, -1.128, 0, 0, 0, 56 [SEP] 33, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 68 [SEP] 34, Lettuce, -2.860, 0.899, 0.690, 0, 90, 0, 88 [SEP] 35, SaltShaker, 0.413, 1.108, 0.998, 0, 315, 0, 69 [SEP] 36, Tomato, -2.920, 0.427, 1.013, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 68 [SEP] 38, ButterKnife, -1.332, 0.849, -1.194, 0, 0, 0, 86 [SEP] 39, Pot, 0.586, 1.112, 0.825, 0, 315, 0, 69 [SEP] 40, DishSponge, 0.298, 1.111, 1.575, 0, 315, 0, 69 [SEP] 41, Egg, -1.246, 0.886, -1.25, 0, 0, 0, 86 [SEP] 42, Spoon, -0.157, 0.9, -1.015, 0, 0, 0, 76 [SEP] 43, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 69 [SEP] 44, Cup, -2.619, 1.671, 1.094, 0, 90, 0, 88 [SEP] 45, Mug, -2.736, 1.790, -0.803, 0, 90, 0, 47 [SEP] 46, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 76 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Move forward to the toaster on the counter. | STEP 2: Pick up the orange cup on the counter.  | STEP 3: Turn around and bring the cup to the sink on the right.  | STEP 4: Put the cup in the sink. | END