Input: put a slice of tomato inside a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.930, 1.0, 0, 180, 0,  [SEP] 1, Potato, 0.851, 0.751, -1.459, 0, 0, 0, 116 [SEP] 2, Potato, 1.086, 1.111, -1.531, 0, 0, 0, 116 [SEP] 3, Ladle, 0.605, 0.947, 0.218, 0, 36.810, 0, 101 [SEP] 4, Ladle, 0.967, 0.945, 0.038, 0, 0, 0, 101 [SEP] 5, DishSponge, 0.404, 1.259, -1.741, 0, 0, 0, 86 [SEP] 6, ButterKnife, 0.054, 0.900, -1.481, 0, 45, 0, 91 [SEP] 7, Kettle, -0.239, 0.902, -1.089, 0, 315, 0, 99 [SEP] 8, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 72 [SEP] 9, Pot, -0.862, 0.900, 0.846, 0, 0, 0, 70 [SEP] 10, Spatula, 2.988, 0.727, -0.501, 0, 90, 0, 66 [SEP] 11, Spatula, -0.786, 0.341, 0.163, 0, 270, 0, 75 [SEP] 12, Fork, -0.827, 0.326, -0.186, 0, 0, 0, 75 [SEP] 13, Fork, -0.827, 0.518, 1.343, 0, 0, 0, 58 [SEP] 14, Mug, -0.033, 0.895, -1.291, 0, 45, 0, 91 [SEP] 15, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 101 [SEP] 16, Lettuce, 0.798, 0.976, 0.426, 0, 0, 0, 101 [SEP] 17, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 91 [SEP] 18, SaltShaker, -0.868, 0.322, 1.605, 0, 0, 0, 105 [SEP] 19, SaltShaker, 3.373, 0.897, -0.151, 0, 0, 0, 69 [SEP] 20, PepperShaker, 3.146, 1.260, -0.854, 0, 0, 0, 83 [SEP] 21, SoapBottle, 0.731, 0.917, 0.733, 0, 36.810, 0, 101 [SEP] 22, SoapBottle, -0.090, 0.909, -1.440, 0, 45, 0, 91 [SEP] 23, Egg, -1.018, 1.050, 1.523, 0, 90, 0, 118 [SEP] 24, Egg, -0.985, 1.050, 1.364, 0, 90, 0, 118 [SEP] 25, Cup, 0.887, 0.908, 0.727, 0, 0, 0, 101 [SEP] 26, Cup, 0.889, 0.908, 0.249, 0, 36.810, 0, 101 [SEP] 27, Plate, 3.173, 1.477, -1.235, 0, 0, 0, 84 [SEP] 28, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 79 [SEP] 29, Knife, 3.122, 0.926, -0.300, 0, 0, 0, 69 [SEP] 30, Knife, -1.008, 0.925, 0.176, 0, 0, 0, 70 [SEP] 31, Plate, 0.808, 1.687, -1.480, 0, 0, 0, 85 [SEP] 32, Glassbottle, -0.717, 0.901, -0.494, 0, 0, 0, 70 [SEP] 33, SoapBottle, 3.128, 0.110, 1.653, 0, 225, 0, 111 [SEP] 34, Potato, 1.086, 0.924, -1.531, 0, 0, 0, 116 [SEP] 35, Fork, 3.069, 0.747, 0.032, 0, 270, 0, 115 [SEP] 36, Ladle, 3.028, 0.212, -0.786, 0, 0, 0, 82 [SEP] 37, Pot, 1.098, 0.908, 0.464, 0, 270, 0, 101 [SEP] 38, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 65 [SEP] 39, Spatula, -0.868, 0.533, 0.926, 0, 270, 0, 67 [SEP] 40, Knife, -0.936, 0.925, -0.695, 0, 135, 0, 70 [SEP] 41, Lettuce, -0.775, 0.965, -0.854, 0, 45, 0, 70 [SEP] 42, Cup, 3.044, 0.898, -0.499, 0, 0, 0, 69 [SEP] 43, SaltShaker, -0.705, 0.896, -0.621, 0, 45, 0, 70 [SEP] 44, Egg, 0.773, 0.938, -1.559, 0, 0, 0, 116 [SEP] 45, PepperShaker, -0.006, 0.318, -1.328, 0, 45, 0, 95 [SEP] 46, ButterKnife, 0.151, 0.900, -1.476, 0, 135, 0, 91 [SEP] 47, Apple, 2.888, 0.974, -0.399, 0, 0, 0, 69 [SEP] 48, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 91 [SEP] 49, Bread, -0.935, 0.979, 0.399, 0, 0, 0, 70 [SEP] 50, CellPhone, -1.153, 0.897, 0.399, 0, 0, 0, 74 [SEP] 51, DishSponge, -0.731, 0.517, -0.707, 0, 45, 0, 93 [SEP] 52, Tomato, -0.935, 0.937, 0.623, 0, 0, 0, 70 [SEP] 53, Spoon, -0.868, 0.707, 1.343, 0, 0, 0, 63 [SEP] 54, Bowl, 2.971, 0.172, -0.404, 0, 0, 0, 81 [SEP] 55, Mug, 0.622, 0.905, 0.627, 0, 0, 0, 101 [SEP] 56, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 57, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 58, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 59, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 60, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 61, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 62, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 63, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 64, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 65, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 66, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 67, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 68, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 69, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 70, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 72, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 73, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 74, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 75, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 76, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 77, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 78, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 79, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 80, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 81, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 82, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 83, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 84, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 85, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 86, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 87, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 88, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 89, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 90, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 91, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 92, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 93, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 94, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 95, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 96, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 97, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 98, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 99, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 100, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 101, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 102, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 103, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 104, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 105, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 106, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 107, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 108, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 109, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 110, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 111, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 112, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 113, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 114, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 115, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 116, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 117, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 118, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 119, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 120, NorthWall, , , , , , ,  [SEP] 121, EastWall, , , , , , ,  [SEP] 122, SouthWall, , , , , , ,  [SEP] 123, WestWall, , , , , , ,

Output: STEP 1: go forward turn to the right | STEP 2: pick up a knife from the counter  | STEP 3: turn to the right go left | STEP 4: slice the tomato that is on the counter | STEP 5: turn to the left go left turn to the left go forward towards the sink | STEP 6: put the knife inside the sink | STEP 7: turn to the right go right turn to the right go left towards the counter  | STEP 8: pick up a slice of tomato from the counter | STEP 9: turn to the left go left turn to the left go right towards the sink | STEP 10: put the slice of tomato inside the sink | STEP 11: rinse off the slice of tomato turn to the right go right turn to the right go left towards the microwave | STEP 12: put the slice of tomato inside the microwave | END


Input: Wash a head of lettuce and return it to the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.5, 0, 270, 0,  [SEP] 1, Pencil, -0.473, 0.746, 5.189, 0, 270, 0, 55 [SEP] 2, Pencil, -1.610, 0.923, 1.875, 0, 0, 0, 74 [SEP] 3, Potato, -0.383, 1.369, 3.726, 0, 270, 0, 109 [SEP] 4, DishSponge, -1.693, 0.923, 1.875, 0, 0, 0, 58 [SEP] 5, DishSponge, -3.229, 0.744, 5.162, 0, 180, 0, 88 [SEP] 6, WineBottle, -3.255, 0.924, 5.259, 0, 90, 0, 76 [SEP] 7, WineBottle, -0.334, 0.926, 4.944, 0, 0, 0, 61 [SEP] 8, Fork, -4.242, 0.924, 2.183, 0, 0, 0, 76 [SEP] 9, Fork, -4.033, 0.924, 4.900, 0, 90, 0, 76 [SEP] 10, Spoon, -4.249, 0.756, 2.501, 0, 90, 0, 56 [SEP] 11, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 61 [SEP] 12, Cup, -0.237, 2.134, 5.852, 0, 180, 0, 60 [SEP] 13, Cup, -2.530, 1.545, 1.698, 0, 0, 0, 106 [SEP] 14, Knife, -0.565, 0.954, 4.615, 0, 90, 0, 61 [SEP] 15, SoapBottle, -3.454, 1.459, 5.367, 0, 0, 0, 62 [SEP] 16, SoapBottle, -3.639, 0.068, 6.333, 0, 270, 0, 102 [SEP] 17, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 109 [SEP] 18, Bowl, -0.259, 1.682, 3.794, 0, 270, 0, 109 [SEP] 19, SaltShaker, -1.860, 0.919, 1.573, 0, 0, 0, 58 [SEP] 20, SaltShaker, -4.054, 0.073, 2.286, 0, 0, 0, 86 [SEP] 21, PepperShaker, -4.242, 0.919, 2.882, 0, 0, 0, 76 [SEP] 22, Lettuce, -0.342, 1.431, 3.355, 0, 270, 0, 109 [SEP] 23, Lettuce, -0.348, 1.165, 3.355, 0, 270, 0, 109 [SEP] 24, Lettuce, -1.943, 1.018, 1.875, 0, 0, 0, 58 [SEP] 25, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 97 [SEP] 26, Egg, -0.295, 1.106, 3.231, 0, 270, 0, 109 [SEP] 27, Apple, -0.508, 1.124, 3.355, 0, 270, 0, 109 [SEP] 28, Knife, -3.686, 0.953, 1.875, 0, 0, 0, 76 [SEP] 29, Potato, -3.494, 0.956, 5.106, 0, 90, 0, 76 [SEP] 30, Fork, -2.026, 0.924, 1.724, 0, 0, 0, 58 [SEP] 31, Bowl, -0.259, 1.577, 3.470, 0, 270, 0, 109 [SEP] 32, Plate, -1.905, 1.454, 1.638, 0, 0, 0, 95 [SEP] 33, Lettuce, -0.295, 1.165, 3.850, 0, 270, 0, 109 [SEP] 34, Bread, -0.334, 1.004, 5.932, 0, 0, 0, 61 [SEP] 35, Tomato, -3.135, 0.980, 5.106, 0, 90, 0, 76 [SEP] 36, WineBottle, -0.334, 0.926, 4.615, 0, 0, 0, 61 [SEP] 37, Spatula, -0.181, 0.940, 5.273, 0, 0, 0, 61 [SEP] 38, PaperTowelRoll, -3.748, 0.172, 6.292, 0, 270, 0, 102 [SEP] 39, Cup, -4.064, 0.082, 2.992, 0, 0, 0, 89 [SEP] 40, Pencil, -0.104, 0.925, 5.603, 0, 0, 0, 61 [SEP] 41, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 59 [SEP] 42, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 91 [SEP] 43, SaltShaker, -1.943, 0.919, 1.648, 0, 0, 0, 58 [SEP] 44, SoapBottle, -3.748, 0.068, 6.416, 0, 270, 0, 102 [SEP] 45, PepperShaker, -0.411, 0.921, 5.273, 0, 0, 0, 55 [SEP] 46, ButterKnife, -0.411, 0.925, 4.615, 0, 0, 0, 61 [SEP] 47, DishSponge, -2.109, 0.923, 2.026, 0, 0, 0, 58 [SEP] 48, Spoon, -0.488, 0.926, 5.603, 0, 0, 0, 61 [SEP] 49, Mug, -2.635, 1.541, 1.601, 0, 90, 0, 106 [SEP] 50, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 51, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 52, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 53, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 54, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 55, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 56, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 57, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 58, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 59, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 60, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 61, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 62, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 63, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 64, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 65, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 66, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 67, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 68, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 69, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 70, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 71, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 72, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 73, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 74, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 75, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 76, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 77, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 78, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 79, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 80, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 81, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 82, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 83, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 84, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 85, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 86, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 87, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 88, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 89, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 90, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 91, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 92, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 93, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 94, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 95, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 96, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 97, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 98, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 99, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 100, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 101, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 102, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 103, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 104, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 105, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 106, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 107, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 108, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 109, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and walk to the counter with the sponges. | STEP 2: Pick up the head of lettuce. | STEP 3: Turn right and move to the front of the sink. | STEP 4: Wash the lettuce in the sink with clean water and remove it. | STEP 5: Turn right and move next to the fork on the counter. | STEP 6: Place the lettuce on the counter. | END


Input: Put a clean head of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.5, 0, 270, 0,  [SEP] 1, Pencil, -0.473, 0.746, 5.189, 0, 270, 0, 55 [SEP] 2, Pencil, -1.610, 0.923, 1.875, 0, 0, 0, 74 [SEP] 3, Potato, -0.383, 1.369, 3.726, 0, 270, 0, 109 [SEP] 4, DishSponge, -1.693, 0.923, 1.875, 0, 0, 0, 58 [SEP] 5, DishSponge, -3.229, 0.744, 5.162, 0, 180, 0, 88 [SEP] 6, WineBottle, -3.255, 0.924, 5.259, 0, 90, 0, 76 [SEP] 7, WineBottle, -0.334, 0.926, 4.944, 0, 0, 0, 61 [SEP] 8, Fork, -4.242, 0.924, 2.183, 0, 0, 0, 76 [SEP] 9, Fork, -4.033, 0.924, 4.900, 0, 90, 0, 76 [SEP] 10, Spoon, -4.249, 0.756, 2.501, 0, 90, 0, 56 [SEP] 11, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 61 [SEP] 12, Cup, -0.237, 2.134, 5.852, 0, 180, 0, 60 [SEP] 13, Cup, -2.530, 1.545, 1.698, 0, 0, 0, 106 [SEP] 14, Knife, -0.565, 0.954, 4.615, 0, 90, 0, 61 [SEP] 15, SoapBottle, -3.454, 1.459, 5.367, 0, 0, 0, 62 [SEP] 16, SoapBottle, -3.639, 0.068, 6.333, 0, 270, 0, 102 [SEP] 17, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 109 [SEP] 18, Bowl, -0.259, 1.682, 3.794, 0, 270, 0, 109 [SEP] 19, SaltShaker, -1.860, 0.919, 1.573, 0, 0, 0, 58 [SEP] 20, SaltShaker, -4.054, 0.073, 2.286, 0, 0, 0, 86 [SEP] 21, PepperShaker, -4.242, 0.919, 2.882, 0, 0, 0, 76 [SEP] 22, Lettuce, -0.342, 1.431, 3.355, 0, 270, 0, 109 [SEP] 23, Lettuce, -0.348, 1.165, 3.355, 0, 270, 0, 109 [SEP] 24, Lettuce, -1.943, 1.018, 1.875, 0, 0, 0, 58 [SEP] 25, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 97 [SEP] 26, Egg, -0.295, 1.106, 3.231, 0, 270, 0, 109 [SEP] 27, Apple, -0.508, 1.124, 3.355, 0, 270, 0, 109 [SEP] 28, Knife, -3.686, 0.953, 1.875, 0, 0, 0, 76 [SEP] 29, Potato, -3.494, 0.956, 5.106, 0, 90, 0, 76 [SEP] 30, Fork, -2.026, 0.924, 1.724, 0, 0, 0, 58 [SEP] 31, Bowl, -0.259, 1.577, 3.470, 0, 270, 0, 109 [SEP] 32, Plate, -1.905, 1.454, 1.638, 0, 0, 0, 95 [SEP] 33, Lettuce, -0.295, 1.165, 3.850, 0, 270, 0, 109 [SEP] 34, Bread, -0.334, 1.004, 5.932, 0, 0, 0, 61 [SEP] 35, Tomato, -3.135, 0.980, 5.106, 0, 90, 0, 76 [SEP] 36, WineBottle, -0.334, 0.926, 4.615, 0, 0, 0, 61 [SEP] 37, Spatula, -0.181, 0.940, 5.273, 0, 0, 0, 61 [SEP] 38, PaperTowelRoll, -3.748, 0.172, 6.292, 0, 270, 0, 102 [SEP] 39, Cup, -4.064, 0.082, 2.992, 0, 0, 0, 89 [SEP] 40, Pencil, -0.104, 0.925, 5.603, 0, 0, 0, 61 [SEP] 41, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 59 [SEP] 42, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 91 [SEP] 43, SaltShaker, -1.943, 0.919, 1.648, 0, 0, 0, 58 [SEP] 44, SoapBottle, -3.748, 0.068, 6.416, 0, 270, 0, 102 [SEP] 45, PepperShaker, -0.411, 0.921, 5.273, 0, 0, 0, 55 [SEP] 46, ButterKnife, -0.411, 0.925, 4.615, 0, 0, 0, 61 [SEP] 47, DishSponge, -2.109, 0.923, 2.026, 0, 0, 0, 58 [SEP] 48, Spoon, -0.488, 0.926, 5.603, 0, 0, 0, 61 [SEP] 49, Mug, -2.635, 1.541, 1.601, 0, 90, 0, 106 [SEP] 50, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 51, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 52, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 53, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 54, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 55, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 56, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 57, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 58, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 59, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 60, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 61, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 62, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 63, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 64, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 65, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 66, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 67, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 68, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 69, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 70, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 71, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 72, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 73, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 74, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 75, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 76, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 77, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 78, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 79, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 80, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 81, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 82, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 83, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 84, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 85, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 86, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 87, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 88, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 89, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 90, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 91, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 92, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 93, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 94, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 95, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 96, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 97, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 98, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 99, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 100, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 101, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 102, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 103, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 104, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 105, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 106, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 107, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 108, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 109, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk to the stove then take a step to your left. | STEP 2: Pick up the head of lettuce that's in front of you. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the lettuce in the sink and then pick it back up and shut off the water. | STEP 5: Move about three steps to your right. | STEP 6: Put the lettuce on the counter above the dish washer.. | END


Input: get the laptop and examine it under the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.25, 0, 90, 0,  [SEP] 1, Mug, 2.705, 0.796, -1.728, 0, 0, 0, 36 [SEP] 2, TissueBox, 1.394, 0.519, -1.591, 0, 0, 0, 38 [SEP] 3, CellPhone, 2.904, 0.798, -1.666, 0, 0, 0, 36 [SEP] 4, Pen, 2.904, 0.804, -1.358, 0, 0, 0, 36 [SEP] 5, KeyChain, 2.904, 0.799, -1.543, 0, 0, 0, 36 [SEP] 6, Book, 0.715, 0.569, -0.459, 0, 90, 0, 23 [SEP] 7, Book, -0.097, 0.569, -1.352, 0, 0, 0, 23 [SEP] 8, Pillow, 0.552, 0.674, -0.905, 0, 0, 0, 23 [SEP] 9, Book, -0.097, 0.569, -0.682, 0, 0, 0, 23 [SEP] 10, KeyChain, 1.240, 0.519, -1.631, 0, 180, 0, 38 [SEP] 11, TissueBox, 1.909, 0.800, -1.482, 0, 0, 0, 36 [SEP] 12, TeddyBear, -0.075, 0.562, -0.274, 353.177, 297.143, 5.348, 23 [SEP] 13, Pencil, 2.108, 0.803, -1.728, 0, 0, 0, 36 [SEP] 14, CreditCard, 2.931, 0.545, -1.464, 0, 0, 0, 35 [SEP] 15, TennisRacket, -0.921, 0.344, 0.390, 13.911, 273.938, 195.992, Floor|+00.39| [SEP] 16, Laptop, 2.362, 0.791, -1.54, 0, 0, 0, 36 [SEP] 17, AlarmClock, 1.108, 0.510, -1.673, 0, 345.197, 0, 38 [SEP] 18, Pen, 2.108, 0.804, -1.543, 0, 0, 0, 36 [SEP] 19, Pillow, 0.390, 0.674, -0.459, 0, 0, 0, 23 [SEP] 20, CellPhone, 1.296, 0.059, -1.614, 0, 180, 0, 39 [SEP] 21, CD, 1.317, 0.515, -1.712, 0, 0, 0, 38 [SEP] 22, Mug, 3.154, 0.543, -1.464, 0, 0, 0, 35 [SEP] 23, Bed, 0.227, -0.003, -0.947, 0, 180, 0,  [SEP] 24, Mirror, 0.615, 1.264, 1.029, 0, 0, 0,  [SEP] 25, GarbageCan, 3.166, -0.011, -0.264, 4.636, 271.335, 0,  [SEP] 26, DeskLamp, 3.164, 0.794, -1.664, 0, 315, 0,  [SEP] 27, HousePlant, -0.833, 0.000, 0.843, 0, 0, 0,  [SEP] 28, LightSwitch, 2.010, 1.126, 1.029, 0, 180, 0,  [SEP] 29, Window, 1.794, 1.677, -1.939, 90, 180, 0,  [SEP] 30, Window, 0.691, 1.361, -1.938, 90, 180, 0,  [SEP] 31, Dumbbell, 2.628, 0.001, -1.613, 0, 346.954, 0,  [SEP] 32, Blinds, 1.776, 1.993, -1.858, 0, 0, 0,  [SEP] 33, Blinds, 0.670, 1.993, -1.858, 0, 0, 0,  [SEP] 34, Chair, 2.255, 0.004, -1.501, 0, 167.716, 0,  [SEP] 35, Shelf, 3.034, 0.637, -1.580, 0, 0, 0,  [SEP] 36, Desk, 2.500, 0.002, -1.596, 0, 0, 0,  [SEP] 37, Drawer, 1.240, 0.354, -1.553, 0, 0, 0,  [SEP] 38, SideTable, 1.239, 0.003, -1.551, 0, 0, 0,  [SEP] 39, Drawer, 1.240, 0.126, -1.553, 0, 0, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: approach the middle of the desk | STEP 2: close the computer and pick it up  | STEP 3: take the computer to the the far left side of the desk | STEP 4: turn on the lamp to examine the computer | END


Input: Put a metal pan with a sponge in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.25, 0, 180, 0,  [SEP] 1, Potato, -1.783, 0.863, 0.107, 0, 90, 0, 92 [SEP] 2, Ladle, -0.213, 0.969, 0.738, 0, 0, 0, 77 [SEP] 3, Kettle, 1.765, 0.938, 0.819, 0, 180, 0, 66 [SEP] 4, DishSponge, -0.751, 0.671, -1.270, 0, 0, 0, 60 [SEP] 5, DishSponge, -1.796, 0.041, 1.288, 0, 270, 0, 83 [SEP] 6, ButterKnife, -0.106, 0.925, 0.970, 0, 0, 0, 77 [SEP] 7, ButterKnife, 0.107, 0.925, 0.041, 0, 0, 0, 77 [SEP] 8, Spatula, 0.889, 0.926, -1.513, 0, 0, 0, 69 [SEP] 9, Spatula, 1.769, 0.598, 0.125, 0, 0, 0, 54 [SEP] 10, Pot, -1.750, 1.473, -0.175, 0, 90, 0, 92 [SEP] 11, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 69 [SEP] 12, Knife, 0.107, 0.947, 0.273, 0, 0, 0, 77 [SEP] 13, SoapBottle, 0.321, 0.929, -0.190, 0, 0, 0, 77 [SEP] 14, Bowl, 2.030, 0.909, -1.318, 0, 0, 0, 69 [SEP] 15, Bowl, 2.001, 1.657, -0.977, 0, 270, 0, 57 [SEP] 16, SaltShaker, -1.902, 0.907, -1.113, 0, 0, 0, 69 [SEP] 17, Bread, 1.802, 0.992, -1.318, 0, 0, 0, 69 [SEP] 18, Bread, 0.214, 1.006, 0.738, 0, 0, 0, 77 [SEP] 19, Lettuce, 0.214, 1.002, 0.273, 0, 0, 0, 77 [SEP] 20, Lettuce, -1.462, 0.988, -1.707, 0, 0, 0, 69 [SEP] 21, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 91 [SEP] 22, Mug, 2.020, 1.001, -0.704, 0, 0, 0, 90 [SEP] 23, Apple, -0.844, 0.964, -1.318, 0, 0, 0, 69 [SEP] 24, SoapBottle, 0.107, 0.929, 0.506, 0, 0, 0, 77 [SEP] 25, Cup, -1.645, 1.675, 0.201, 0, 90, 0, 92 [SEP] 26, Pot, -1.197, 0.117, -1.487, 0, 0, 0, 81 [SEP] 27, Fork, 1.769, 0.583, -0.238, 0, 0, 0, 54 [SEP] 28, Ladle, -1.050, 0.955, -1.610, 0, 0, 0, 69 [SEP] 29, Kettle, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 30, Egg, -1.855, 1.733, 0.201, 0, 90, 0, 92 [SEP] 31, Plate, 0.250, 0.111, -1.408, 0, 0, 0, 58 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, 0.000, 1.002, 0.970, 0, 0, 0, 77 [SEP] 34, Spatula, 1.559, 0.474, 0.736, 0, 270, 0, 73 [SEP] 35, Apple, 1.988, 1.059, -0.808, 0, 270, 0, 90 [SEP] 36, Knife, 0.107, 0.947, 0.738, 0, 90, 0, 77 [SEP] 37, SaltShaker, 0.321, 0.921, 0.506, 0, 0, 0, 77 [SEP] 38, PepperShaker, -0.320, 0.921, 0.041, 0, 0, 0, 77 [SEP] 39, CellPhone, -0.320, 0.923, 0.273, 0, 0, 0, 77 [SEP] 40, ButterKnife, 1.660, 0.695, 0.543, 0, 0, 0, 70 [SEP] 41, Bread, -0.320, 1.006, -0.190, 0, 0, 0, 77 [SEP] 42, Tomato, 1.553, 0.966, 1.258, 0, 0, 0, 69 [SEP] 43, Potato, -0.106, 0.949, 0.506, 0, 0, 0, 77 [SEP] 44, DishSponge, -1.050, 0.911, -1.221, 0, 0, 0, 69 [SEP] 45, Spoon, 1.712, 0.546, 1.088, 0, 0, 0, 67 [SEP] 46, Mug, 1.956, 1.001, -0.547, 0, 270, 0, 90 [SEP] 47, Bowl, -0.106, 0.924, 0.273, 0, 0, 0, 77 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0,  [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0,  [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0,  [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0,  [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0,  [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0,  [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0,  [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0,  [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0,  [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0,  [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0,  [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0,  [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0,  [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0,  [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0,  [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0,  [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0,  [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0,  [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0,  [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0,  [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0,  [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0,  [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0,  [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0,  [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0,  [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0,  [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0,  [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0,  [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0,  [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0,  [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0,  [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0,  [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0,  [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295,  [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180,  [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180,  [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180,  [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180,  [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180,  [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180,  [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0,  [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0,  [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0,  [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0,  [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0,  [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0,  [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Walk over to the section of counter to the right of the sink. | STEP 2: Pick up the sponge off of the counter in front of you. | STEP 3: Look up to face the counter. | STEP 4: Put the sponge into the metal pan on the counter. | STEP 5: Pick up the metal pan with sponge in it off of the counter. | STEP 6: Turn left and walk over to the sink. | STEP 7: Put the metal pan with the sponge in it into the sink. | END


Input: Put a frying pan with a sponge in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.25, 0, 180, 0,  [SEP] 1, Potato, -1.783, 0.863, 0.107, 0, 90, 0, 92 [SEP] 2, Ladle, -0.213, 0.969, 0.738, 0, 0, 0, 77 [SEP] 3, Kettle, 1.765, 0.938, 0.819, 0, 180, 0, 66 [SEP] 4, DishSponge, -0.751, 0.671, -1.270, 0, 0, 0, 60 [SEP] 5, DishSponge, -1.796, 0.041, 1.288, 0, 270, 0, 83 [SEP] 6, ButterKnife, -0.106, 0.925, 0.970, 0, 0, 0, 77 [SEP] 7, ButterKnife, 0.107, 0.925, 0.041, 0, 0, 0, 77 [SEP] 8, Spatula, 0.889, 0.926, -1.513, 0, 0, 0, 69 [SEP] 9, Spatula, 1.769, 0.598, 0.125, 0, 0, 0, 54 [SEP] 10, Pot, -1.750, 1.473, -0.175, 0, 90, 0, 92 [SEP] 11, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 69 [SEP] 12, Knife, 0.107, 0.947, 0.273, 0, 0, 0, 77 [SEP] 13, SoapBottle, 0.321, 0.929, -0.190, 0, 0, 0, 77 [SEP] 14, Bowl, 2.030, 0.909, -1.318, 0, 0, 0, 69 [SEP] 15, Bowl, 2.001, 1.657, -0.977, 0, 270, 0, 57 [SEP] 16, SaltShaker, -1.902, 0.907, -1.113, 0, 0, 0, 69 [SEP] 17, Bread, 1.802, 0.992, -1.318, 0, 0, 0, 69 [SEP] 18, Bread, 0.214, 1.006, 0.738, 0, 0, 0, 77 [SEP] 19, Lettuce, 0.214, 1.002, 0.273, 0, 0, 0, 77 [SEP] 20, Lettuce, -1.462, 0.988, -1.707, 0, 0, 0, 69 [SEP] 21, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 91 [SEP] 22, Mug, 2.020, 1.001, -0.704, 0, 0, 0, 90 [SEP] 23, Apple, -0.844, 0.964, -1.318, 0, 0, 0, 69 [SEP] 24, SoapBottle, 0.107, 0.929, 0.506, 0, 0, 0, 77 [SEP] 25, Cup, -1.645, 1.675, 0.201, 0, 90, 0, 92 [SEP] 26, Pot, -1.197, 0.117, -1.487, 0, 0, 0, 81 [SEP] 27, Fork, 1.769, 0.583, -0.238, 0, 0, 0, 54 [SEP] 28, Ladle, -1.050, 0.955, -1.610, 0, 0, 0, 69 [SEP] 29, Kettle, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 30, Egg, -1.855, 1.733, 0.201, 0, 90, 0, 92 [SEP] 31, Plate, 0.250, 0.111, -1.408, 0, 0, 0, 58 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, 0.000, 1.002, 0.970, 0, 0, 0, 77 [SEP] 34, Spatula, 1.559, 0.474, 0.736, 0, 270, 0, 73 [SEP] 35, Apple, 1.988, 1.059, -0.808, 0, 270, 0, 90 [SEP] 36, Knife, 0.107, 0.947, 0.738, 0, 90, 0, 77 [SEP] 37, SaltShaker, 0.321, 0.921, 0.506, 0, 0, 0, 77 [SEP] 38, PepperShaker, -0.320, 0.921, 0.041, 0, 0, 0, 77 [SEP] 39, CellPhone, -0.320, 0.923, 0.273, 0, 0, 0, 77 [SEP] 40, ButterKnife, 1.660, 0.695, 0.543, 0, 0, 0, 70 [SEP] 41, Bread, -0.320, 1.006, -0.190, 0, 0, 0, 77 [SEP] 42, Tomato, 1.553, 0.966, 1.258, 0, 0, 0, 69 [SEP] 43, Potato, -0.106, 0.949, 0.506, 0, 0, 0, 77 [SEP] 44, DishSponge, -1.050, 0.911, -1.221, 0, 0, 0, 69 [SEP] 45, Spoon, 1.712, 0.546, 1.088, 0, 0, 0, 67 [SEP] 46, Mug, 1.956, 1.001, -0.547, 0, 270, 0, 90 [SEP] 47, Bowl, -0.106, 0.924, 0.273, 0, 0, 0, 77 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0,  [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0,  [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0,  [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0,  [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0,  [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0,  [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0,  [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0,  [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0,  [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0,  [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0,  [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0,  [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0,  [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0,  [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0,  [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0,  [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0,  [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0,  [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0,  [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0,  [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0,  [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0,  [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0,  [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0,  [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0,  [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0,  [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0,  [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0,  [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0,  [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0,  [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0,  [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0,  [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0,  [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0,  [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295,  [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180,  [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180,  [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180,  [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180,  [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180,  [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180,  [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0,  [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0,  [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0,  [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0,  [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0,  [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0,  [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Turn right and take two steps then turn left and walk to the counter with the sponge on it. | STEP 2: Pick up the sponge that's in front of you. | STEP 3: Look at the frying pan. | STEP 4: Put the sponge in the frying pan to your right please. | STEP 5: Pick up the frying pan with the sponge in it. | STEP 6: Move to your left until you're in front of the sink. | STEP 7: Put the frying pan with the sponge in it in the sink. | END


Input: place chilled lettuce on white dining table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 3.0, 0, 270, 0,  [SEP] 1, Potato, 0.650, 0.866, 2.285, 0, 0, 0, 50 [SEP] 2, Potato, 0.650, 0.866, 2.631, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.950, 0.823, 2.198, 0, 0, 0, 50 [SEP] 4, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 44 [SEP] 5, Spatula, 0.800, 0.838, 0.895, 0, 90, 0, 45 [SEP] 6, Plate, -1.393, 0.131, 3.674, 0, 0, 0, 65 [SEP] 7, Cup, -1.482, 0.822, 4.012, 0, 0, 0, 68 [SEP] 8, Cup, 1.099, 0.822, 2.285, 0, 0, 0, 50 [SEP] 9, Knife, -2.374, 0.846, 3.650, 0, 0, 0, 68 [SEP] 10, SoapBottle, -1.317, 0.900, 0.937, 0, 90, 0, 86 [SEP] 11, SoapBottle, 1.024, 0.812, 2.458, 0, 0, 0, 50 [SEP] 12, Tomato, -2.636, 1.259, 2.333, 0, 90, 0, 77 [SEP] 13, Bowl, -2.461, 0.765, 2.389, 0, 270, 0, 77 [SEP] 14, SaltShaker, -2.501, 0.153, 1.521, 0, 0, 0, 53 [SEP] 15, Mug, -1.362, 0.697, 3.774, 0, 0, 0, 80 [SEP] 16, Apple, -1.486, 1.420, 3.967, 0, 180, 0, 74 [SEP] 17, Plate, 0.742, 0.129, 0.981, 0, 0, 0, 47 [SEP] 18, Fork, -0.657, 0.901, 0.937, 0, 180, 0, 86 [SEP] 19, Bread, 0.818, 0.863, 2.447, 0, 1.672, 1.255, 45 [SEP] 20, Spatula, 0.875, 0.838, 0.895, 0, 90, 0, 45 [SEP] 21, PaperTowelRoll, 0.989, 0.128, 2.947, 0, 0, 0, 79 [SEP] 22, Potato, 0.902, 0.067, 2.918, 0, 0, 0, 79 [SEP] 23, SoapBottle, -0.921, 0.900, 1.452, 0, 90, 0, 86 [SEP] 24, Egg, -1.362, 0.733, 3.857, 0, 0, 0, 80 [SEP] 25, Cup, -2.541, 1.634, 2.687, 0, 0, 0, 58 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, -2.465, 1.845, 1.853, 0, 0, 0, 70 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, -0.674, 1.237, 3.810, 0, 0, 0, 49 [SEP] 30, ButterKnife, -1.317, 0.900, 1.452, 0, 90, 0, 86 [SEP] 31, Tomato, -1.317, 0.969, 1.349, 0, 90, 0, 86 [SEP] 32, DishSponge, -0.524, 0.900, 1.143, 0, 90, 0, 86 [SEP] 33, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 86 [SEP] 34, Spoon, -0.789, 0.901, 1.349, 0, 90, 0, 86 [SEP] 35, Apple, -0.789, 0.961, 1.246, 0, 90, 0, 86 [SEP] 36, Knife, -0.921, 0.923, 1.349, 0, 270, 0, 86 [SEP] 37, Mug, 0.800, 0.818, 2.198, 0, 0, 0, 50 [SEP] 38, Bowl, -2.636, 0.993, 2.333, 0, 90, 0, 77 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: turn left, go to left side of white dining table | STEP 2: pick up lettuce from white dining table | STEP 3: go to the refrigerator to the right | STEP 4: open refrigerator, put lettuce on left side of second shelf, close refrigerator, open refrigerator, pick up lettuce, close refrigerator | STEP 5: turn around, go to front of dining table by white dispenser | STEP 6: place lettuce to the left of knife on white dining table | END


Input: Move the salt to a different table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.869, -3.5, 0, 180, 0,  [SEP] 1, Potato, 0.715, 0.805, -0.790, 0, 270, 0, 67 [SEP] 2, Potato, 0.601, 0.697, 0.265, 0, 0, 0, 49 [SEP] 3, DishSponge, 0.769, 0.759, 0.002, 0, 0, 0, 43 [SEP] 4, DishSponge, 0.729, 0.883, 0.029, 0, 0, 0, 44 [SEP] 5, ButterKnife, -1.719, 0.701, -0.983, 0, 0, 0, 80 [SEP] 6, Spatula, 0.950, 0.898, -0.176, 0, 90, 0, 44 [SEP] 7, Spatula, -1.970, 0.716, -0.983, 0, 270, 0, 80 [SEP] 8, Spoon, 0.769, 0.761, -0.124, 0, 0, 0, 43 [SEP] 9, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 46 [SEP] 10, Cup, 0.785, 1.373, -1.725, 0, 270, 0, 64 [SEP] 11, Knife, 0.574, 0.783, -0.124, 0, 90, 0, 43 [SEP] 12, Knife, 0.817, 0.782, -0.252, 0, 90, 0, 43 [SEP] 13, Tomato, 0.824, 1.207, -1.802, 0, 270, 0, 64 [SEP] 14, SoapBottle, -1.578, 0.695, -3.782, 0, 0, 0, 71 [SEP] 15, PepperShaker, 0.812, 1.460, 0.349, 0, 0, 0, 56 [SEP] 16, SaltShaker, 0.661, 0.660, 0.569, 0, 0, 0, 49 [SEP] 17, SaltShaker, 0.949, 1.460, -0.207, 0, 0, 0, 55 [SEP] 18, Bread, -0.051, 0.944, 0.929, 0, 270, 0, 70 [SEP] 19, Lettuce, 0.746, 1.461, -1.958, 0, 270, 0, 64 [SEP] 20, Lettuce, -1.056, 0.987, 1.187, 0, 270, 0, 70 [SEP] 21, Mug, -2.054, 0.794, -3.705, 0, 0, 0, 66 [SEP] 22, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 48 [SEP] 23, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 80 [SEP] 24, Fork, 0.729, 0.884, -0.245, 0, 0, 0, 44 [SEP] 25, SoapBottle, -1.260, 0.051, -3.647, 0, 270, 0, 59 [SEP] 26, Apple, 0.715, 0.826, -0.570, 0, 270, 0, 67 [SEP] 27, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 47 [SEP] 28, Egg, -1.949, 0.836, -3.771, 0, 0, 0, 66 [SEP] 29, Spatula, -1.970, 0.716, -0.875, 0, 0, 0, 80 [SEP] 30, Potato, -1.843, 0.832, -3.673, 0, 0, 0, 66 [SEP] 31, Cup, 0.721, 0.664, 0.387, 0, 0, 0, 49 [SEP] 32, SaltShaker, 1.040, 1.460, -0.022, 0, 0, 0, 55 [SEP] 33, PepperShaker, 0.877, 0.879, -0.245, 0, 0, 0, 44 [SEP] 34, ButterKnife, 0.769, 0.759, -0.124, 0, 0, 0, 43 [SEP] 35, DishSponge, 0.720, 0.759, -0.252, 0, 0, 0, 43 [SEP] 36, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 70 [SEP] 37, Lettuce, 0.841, 0.752, 0.569, 0, 0, 0, 49 [SEP] 38, Tomato, 0.901, 0.712, 0.326, 0, 0, 0, 49 [SEP] 39, Spoon, 0.841, 0.666, 0.326, 0, 0, 0, 49 [SEP] 40, Knife, 0.781, 0.687, 0.569, 0, 0, 0, 49 [SEP] 41, Mug, 0.841, 0.767, -0.680, 0, 270, 0, 67 [SEP] 42, Bowl, 0.746, 0.663, -2.113, 0, 270, 0, 64 [SEP] 43, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 44, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 45, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 46, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 47, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 48, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 49, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 50, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 51, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 52, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 53, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 54, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 55, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 57, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 58, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 59, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 60, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 61, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 65, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 66, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 67, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 68, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 69, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 70, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 72, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 73, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 74, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 75, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 76, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 77, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 78, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 79, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 80, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 81, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: Turn around then face the sink to your right. | STEP 2: Take the salt from the counter in front of you. | STEP 3: Turn left and face the table in front of you. | STEP 4: Place the salt on the table in front of you. | STEP 5: Turn right and face the cabinet above the brown table in front of you. | STEP 6: Open the cabinet in front of you, take the salt out and close it. | STEP 7: Turn left and face the table and front of you. | STEP 8: Place the salt on the table in front of you. | END


Input: Move a spray bottle from the top of a toilet to a counter top. 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, 1.75, 0, 0, 0,  [SEP] 1, Cloth, -0.302, 0.206, 2.034, 0, 0, 0, 22 [SEP] 2, SoapBar, -0.470, 0.206, 1.519, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.170, 0.057, 3.818, 0, 90, 0, 34 [SEP] 4, DishSponge, -0.414, 0.513, 1.867, 0, 0, 0, 22 [SEP] 5, SoapBottle, -0.417, 0.813, 2.190, 0, 0, 0, 21 [SEP] 6, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 35 [SEP] 7, SoapBar, -0.188, 0.953, 3.533, 0, 0, 0, 36 [SEP] 8, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 36 [SEP] 9, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 10, Candle, -0.190, 0.510, 2.551, 0, 0, 0, 25 [SEP] 11, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.161, 0.809, 2.190, 0, 0, 0, 21 [SEP] 13, SprayBottle, -0.161, 0.954, 3.596, 0, 0, 0, 36 [SEP] 14, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 33 [SEP] 15, Cloth, -0.246, 0.205, 2.439, 0, 0, 0, 28 [SEP] 16, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 17, DishSponge, -0.268, 0.829, 1.675, 0, 0, 0, 42 [SEP] 18, Sink, -0.299, 0.807, 2.754, 0, 270, 0,  [SEP] 19, Drawer, -0.319, 0.615, 3.012, 0, 0, 0,  [SEP] 20, Drawer, -0.319, 0.316, 3.012, 0, 0, 0,  [SEP] 21, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0,  [SEP] 22, Drawer, -0.319, 0.615, 1.978, 0, 0, 0,  [SEP] 23, Drawer, -0.319, 0.316, 1.978, 0, 0, 0,  [SEP] 24, Drawer, -0.319, 0.316, 1.463, 0, 0, 0,  [SEP] 25, Drawer, -0.319, 0.615, 2.495, 0, 0, 0,  [SEP] 26, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0,  [SEP] 27, Drawer, -0.319, 0.615, 1.463, 0, 0, 0,  [SEP] 28, Drawer, -0.319, 0.316, 2.495, 0, 0, 0,  [SEP] 29, Faucet, -0.076, 0.805, 2.757, 0, 0, 0,  [SEP] 30, Mirror, -0.228, 0.465, 1.453, 0, 0, 0,  [SEP] 31, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0,  [SEP] 33, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0,  [SEP] 34, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0,  [SEP] 35, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0,  [SEP] 36, Toilet, -0.600, -0.000, 3.671, 0, 270, 0,  [SEP] 37, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0,  [SEP] 38, Faucet, -0.076, 0.805, 1.733, 0, 0, 0,  [SEP] 39, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0,  [SEP] 40, Sink, -0.298, 0.807, 1.725, 0, 270, 0,  [SEP] 41, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0,  [SEP] 42, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,

Output: STEP 1: Walk forward to the toilet. | STEP 2: Pick up the spray bottle from the top of the toilet. | STEP 3: Turn right and walk to the right side of the counter top. | STEP 4: Put the spray bottle on the counter top, immediately to the right of the soap bottle on the left. | END


Input: Put the vase on the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.25, 0, 180, 0,  [SEP] 1, Pan, -0.308, 1.690, -0.665, 0, 0, 0, 71 [SEP] 2, Glassbottle, -0.350, 0.797, -2.155, 0, 270, 0, 72 [SEP] 3, Glassbottle, -0.211, 1.528, -3.020, 0, 0, 0, 66 [SEP] 4, Glassbottle, -0.162, 1.528, -2.809, 0, 0, 0, 66 [SEP] 5, Pencil, -0.449, 0.747, -3.267, 0, 0, 0, 65 [SEP] 6, Pen, -2.324, 0.926, -1.193, 0, 0, 0, 79 [SEP] 7, Pen, -2.666, 0.926, -2.345, 0, 0, 0, 79 [SEP] 8, Potato, -0.295, 1.130, -0.560, 0, 270, 0, 71 [SEP] 9, DishSponge, -2.780, 0.923, -1.654, 0, 0, 0, 79 [SEP] 10, DishSponge, -1.881, 0.026, -3.763, 0, 0, 0, 70 [SEP] 11, WineBottle, -0.377, 1.531, -3.555, 0, 45, 0, 62 [SEP] 12, Spatula, -2.666, 0.938, -1.193, 0, 180, 0, 79 [SEP] 13, Fork, -2.324, 0.924, -1.654, 0, 90, 0, 79 [SEP] 14, Fork, -2.210, 0.924, -1.654, 0, 90, 0, 79 [SEP] 15, Spoon, -2.324, 0.924, -1.193, 0, 0, 0, 79 [SEP] 16, Plate, -0.422, 0.083, -2.201, 0, 0, 0, 59 [SEP] 17, Egg, -1.943, 0.059, -3.690, 0, 0, 0, 70 [SEP] 18, SoapBottle, -2.780, 0.922, -2.115, 0, 0, 0, 79 [SEP] 19, SoapBottle, -2.552, 0.922, -1.884, 0, 0, 0, 79 [SEP] 20, PepperShaker, -2.324, 0.919, -1.423, 0, 0, 0, 79 [SEP] 21, PepperShaker, -1.707, 1.965, -3.812, 0, 0, 0, 63 [SEP] 22, Apple, -0.743, 0.989, -3.626, 0, 0, 0, 54 [SEP] 23, Apple, -2.006, 0.100, -3.763, 0, 0, 0, 70 [SEP] 24, Apple, -0.246, 1.464, -0.979, 0, 270, 0, 71 [SEP] 25, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 79 [SEP] 26, Glassbottle, -0.447, 0.797, -1.860, 0, 270, 0, 72 [SEP] 27, Egg, -1.098, 1.663, -3.870, 0, 0, 0, 67 [SEP] 28, Pen, -2.552, 0.926, -2.115, 0, 0, 0, 79 [SEP] 29, Fork, -2.552, 0.924, -1.423, 0, 0, 0, 79 [SEP] 30, SoapBottle, -2.552, 0.922, -0.963, 0, 0, 0, 79 [SEP] 31, Pencil, -2.780, 0.923, -0.963, 0, 0, 0, 79 [SEP] 32, WineBottle, -0.499, 0.081, -3.299, 0, 0, 0, 60 [SEP] 33, Spatula, -0.600, 0.930, -3.768, 0, 90, 0, 54 [SEP] 34, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 54 [SEP] 35, Tomato, -2.096, 0.987, -1.654, 0, 0, 0, 79 [SEP] 36, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 50 [SEP] 37, Cup, -0.995, 1.968, -3.773, 0, 0, 0, 55 [SEP] 38, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 52 [SEP] 39, SaltShaker, -2.780, 0.919, -1.884, 0, 0, 0, 79 [SEP] 40, Potato, -2.210, 0.954, -1.423, 0, 0, 0, 79 [SEP] 41, PepperShaker, -0.499, 0.077, -1.895, 0, 0, 0, 59 [SEP] 42, ButterKnife, -2.666, 0.923, -1.884, 0, 0, 0, 79 [SEP] 43, DishSponge, -0.720, 0.746, -3.527, 0, 0, 0, 53 [SEP] 44, Spoon, -0.302, 0.798, -1.934, 0, 270, 0, 72 [SEP] 45, Plate, -0.747, 0.084, -3.545, 0, 0, 0, 60 [SEP] 46, Knife, -2.210, 0.946, -0.963, 0, 0, 0, 79 [SEP] 47, Mug, -2.324, 0.918, -2.115, 0, 0, 0, 79 [SEP] 48, Bowl, -2.096, 0.922, -2.115, 0, 0, 0, 79 [SEP] 49, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 50, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 51, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 52, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 53, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 54, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 55, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 56, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 57, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 58, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 59, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 61, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 62, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 63, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 64, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 65, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 66, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 67, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 68, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 69, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 70, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 71, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 72, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 73, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 74, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 75, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 76, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 77, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 78, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 79, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 80, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 81, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 82, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 83, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 84, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 85, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk over to the kitchen sink | STEP 2: Pick up the left most vase from the sink | STEP 3: Turn right and look up slightly | STEP 4: Put the vase down on the counter just right of the sink | END


Input: Putting a tomato slice on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 1.75, 0, 90, 0,  [SEP] 1, Pan, -1.109, 0.930, 1.470, 0, 0, 0, 39 [SEP] 2, DishSponge, 1.729, 0.937, 1.887, 0, 0, 0, 42 [SEP] 3, Fork, 1.275, 0.747, 0.780, 0, 90, 0, 67 [SEP] 4, Fork, -0.861, 0.747, 2.245, 0, 90, 0, 38 [SEP] 5, Spoon, -0.960, 0.939, 0.843, 0, 0, 0, 62 [SEP] 6, Spatula, -0.689, 0.761, 2.449, 0, 270, 0, 38 [SEP] 7, Spatula, -0.758, 0.761, 0.779, 0, 90, 0, 60 [SEP] 8, Egg, 1.422, 0.878, 1.426, 0, 180, 0, 79 [SEP] 9, Knife, 1.362, 0.959, 0.806, 0, 90, 0, 42 [SEP] 10, Knife, -0.896, 0.768, 2.245, 0, 90, 0, 38 [SEP] 11, Tomato, -1.018, 1.380, -0.110, 0, 90, 0, 69 [SEP] 12, SoapBottle, -1.154, 1.828, -0.220, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.346, 0.100, 0.272, 0, 0, 0, 47 [SEP] 14, Mug, 1.662, 1.943, 1.783, 0, 0, 0, 54 [SEP] 15, Apple, -1.043, 0.987, 0.998, 0, 0, 0, 62 [SEP] 16, Lettuce, 1.460, 1.014, 1.678, 4.936, 59.364, 356.547, 64 [SEP] 17, SoapBottle, -0.960, 0.937, 1.154, 0, 0, 0, 62 [SEP] 18, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 37 [SEP] 19, Fork, -1.126, 0.938, 0.921, 0, 90, 0, 62 [SEP] 20, Tomato, -1.209, 0.999, 0.843, 0, 0, 0, 62 [SEP] 21, Bowl, -0.764, 0.078, 2.456, 0, 0, 0, 58 [SEP] 22, Pot, -0.818, 0.927, 0.816, 0, 270, 0, 62 [SEP] 23, Spatula, 1.669, 0.952, 0.940, 0, 0, 0, 42 [SEP] 24, Knife, -0.827, 0.768, 2.245, 0, 90, 0, 38 [SEP] 25, SaltShaker, 1.666, 1.500, 1.058, 0, 0, 0, 44 [SEP] 26, Apple, -0.860, 0.615, 0.119, 0, 90, 0, 69 [SEP] 27, PepperShaker, -0.792, 0.743, 1.050, 0, 180, 0, 60 [SEP] 28, ButterKnife, -1.126, 0.937, 0.687, 0, 0, 0, 62 [SEP] 29, Potato, 1.490, 0.876, 1.341, 0, 180, 0, 79 [SEP] 30, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 63 [SEP] 31, DishSponge, -1.211, 0.937, 2.234, 0, 0, 0, 37 [SEP] 32, Egg, 1.550, 0.979, 1.840, 0, 180, 0, 64 [SEP] 33, Cup, -0.988, 0.813, 0.272, 0, 90, 0, 69 [SEP] 34, Pan, -0.924, 1.498, 0.119, 0, 90, 0, 69 [SEP] 35, Spoon, -0.827, 0.747, 0.779, 0, 180, 0, 60 [SEP] 36, Mug, -1.075, 1.944, 1.782, 0, 0, 0, 53 [SEP] 37, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 38, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 39, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 40, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 41, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 42, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 43, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 44, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 45, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 46, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 47, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 48, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 49, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 50, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 51, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 52, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 53, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 54, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 56, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 57, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 58, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 59, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 60, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 61, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 62, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 63, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 64, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 65, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 66, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 67, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 68, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 69, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 70, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 71, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 72, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 73, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 74, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 75, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 76, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 77, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 78, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 79, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 80, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 81, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: Turn around and stop at the counter to the right of the fridge | STEP 2: Grab the knife that's on the counter | STEP 3: Stand up straight in front of the counter | STEP 4: Cut the tomato on the counter into slices | STEP 5: Turn slightly to the right | STEP 6: Put the knife down in the bowl | STEP 7: Turn slightly to the right | STEP 8: Grab one of the tomato slices | STEP 9: Turn around and head to the microwave | STEP 10: Heat the tomato in the microwave. Take the tomato out of the microwave. | STEP 11: Turn left and stop at the coffee maker | STEP 12: Put the tomato on the counter in front of the coffee maker | END


Input: Cut plus heat a tomato slice as well as place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 1.75, 0, 90, 0,  [SEP] 1, Pan, -1.109, 0.930, 1.470, 0, 0, 0, 39 [SEP] 2, DishSponge, 1.729, 0.937, 1.887, 0, 0, 0, 42 [SEP] 3, Fork, 1.275, 0.747, 0.780, 0, 90, 0, 67 [SEP] 4, Fork, -0.861, 0.747, 2.245, 0, 90, 0, 38 [SEP] 5, Spoon, -0.960, 0.939, 0.843, 0, 0, 0, 62 [SEP] 6, Spatula, -0.689, 0.761, 2.449, 0, 270, 0, 38 [SEP] 7, Spatula, -0.758, 0.761, 0.779, 0, 90, 0, 60 [SEP] 8, Egg, 1.422, 0.878, 1.426, 0, 180, 0, 79 [SEP] 9, Knife, 1.362, 0.959, 0.806, 0, 90, 0, 42 [SEP] 10, Knife, -0.896, 0.768, 2.245, 0, 90, 0, 38 [SEP] 11, Tomato, -1.018, 1.380, -0.110, 0, 90, 0, 69 [SEP] 12, SoapBottle, -1.154, 1.828, -0.220, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.346, 0.100, 0.272, 0, 0, 0, 47 [SEP] 14, Mug, 1.662, 1.943, 1.783, 0, 0, 0, 54 [SEP] 15, Apple, -1.043, 0.987, 0.998, 0, 0, 0, 62 [SEP] 16, Lettuce, 1.460, 1.014, 1.678, 4.936, 59.364, 356.547, 64 [SEP] 17, SoapBottle, -0.960, 0.937, 1.154, 0, 0, 0, 62 [SEP] 18, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 37 [SEP] 19, Fork, -1.126, 0.938, 0.921, 0, 90, 0, 62 [SEP] 20, Tomato, -1.209, 0.999, 0.843, 0, 0, 0, 62 [SEP] 21, Bowl, -0.764, 0.078, 2.456, 0, 0, 0, 58 [SEP] 22, Pot, -0.818, 0.927, 0.816, 0, 270, 0, 62 [SEP] 23, Spatula, 1.669, 0.952, 0.940, 0, 0, 0, 42 [SEP] 24, Knife, -0.827, 0.768, 2.245, 0, 90, 0, 38 [SEP] 25, SaltShaker, 1.666, 1.500, 1.058, 0, 0, 0, 44 [SEP] 26, Apple, -0.860, 0.615, 0.119, 0, 90, 0, 69 [SEP] 27, PepperShaker, -0.792, 0.743, 1.050, 0, 180, 0, 60 [SEP] 28, ButterKnife, -1.126, 0.937, 0.687, 0, 0, 0, 62 [SEP] 29, Potato, 1.490, 0.876, 1.341, 0, 180, 0, 79 [SEP] 30, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 63 [SEP] 31, DishSponge, -1.211, 0.937, 2.234, 0, 0, 0, 37 [SEP] 32, Egg, 1.550, 0.979, 1.840, 0, 180, 0, 64 [SEP] 33, Cup, -0.988, 0.813, 0.272, 0, 90, 0, 69 [SEP] 34, Pan, -0.924, 1.498, 0.119, 0, 90, 0, 69 [SEP] 35, Spoon, -0.827, 0.747, 0.779, 0, 180, 0, 60 [SEP] 36, Mug, -1.075, 1.944, 1.782, 0, 0, 0, 53 [SEP] 37, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0,  [SEP] 38, Drawer, -0.783, 0.774, 2.381, 0, 180, 0,  [SEP] 39, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0,  [SEP] 40, Drawer, 1.370, 0.774, 2.391, 0, 0, 0,  [SEP] 41, Stool, -0.748, 0.008, 3.116, 0, 0, 0,  [SEP] 42, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0,  [SEP] 43, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0,  [SEP] 44, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0,  [SEP] 45, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0,  [SEP] 46, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0,  [SEP] 47, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0,  [SEP] 48, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0,  [SEP] 49, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0,  [SEP] 50, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0,  [SEP] 51, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0,  [SEP] 52, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0,  [SEP] 53, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0,  [SEP] 54, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0,  [SEP] 55, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0,  [SEP] 56, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0,  [SEP] 57, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0,  [SEP] 58, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0,  [SEP] 59, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0,  [SEP] 60, Drawer, -0.783, 0.774, 0.915, 0, 180, 0,  [SEP] 61, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0,  [SEP] 62, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0,  [SEP] 63, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0,  [SEP] 64, Sink, 1.544, 0.869, 1.639, 0, 180, 0,  [SEP] 65, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0,  [SEP] 66, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0,  [SEP] 67, Drawer, 1.370, 0.774, 0.916, 0, 0, 0,  [SEP] 68, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0,  [SEP] 69, Fridge, -1.001, 0.0, 0.119, 0, 0, 0,  [SEP] 70, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0,  [SEP] 71, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0,  [SEP] 72, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0,  [SEP] 73, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0,  [SEP] 74, Toaster, -1.002, 0.926, 2.561, 0, 90, 0,  [SEP] 75, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0,  [SEP] 76, Microwave, 1.632, 1.480, 1.645, 0, 270, 0,  [SEP] 77, Window, 0.224, 1.601, 3.509, 90, 0, 0,  [SEP] 78, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0,  [SEP] 79, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0,  [SEP] 80, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0,  [SEP] 81, Faucet, 1.707, 0.925, 1.363, 0, 270, 0,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the counter to the left of the fridge. | STEP 2: Pick up the knife on the counter. | STEP 3: Face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Take a step to the right and face the pan on the counter. | STEP 6: Put the knife on the pan on the counter. | STEP 7: Step to the left and face the tomato on the counter. | STEP 8: Pick up a slice of a tomato on the counter. | STEP 9: Turn around and walk across the room to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Take a step to the left and face the counter to the left of the sink. | STEP 12: Place the tomato slice on the counter. | END


Input: Put a blue plate with a phone on it down on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.25, 0, 180, 0,  [SEP] 1, Plate, -1.810, 0.348, 0.232, 0, 0, 0, 43 [SEP] 2, Newspaper, 3.482, 0.638, -1.346, 0, 0, 0, 40 [SEP] 3, Newspaper, 0.003, 0.334, 0.524, 0, 0, 0, 44 [SEP] 4, Statue, -1.809, 0.603, 0.031, 0, 90, 0, 41 [SEP] 5, CellPhone, 0.414, 0.336, 0.524, 0, 0, 0, 44 [SEP] 6, CellPhone, 1.416, 0.482, 0.784, 0, 0, 0, 38 [SEP] 7, CellPhone, 1.479, 0.482, 0.194, 0, 0, 0, 38 [SEP] 8, RemoteControl, -1.964, 0.599, 0.919, 0, 0, 0, 45 [SEP] 9, RemoteControl, 1.229, 0.484, 0.194, 0, 0, 0, 38 [SEP] 10, Laptop, 0.167, 0.333, 0.144, 0, 0, 0, 44 [SEP] 11, Box, -0.221, 0.122, -2.044, 0, 0, 0, 44 [SEP] 12, Newspaper, 1.368, 0.614, -0.791, 0, 180, 0, 33 [SEP] 13, CreditCard, 1.750, 0.616, -0.771, 0, 270, 0, 33 [SEP] 14, Vase, 3.685, 0.644, -1.708, 0, 0, 0, 40 [SEP] 15, KeyChain, 1.604, 0.482, 0.784, 0, 0, 0, 38 [SEP] 16, Plate, 0.085, 0.339, 0.777, 0, 0, 0, 44 [SEP] 17, Laptop, 1.354, 0.480, 0.587, 0, 0, 0, 38 [SEP] 18, CellPhone, 3.280, 0.640, -1.527, 0, 0, 0, 40 [SEP] 19, RemoteControl, -1.697, 0.293, -1.451, 0, 240.000, 0, 23 [SEP] 20, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 38 [SEP] 21, Vase, 1.605, 0.709, -0.710, 0, 270, 0, 32 [SEP] 22, Statue, -1.809, 0.606, 0.919, 0, 90, 0, 45 [SEP] 23, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0,  [SEP] 24, Television, -2.035, 1.081, 0.555, 0, 90, 0,  [SEP] 25, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0,  [SEP] 26, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0,  [SEP] 27, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0,  [SEP] 28, Painting, 1.983, 1.585, 0.326, 90, 270, 0,  [SEP] 29, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0,  [SEP] 30, Window, 2.775, 1.281, -2.018, 90, 180, 0,  [SEP] 31, Window, -0.013, 1.289, -2.450, 90, 180, 0,  [SEP] 32, SideTable, 1.566, 0.000, -0.689, 0, 180, 0,  [SEP] 33, Drawer, 1.566, 0.624, -0.741, 0, 180, 0,  [SEP] 34, Shelf, -0.147, 0.172, 1.925, 0, 0, 0,  [SEP] 35, Shelf, -0.147, 0.552, 1.925, 0, 0, 0,  [SEP] 36, Shelf, -0.147, 0.880, 1.924, 0, 0, 0,  [SEP] 37, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0,  [SEP] 38, Sofa, 1.556, -0.004, 0.424, 0, 270, 0,  [SEP] 39, Shelf, 0.167, 0.104, 0.200, 0, 270, 0,  [SEP] 40, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0,  [SEP] 41, TVStand, -1.965, 0.000, 0.563, 0, 270, 0,  [SEP] 42, Shelf, -1.964, 0.082, 0.563, 0, 270, 0,  [SEP] 43, Shelf, -1.964, 0.333, 0.563, 0, 270, 0,  [SEP] 44, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0,  [SEP] 45, , , , , , , ,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the coffee table so that you are between it and the sofa. | STEP 2: Pick up the white phone on the edge of the table. | STEP 3: Move to the right and then face the smaller end of the coffee table. | STEP 4: Put the phone down on the blue plate. | STEP 5: Pick up the plate from the edge of the table. | STEP 6: Bringing the plate with you, go between the couch and the coffee table and then face the black end table with the blue vase. | STEP 7: Put the plate down to the left of the blue vase. | END


Input: Put bars of soap in a bath tub.

Output: STEP 1: Go to the sink to the left. | STEP 2: Take the bar of soap to the left of the faucet. | STEP 3: Turn left to the bath tub. | STEP 4: Put the bar of soap in the middle of the bath tub. | STEP 5: Turn right to the sink. | STEP 6: Take the bar of soap to the right of the faucet. | STEP 7: Turn left to the bath tub. | STEP 8: Put the bar of soap to the right of the bar of soap in the bath tub. | END


Input: Place two bars of soap into the bathtub.

Output: STEP 1: Turn left then right and face the sink. | STEP 2: Pick up the soap on the left side of the faucet. | STEP 3: Turn left and face the bathtub. | STEP 4: Place the soap in the bathtub. | STEP 5: Turn right and face the sink. | STEP 6: Pick up the soap from the sink. | STEP 7: Face the bathtub on the left again. | STEP 8: Place the soap to the right of the first soap. | END


Input: Place a washed kettle on the counter near the coffee maker. 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, 270, 0,  [SEP] 1, Pan, 0.193, 0.142, 0.277, 0, 90, 0, 67 [SEP] 2, Potato, 1.966, 1.550, 6.001, 0, 270, 0, 80 [SEP] 3, Potato, 0.064, 1.132, 0.278, 0, 0, 0, 74 [SEP] 4, ButterKnife, -0.224, 0.760, 6.633, 0, 135, 0, 94 [SEP] 5, ButterKnife, -0.611, 0.992, 0.486, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 7, Spatula, -0.034, 0.775, 6.478, 0, 90, 0, 94 [SEP] 8, Fork, -0.346, 0.760, 6.478, 0, 270, 0, 94 [SEP] 9, Fork, -0.079, 0.772, 0.618, 0, 270, 0, 55 [SEP] 10, Egg, 2.094, 1.565, 5.876, 0, 270, 0, 80 [SEP] 11, Plate, 1.486, 0.142, 4.724, 0, 0, 0, 60 [SEP] 12, Plate, 1.490, 0.141, 2.159, 0, 0, 0, 47 [SEP] 13, Tomato, -0.399, 0.809, 6.895, 0, 135, 0, 94 [SEP] 14, SoapBottle, 0.332, 0.144, 0.658, 0, 180, 0, 67 [SEP] 15, SoapBottle, -0.621, 0.760, 6.354, 0, 270, 0, 94 [SEP] 16, Bowl, 0.745, 0.142, 0.260, 0, 0, 0, 64 [SEP] 17, PepperShaker, 1.322, 0.135, 2.424, 0, 0, 0, 70 [SEP] 18, PepperShaker, 1.155, 0.135, 2.867, 0, 0, 0, 70 [SEP] 19, SaltShaker, -0.074, 1.574, 0.119, 0, 0, 0, 71 [SEP] 20, Lettuce, 0.150, 0.848, 6.416, 0, 0, 0, 94 [SEP] 21, Mug, 1.493, 0.987, 0.213, 0, 0, 0, 58 [SEP] 22, Apple, 2.137, 1.590, 5.501, 0, 270, 0, 80 [SEP] 23, Bowl, -0.159, 0.759, 6.787, 0, 0, 0, 94 [SEP] 24, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 58 [SEP] 25, Egg, -0.467, 0.810, 6.541, 0, 270, 0, 94 [SEP] 26, Knife, 0.871, 0.802, 0.451, 0, 90, 0, 50 [SEP] 27, Fork, -0.443, 0.760, 6.851, 0, 315, 0, 94 [SEP] 28, Apple, 1.135, 1.067, 2.950, 0, 0, 0, 58 [SEP] 29, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 30, Plate, 0.124, 0.144, 0.582, 0, 0, 0, 67 [SEP] 31, SaltShaker, -0.621, 0.139, 0.429, 0, 0, 0, 66 [SEP] 32, Lettuce, 0.123, 0.848, 6.107, 0, 135, 0, 94 [SEP] 33, SoapBottle, 1.135, 0.992, 1.122, 0, 90, 0, 58 [SEP] 34, Spatula, -0.685, 0.786, 0.507, 0, 90, 0, 54 [SEP] 35, PaperTowelRoll, -0.421, 0.864, 6.305, 0, 225, 0, 94 [SEP] 36, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 37, Potato, 2.006, 0.115, 6.498, 0, 0, 0, 82 [SEP] 38, ButterKnife, -0.221, 0.760, 6.014, 0, 0, 0, 94 [SEP] 39, PepperShaker, -0.346, 0.755, 6.632, 0, 0, 0, 94 [SEP] 40, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 53 [SEP] 41, Tomato, 1.582, 1.042, 0.440, 0, 0, 0, 58 [SEP] 42, DishSponge, 0.604, 0.143, 0.655, 0, 0, 0, 64 [SEP] 43, Cup, -0.013, 1.575, 0.338, 0, 0, 0, 71 [SEP] 44, Spoon, 0.124, 0.773, 0.618, 0, 0, 0, 55 [SEP] 45, Mug, 0.148, 0.755, 6.609, 0, 225, 0, 94 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the stove. | STEP 2: Grab the kettle from the stove. | STEP 3: Turn to your right and walk to the sink. | STEP 4: place the kettle in the sink and turn the faucet on and off before removing the kettle. | STEP 5: Move to the coffee maker on your right. | STEP 6: Place the kettle on the counter near the coffee maker. | END


Input: Wash a knife and bring it to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.25, 0, 180, 0,  [SEP] 1, Ladle, -0.662, 1.086, 2.593, 0, 180, 0, 51 [SEP] 2, Ladle, -0.715, 1.164, 0.569, 0, 0, 0, 63 [SEP] 3, DishSponge, -1.640, 0.048, 0.608, 0, 0, 0, 66 [SEP] 4, ButterKnife, -0.415, 1.047, 2.593, 0, 0, 0, 51 [SEP] 5, Pot, -3.572, 1.291, 2.849, 0, 90, 0, 68 [SEP] 6, Fork, -1.885, 1.125, 0.567, 0, 0, 0, 61 [SEP] 7, Spoon, -2.137, 0.488, 0.613, 0, 270, 0, 52 [SEP] 8, Spoon, -2.370, 0.904, 0.612, 0, 270, 0, 60 [SEP] 9, Spatula, -1.111, 0.946, 0.567, 0, 270, 0, 73 [SEP] 10, Spatula, -0.538, 1.062, 3.042, 0, 90, 0, 51 [SEP] 11, Cup, -1.553, 0.929, 0.221, 0, 0, 0, 73 [SEP] 12, Plate, -1.235, 0.047, 0.494, 0, 0, 0, 55 [SEP] 13, Knife, -0.939, 1.157, 0.478, 0, 90, 0, 63 [SEP] 14, Knife, -1.376, 0.963, 0.498, 0, 180, 0, 73 [SEP] 15, SoapBottle, -0.939, 1.125, 0.296, 0, 0, 0, 63 [SEP] 16, SoapBottle, -1.601, 0.049, 0.495, 0, 0, 0, 66 [SEP] 17, Bowl, -0.785, 1.044, 3.042, 0, 0, 0, 51 [SEP] 18, Bowl, -0.538, 1.045, 2.817, 0, 0, 0, 51 [SEP] 19, SaltShaker, -3.742, 1.121, 0.284, 0, 0, 0, 58 [SEP] 20, PepperShaker, -2.137, 1.121, 0.567, 0, 0, 0, 61 [SEP] 21, Bread, -2.262, 1.211, 0.473, 0, 0, 0, 61 [SEP] 22, Lettuce, -0.785, 1.124, 2.144, 0, 0, 0, 51 [SEP] 23, Apple, -1.642, 0.998, 0.498, 0, 0, 0, 73 [SEP] 24, Fork, -1.376, 0.932, 0.359, 0, 0, 0, 73 [SEP] 25, SoapBottle, -0.908, 1.047, 3.266, 0, 0, 0, 51 [SEP] 26, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 47 [SEP] 27, Ladle, -0.883, 1.164, 0.569, 0, 90, 0, 63 [SEP] 28, Potato, -3.778, 1.155, 0.473, 0, 0, 0, 58 [SEP] 29, Plate, -0.168, 1.046, 1.920, 0, 0, 0, 51 [SEP] 30, Bread, -3.44, 0.998, 2.991, 0, 90, 0, 68 [SEP] 31, Lettuce, -0.785, 1.125, 2.593, 0, 0, 0, 51 [SEP] 32, Spatula, -0.662, 1.063, 1.920, 0, 90, 0, 51 [SEP] 33, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 56 [SEP] 34, Egg, -1.376, 0.961, 0.636, 0, 0, 0, 73 [SEP] 35, Cup, -1.199, 0.929, 0.636, 0, 0, 0, 73 [SEP] 36, SaltShaker, -2.011, 1.121, 0.662, 0, 0, 0, 61 [SEP] 37, Knife, -0.538, 1.080, 2.369, 0, 0, 0, 51 [SEP] 38, Bowl, -3.307, 1.558, 2.849, 0, 90, 0, 68 [SEP] 39, PepperShaker, -2.089, 0.091, 0.646, 0, 0, 0, 53 [SEP] 40, ButterKnife, -0.771, 1.124, 0.206, 0, 0, 0, 63 [SEP] 41, Apple, -3.593, 0.179, 2.038, 0, 0, 0, 72 [SEP] 42, Tomato, -3.44, 1.327, 3.061, 0, 90, 0, 68 [SEP] 43, DishSponge, -2.042, 0.487, 0.545, 0, 0, 0, 52 [SEP] 44, Spoon, -0.662, 1.049, 3.042, 0, 90, 0, 51 [SEP] 45, Mug, -3.320, 0.917, 2.338, 0, 90, 0, 68 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,

Output: STEP 1: Turn right, go forward a bit, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Turn right and go to the sink | STEP 4: Put the knife in the sink, open the water, wait, pick up the knife  | STEP 5: Turn around, go to the table, turn right | STEP 6: Put the knife in the bowl on the table | END


Input: Clean a knife and put it back on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.25, 0, 180, 0,  [SEP] 1, Ladle, -0.662, 1.086, 2.593, 0, 180, 0, 51 [SEP] 2, Ladle, -0.715, 1.164, 0.569, 0, 0, 0, 63 [SEP] 3, DishSponge, -1.640, 0.048, 0.608, 0, 0, 0, 66 [SEP] 4, ButterKnife, -0.415, 1.047, 2.593, 0, 0, 0, 51 [SEP] 5, Pot, -3.572, 1.291, 2.849, 0, 90, 0, 68 [SEP] 6, Fork, -1.885, 1.125, 0.567, 0, 0, 0, 61 [SEP] 7, Spoon, -2.137, 0.488, 0.613, 0, 270, 0, 52 [SEP] 8, Spoon, -2.370, 0.904, 0.612, 0, 270, 0, 60 [SEP] 9, Spatula, -1.111, 0.946, 0.567, 0, 270, 0, 73 [SEP] 10, Spatula, -0.538, 1.062, 3.042, 0, 90, 0, 51 [SEP] 11, Cup, -1.553, 0.929, 0.221, 0, 0, 0, 73 [SEP] 12, Plate, -1.235, 0.047, 0.494, 0, 0, 0, 55 [SEP] 13, Knife, -0.939, 1.157, 0.478, 0, 90, 0, 63 [SEP] 14, Knife, -1.376, 0.963, 0.498, 0, 180, 0, 73 [SEP] 15, SoapBottle, -0.939, 1.125, 0.296, 0, 0, 0, 63 [SEP] 16, SoapBottle, -1.601, 0.049, 0.495, 0, 0, 0, 66 [SEP] 17, Bowl, -0.785, 1.044, 3.042, 0, 0, 0, 51 [SEP] 18, Bowl, -0.538, 1.045, 2.817, 0, 0, 0, 51 [SEP] 19, SaltShaker, -3.742, 1.121, 0.284, 0, 0, 0, 58 [SEP] 20, PepperShaker, -2.137, 1.121, 0.567, 0, 0, 0, 61 [SEP] 21, Bread, -2.262, 1.211, 0.473, 0, 0, 0, 61 [SEP] 22, Lettuce, -0.785, 1.124, 2.144, 0, 0, 0, 51 [SEP] 23, Apple, -1.642, 0.998, 0.498, 0, 0, 0, 73 [SEP] 24, Fork, -1.376, 0.932, 0.359, 0, 0, 0, 73 [SEP] 25, SoapBottle, -0.908, 1.047, 3.266, 0, 0, 0, 51 [SEP] 26, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 47 [SEP] 27, Ladle, -0.883, 1.164, 0.569, 0, 90, 0, 63 [SEP] 28, Potato, -3.778, 1.155, 0.473, 0, 0, 0, 58 [SEP] 29, Plate, -0.168, 1.046, 1.920, 0, 0, 0, 51 [SEP] 30, Bread, -3.44, 0.998, 2.991, 0, 90, 0, 68 [SEP] 31, Lettuce, -0.785, 1.125, 2.593, 0, 0, 0, 51 [SEP] 32, Spatula, -0.662, 1.063, 1.920, 0, 90, 0, 51 [SEP] 33, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 56 [SEP] 34, Egg, -1.376, 0.961, 0.636, 0, 0, 0, 73 [SEP] 35, Cup, -1.199, 0.929, 0.636, 0, 0, 0, 73 [SEP] 36, SaltShaker, -2.011, 1.121, 0.662, 0, 0, 0, 61 [SEP] 37, Knife, -0.538, 1.080, 2.369, 0, 0, 0, 51 [SEP] 38, Bowl, -3.307, 1.558, 2.849, 0, 90, 0, 68 [SEP] 39, PepperShaker, -2.089, 0.091, 0.646, 0, 0, 0, 53 [SEP] 40, ButterKnife, -0.771, 1.124, 0.206, 0, 0, 0, 63 [SEP] 41, Apple, -3.593, 0.179, 2.038, 0, 0, 0, 72 [SEP] 42, Tomato, -3.44, 1.327, 3.061, 0, 90, 0, 68 [SEP] 43, DishSponge, -2.042, 0.487, 0.545, 0, 0, 0, 52 [SEP] 44, Spoon, -0.662, 1.049, 3.042, 0, 90, 0, 51 [SEP] 45, Mug, -3.320, 0.917, 2.338, 0, 90, 0, 68 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0,  [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0,  [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0,  [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0,  [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0,  [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0,  [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0,  [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0,  [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0,  [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0,  [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0,  [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0,  [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0,  [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0,  [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0,  [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0,  [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0,  [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0,  [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0,  [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0,  [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0,  [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0,  [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0,  [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0,  [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0,  [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0,  [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0,  [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0,  [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0,  [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0,  [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0,  [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0,  [SEP] 78, NorthWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, SouthWall, , , , , , ,

Output: STEP 1: Walk to the dining table behind you. | STEP 2: Grab the knife above the lettuce. | STEP 3: Walk to the kitchen sink to your right. | STEP 4: Put the knife in the sink, rinse the knife, then grab the knife. | STEP 5: Move back to the dining table. | STEP 6: Stand the knife in front of a bowl. | END


Input: put a mug full of water under the coffee machine SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 180, 0,  [SEP] 1, ButterKnife, 1.769, 0.911, 0.435, 0, 180, 0, 48 [SEP] 2, Kettle, 1.428, 0.911, -0.684, 0, 0, 0, 49 [SEP] 3, Fork, 1.598, 0.911, 0.494, 0, 0, 0, 48 [SEP] 4, Fork, -2.621, 0.911, 0.331, 0, 0, 0, 67 [SEP] 5, Spoon, 1.380, 0.919, -1.212, 0, 45, 0, 53 [SEP] 6, Spoon, -2.455, 0.912, 1.230, 0, 0, 0, 67 [SEP] 7, Tomato, -2.206, 0.953, 0.631, 0, 0, 0, 67 [SEP] 8, SoapBottle, -2.524, 1.539, 1.192, 0, 0, 0, 52 [SEP] 9, PepperShaker, 1.684, 0.906, 0.376, 0, 270, 0, 48 [SEP] 10, PepperShaker, -2.206, 0.905, 1.230, 0, 0, 0, 67 [SEP] 11, SaltShaker, -2.384, 0.109, 1.216, 0, 0, 0, 45 [SEP] 12, Lettuce, -0.081, 0.994, 1.317, 0, 0, 0, 39 [SEP] 13, Lettuce, -0.211, 0.994, 0.423, 0, 0, 0, 39 [SEP] 14, Bread, -2.372, 0.996, 0.631, 0, 0, 0, 67 [SEP] 15, Apple, -2.420, 0.656, -0.962, 0, 90, 0, 71 [SEP] 16, Pan, -2.289, 0.910, 1.530, 0, 0, 0, 67 [SEP] 17, Knife, -2.257, 0.798, 1.322, 0, 90, 0, 70 [SEP] 18, Apple, 1.855, 0.972, -0.810, 0, 0, 0, 49 [SEP] 19, Bowl, -2.645, 1.534, 1.483, 0, 0, 0, 52 [SEP] 20, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 39 [SEP] 21, Bread, -0.081, 0.996, 1.540, 0, 0, 0, 39 [SEP] 22, Plate, -0.341, 0.913, 1.764, 0, 0, 0, 39 [SEP] 23, Egg, 1.520, 0.215, 0.596, 0, 0, 0, 78 [SEP] 24, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 50 [SEP] 25, Potato, -2.613, 0.214, -1.012, 0, 90, 0, 71 [SEP] 26, SaltShaker, -2.599, 1.533, 0.774, 0, 0, 0, 63 [SEP] 27, Lettuce, -2.289, 0.994, 0.931, 0, 0, 0, 67 [SEP] 28, Cup, -2.420, 0.592, -0.514, 0, 90, 0, 71 [SEP] 29, SoapBottle, 1.855, 0.913, 0.465, 0, 0, 0, 48 [SEP] 30, Spatula, -2.348, 0.788, 0.391, 0, 90, 0, 56 [SEP] 31, PaperTowelRoll, 1.687, 0.289, 0.651, 0, 0, 0, 78 [SEP] 32, ButterKnife, -0.471, 0.910, 1.094, 0, 0, 0, 39 [SEP] 33, PepperShaker, 1.770, 0.905, -0.642, 0, 0, 0, 49 [SEP] 34, DishSponge, 1.341, 0.910, 0.376, 0, 0, 0, 48 [SEP] 35, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 47 [SEP] 36, Spoon, -2.379, 0.774, 0.809, 0, 90, 0, 44 [SEP] 37, Tomato, 1.562, 0.227, 0.679, 0, 0, 0, 78 [SEP] 38, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 49 [SEP] 39, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 40, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 41, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 42, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 43, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 44, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 45, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 46, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 47, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 48, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 49, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 50, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 51, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 52, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 53, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 54, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 55, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 56, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 57, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 58, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 59, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 60, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 61, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 62, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 63, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 64, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 65, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 66, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 67, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 68, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 69, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 70, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 71, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 72, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 73, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 74, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 75, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 76, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 77, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 78, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 79, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 80, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 81, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 82, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: go to the coffee pot | STEP 2: pick up the mug from the machine | STEP 3: take the mug to the sink | STEP 4: fill the mug with water | STEP 5: take the full mug back to the machine | STEP 6: put the mug back under the coffee machine | END


Input: Fill the coffee machine mug with water and replace it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 180, 0,  [SEP] 1, ButterKnife, 1.769, 0.911, 0.435, 0, 180, 0, 48 [SEP] 2, Kettle, 1.428, 0.911, -0.684, 0, 0, 0, 49 [SEP] 3, Fork, 1.598, 0.911, 0.494, 0, 0, 0, 48 [SEP] 4, Fork, -2.621, 0.911, 0.331, 0, 0, 0, 67 [SEP] 5, Spoon, 1.380, 0.919, -1.212, 0, 45, 0, 53 [SEP] 6, Spoon, -2.455, 0.912, 1.230, 0, 0, 0, 67 [SEP] 7, Tomato, -2.206, 0.953, 0.631, 0, 0, 0, 67 [SEP] 8, SoapBottle, -2.524, 1.539, 1.192, 0, 0, 0, 52 [SEP] 9, PepperShaker, 1.684, 0.906, 0.376, 0, 270, 0, 48 [SEP] 10, PepperShaker, -2.206, 0.905, 1.230, 0, 0, 0, 67 [SEP] 11, SaltShaker, -2.384, 0.109, 1.216, 0, 0, 0, 45 [SEP] 12, Lettuce, -0.081, 0.994, 1.317, 0, 0, 0, 39 [SEP] 13, Lettuce, -0.211, 0.994, 0.423, 0, 0, 0, 39 [SEP] 14, Bread, -2.372, 0.996, 0.631, 0, 0, 0, 67 [SEP] 15, Apple, -2.420, 0.656, -0.962, 0, 90, 0, 71 [SEP] 16, Pan, -2.289, 0.910, 1.530, 0, 0, 0, 67 [SEP] 17, Knife, -2.257, 0.798, 1.322, 0, 90, 0, 70 [SEP] 18, Apple, 1.855, 0.972, -0.810, 0, 0, 0, 49 [SEP] 19, Bowl, -2.645, 1.534, 1.483, 0, 0, 0, 52 [SEP] 20, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 39 [SEP] 21, Bread, -0.081, 0.996, 1.540, 0, 0, 0, 39 [SEP] 22, Plate, -0.341, 0.913, 1.764, 0, 0, 0, 39 [SEP] 23, Egg, 1.520, 0.215, 0.596, 0, 0, 0, 78 [SEP] 24, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 50 [SEP] 25, Potato, -2.613, 0.214, -1.012, 0, 90, 0, 71 [SEP] 26, SaltShaker, -2.599, 1.533, 0.774, 0, 0, 0, 63 [SEP] 27, Lettuce, -2.289, 0.994, 0.931, 0, 0, 0, 67 [SEP] 28, Cup, -2.420, 0.592, -0.514, 0, 90, 0, 71 [SEP] 29, SoapBottle, 1.855, 0.913, 0.465, 0, 0, 0, 48 [SEP] 30, Spatula, -2.348, 0.788, 0.391, 0, 90, 0, 56 [SEP] 31, PaperTowelRoll, 1.687, 0.289, 0.651, 0, 0, 0, 78 [SEP] 32, ButterKnife, -0.471, 0.910, 1.094, 0, 0, 0, 39 [SEP] 33, PepperShaker, 1.770, 0.905, -0.642, 0, 0, 0, 49 [SEP] 34, DishSponge, 1.341, 0.910, 0.376, 0, 0, 0, 48 [SEP] 35, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 47 [SEP] 36, Spoon, -2.379, 0.774, 0.809, 0, 90, 0, 44 [SEP] 37, Tomato, 1.562, 0.227, 0.679, 0, 0, 0, 78 [SEP] 38, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 49 [SEP] 39, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 40, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 41, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 42, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 43, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 44, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 45, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 46, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 47, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 48, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 49, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 50, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 51, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 52, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 53, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 54, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 55, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 56, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 57, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 58, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 59, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 60, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 61, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 62, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 63, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 64, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 65, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 66, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 67, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 68, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 69, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 70, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 71, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 72, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 73, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 74, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 75, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 76, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 77, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 78, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 79, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 80, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 81, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 82, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Walk forward to the coffee machine | STEP 2: Pick up the mug | STEP 3: Turn around until you're facing the sink | STEP 4: Put the mug in the sink, fill it with water, and take it back out | STEP 5: Turn right, walk ahead a step, then turn left to face the coffee machine | STEP 6: Place the filled mug where you picked it up from | END


Input: Putting a sliced apple in the trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 270, 0,  [SEP] 1, Potato, -2.671, 0.863, 2.485, 0, 90, 0, 59 [SEP] 2, Ladle, -2.840, 0.867, 0.352, 0, 0, 0, 41 [SEP] 3, Spoon, -2.597, 0.693, 1.474, 0, 90, 0, 46 [SEP] 4, Plate, -1.885, 0.130, 0.401, 0, 0, 0, 53 [SEP] 5, Tomato, -2.608, 0.873, 0.129, 0, 0, 0, 41 [SEP] 6, Tomato, -2.782, 0.874, 2.397, 0, 90, 0, 59 [SEP] 7, Bowl, -2.609, 0.118, 1.510, 0, 0, 0, 52 [SEP] 8, PepperShaker, -2.375, 0.818, 0.055, 0, 0, 0, 41 [SEP] 9, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 69 [SEP] 10, Apple, -2.844, 0.994, 1.231, 0, 90, 0, 60 [SEP] 11, Apple, -0.262, 0.129, 2.640, 0, 0, 0, 61 [SEP] 12, Apple, -0.395, 0.129, 2.640, 0, 90, 0, 61 [SEP] 13, Apple, -0.092, 0.896, 1.214, 0, 0, 0, 41 [SEP] 14, Fork, -2.530, 0.692, 1.547, 0, 270, 0, 46 [SEP] 15, Ladle, -2.540, 1.893, 2.368, 0, 0, 0, 51 [SEP] 16, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 40 [SEP] 17, SoapBottle, -0.477, 0.821, 0.658, 0, 0, 0, 41 [SEP] 18, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 38 [SEP] 19, Tomato, -2.671, 1.495, 2.485, 0, 90, 0, 59 [SEP] 20, Potato, -1.967, 0.736, 0.381, 0, 0, 0, 68 [SEP] 21, SaltShaker, -2.724, 0.818, 0.278, 0, 0, 0, 41 [SEP] 22, Plate, -2.782, 1.148, 2.309, 0, 90, 0, 59 [SEP] 23, Spatula, -2.375, 0.838, 0.203, 0, 0, 0, 41 [SEP] 24, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 41 [SEP] 25, Egg, -1.481, 0.721, 0.338, 0, 0, 0, 68 [SEP] 26, Cup, -2.726, 1.144, 1.957, 0, 90, 0, 59 [SEP] 27, ButterKnife, -1.374, 0.823, 0.508, 0, 0, 0, 41 [SEP] 28, Lettuce, -2.837, 1.529, 2.045, 0, 90, 0, 59 [SEP] 29, PepperShaker, -2.840, 0.818, 0.129, 0, 0, 0, 41 [SEP] 30, DishSponge, -0.477, 0.823, 1.214, 0, 0, 0, 41 [SEP] 31, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 41 [SEP] 32, Spoon, -0.363, 0.698, 0.912, 0, 90, 0, 43 [SEP] 33, Mug, -2.782, 1.440, 2.309, 0, 90, 0, 59 [SEP] 34, Bowl, -2.540, 1.845, 1.926, 0, 0, 0, 35 [SEP] 35, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 36, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 37, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 38, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 39, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 41, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 43, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 44, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 45, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 46, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 47, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 48, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 49, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 50, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 51, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 52, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 53, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 54, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 55, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 56, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 57, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 58, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 59, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 60, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 61, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 62, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 63, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 64, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 65, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 66, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 67, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 68, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 69, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 70, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 71, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 72, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn left and go to the left sink | STEP 2: Grab the knife out of the sink | STEP 3: Turn right and go to the microwave | STEP 4: Cut the apple in the microwave into three slices | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of apple out of the microwave | STEP 7: Turn right and go to the fridge | STEP 8: Leave the apple in the fridge. Take the apple out after some time | STEP 9: Turn around and go to the trash can | STEP 10: Put the apple in the trash can | END