Input: Put two statues 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, -3.25, 0.893, 1.5, 0, 90, 0,  [SEP] 1, Plate, -3.682, 0.658, 4.235, 0, 0, 0, 37 [SEP] 2, Statue, -4.060, 0.437, 1.896, 0, 90, 0, 41 [SEP] 3, Statue, -3.833, 0.437, 2.225, 0, 0, 0, 41 [SEP] 4, KeyChain, -3.909, 0.433, 2.061, 0, 0, 0, 41 [SEP] 5, KeyChain, -1.367, 0.823, 1.411, 0, 322.099, 0, 42 [SEP] 6, CreditCard, -2.742, 0.516, 4.633, 0, 0, 0, 35 [SEP] 7, RemoteControl, -3.893, 0.642, 4.577, 0, 0, 0, 37 [SEP] 8, Box, -1.952, 1.013, 1.196, 0, 164.379, 0, 42 [SEP] 9, Laptop, -5.245, 0.469, 2.894, 0, 180, 0, 43 [SEP] 10, Box, -1.257, 1.013, 1.448, 0, 270, 0, 42 [SEP] 11, KeyChain, -4.319, 0.444, 0.370, 0, 0, 0, 38 [SEP] 12, Newspaper, -3.984, 0.438, 2.883, 0, 0, 0, 41 [SEP] 13, CreditCard, -2.990, 0.442, 0.688, 0, 0, 0, 38 [SEP] 14, RemoteControl, -2.561, 0.626, 4.605, 0, 0, 0, 34 [SEP] 15, Laptop, -5.245, 0.481, 2.426, 0, 0, 0, 43 [SEP] 16, Plate, -1.616, 0.839, 0.883, 0, 115.696, 0, 42 [SEP] 17, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 38 [SEP] 18, Statue, -3.984, 0.437, 2.554, 0, 0, 0, 41 [SEP] 19, Vase, -0.792, 0.824, 1.401, 0, 0, 0, 42 [SEP] 20, Watch, -2.501, 0.516, 4.585, 0, 0, 0, 35 [SEP] 21, Television, -3.794, 1.152, 4.554, 0, 180, 0,  [SEP] 22, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0,  [SEP] 23, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0,  [SEP] 24, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0,  [SEP] 25, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0,  [SEP] 26, Painting, -4.156, 1.656, -0.002, 90, 180, 0,  [SEP] 27, Painting, -1.623, 1.565, -0.002, 90, 180, 0,  [SEP] 28, Window, -6.040, 1.550, 2.102, 90, 270, 0,  [SEP] 29, Window, -6.040, 1.531, 0.859, 90, 270, 0,  [SEP] 30, Window, -6.040, 1.531, 4.236, 90, 270, 0,  [SEP] 31, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0,  [SEP] 32, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0,  [SEP] 33, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0,  [SEP] 34, SideTable, -2.561, -0.002, 4.623, 0, 180, 0,  [SEP] 35, Drawer, -2.560, 0.532, 4.446, 0, 180, 0,  [SEP] 36, SideTable, -5.676, -0.002, 3.949, 0, 0, 0,  [SEP] 37, SideTable, -3.793, 0.013, 4.463, 0, 0, 0,  [SEP] 38, Sofa, -3.540, -0.020, 0.460, 0, 0, 0,  [SEP] 39, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0,  [SEP] 40, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0,  [SEP] 41, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0,  [SEP] 42, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0,  [SEP] 43, Sofa, -5.470, 0.007, 2.504, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn left and take a step then turn left to face the coffee table in front of the red couch. | STEP 2: Pick up the middle statue. | STEP 3: Turn left and walk to the couch then turn left and walk to the table. | STEP 4: Put the statue to the left of the box. | STEP 5: Turn around and walk until you're at the coffee table then turn right so you are looking down the length of it. | STEP 6: Pick up the statue you see in front of you. | STEP 7: Walk back to where you put the first statue. | STEP 8: Put this statue to the left of the first following the curve of the table. | END


Input: Place two trophies on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.893, 1.5, 0, 90, 0,  [SEP] 1, Plate, -3.682, 0.658, 4.235, 0, 0, 0, 37 [SEP] 2, Statue, -4.060, 0.437, 1.896, 0, 90, 0, 41 [SEP] 3, Statue, -3.833, 0.437, 2.225, 0, 0, 0, 41 [SEP] 4, KeyChain, -3.909, 0.433, 2.061, 0, 0, 0, 41 [SEP] 5, KeyChain, -1.367, 0.823, 1.411, 0, 322.099, 0, 42 [SEP] 6, CreditCard, -2.742, 0.516, 4.633, 0, 0, 0, 35 [SEP] 7, RemoteControl, -3.893, 0.642, 4.577, 0, 0, 0, 37 [SEP] 8, Box, -1.952, 1.013, 1.196, 0, 164.379, 0, 42 [SEP] 9, Laptop, -5.245, 0.469, 2.894, 0, 180, 0, 43 [SEP] 10, Box, -1.257, 1.013, 1.448, 0, 270, 0, 42 [SEP] 11, KeyChain, -4.319, 0.444, 0.370, 0, 0, 0, 38 [SEP] 12, Newspaper, -3.984, 0.438, 2.883, 0, 0, 0, 41 [SEP] 13, CreditCard, -2.990, 0.442, 0.688, 0, 0, 0, 38 [SEP] 14, RemoteControl, -2.561, 0.626, 4.605, 0, 0, 0, 34 [SEP] 15, Laptop, -5.245, 0.481, 2.426, 0, 0, 0, 43 [SEP] 16, Plate, -1.616, 0.839, 0.883, 0, 115.696, 0, 42 [SEP] 17, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 38 [SEP] 18, Statue, -3.984, 0.437, 2.554, 0, 0, 0, 41 [SEP] 19, Vase, -0.792, 0.824, 1.401, 0, 0, 0, 42 [SEP] 20, Watch, -2.501, 0.516, 4.585, 0, 0, 0, 35 [SEP] 21, Television, -3.794, 1.152, 4.554, 0, 180, 0,  [SEP] 22, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0,  [SEP] 23, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0,  [SEP] 24, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0,  [SEP] 25, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0,  [SEP] 26, Painting, -4.156, 1.656, -0.002, 90, 180, 0,  [SEP] 27, Painting, -1.623, 1.565, -0.002, 90, 180, 0,  [SEP] 28, Window, -6.040, 1.550, 2.102, 90, 270, 0,  [SEP] 29, Window, -6.040, 1.531, 0.859, 90, 270, 0,  [SEP] 30, Window, -6.040, 1.531, 4.236, 90, 270, 0,  [SEP] 31, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0,  [SEP] 32, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0,  [SEP] 33, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0,  [SEP] 34, SideTable, -2.561, -0.002, 4.623, 0, 180, 0,  [SEP] 35, Drawer, -2.560, 0.532, 4.446, 0, 180, 0,  [SEP] 36, SideTable, -5.676, -0.002, 3.949, 0, 0, 0,  [SEP] 37, SideTable, -3.793, 0.013, 4.463, 0, 0, 0,  [SEP] 38, Sofa, -3.540, -0.020, 0.460, 0, 0, 0,  [SEP] 39, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0,  [SEP] 40, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0,  [SEP] 41, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0,  [SEP] 42, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0,  [SEP] 43, Sofa, -5.470, 0.007, 2.504, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn around and take a step left. Look at the coffee table. | STEP 2: Pick up the trophy in the middle of the other two trophies. | STEP 3: Turn around and walk ahead to the dining room table. | STEP 4: Place the trophy on the table to the left of the box. | STEP 5: Turn around and walk to the left side of the coffee table. | STEP 6: Pick up the closest trophy to you. | STEP 7: Walk back to the dining room table. | STEP 8: Put the trophy to the left of the other trophy on the table. | END


Input: heat the potato in the microwave, throw the potato away in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -3.0, 0, 180, 0,  [SEP] 1, Pan, -1.008, 1.291, -3.927, 0, 270, 0, 63 [SEP] 2, Potato, -3.234, 1.442, -2.064, 0, 90, 0, 90 [SEP] 3, Potato, -0.419, 0.959, -1.370, 0, 0, 0, 76 [SEP] 4, DishSponge, -1.638, 0.790, -3.704, 0, 0, 0, 91 [SEP] 5, ButterKnife, -0.257, 0.916, -1.432, 0, 0, 0, 76 [SEP] 6, Pot, -0.412, 0.916, -2.911, 0, 0, 0, 49 [SEP] 7, Spatula, -0.412, 0.761, -1.563, 0, 90, 0, 72 [SEP] 8, Spatula, -0.176, 0.930, -1.370, 0, 270, 0, 76 [SEP] 9, Spoon, -3.024, 0.747, -2.857, 0, 270, 0, 71 [SEP] 10, Fork, -2.564, 0.717, -0.797, 0, 135, 0, 93 [SEP] 11, Fork, -3.309, 0.914, -3.026, 0, 90, 0, 49 [SEP] 12, Egg, -3.286, 1.049, -1.941, 0, 90, 0, 90 [SEP] 13, Cup, -2.620, 0.717, -0.339, 0, 225, 0, 93 [SEP] 14, Cup, -3.211, 0.714, -0.753, 0, 225, 0, 93 [SEP] 15, Plate, -0.854, 0.911, -3.952, 0, 0, 0, 49 [SEP] 16, Knife, -3.053, 0.779, -2.912, 0, 270, 0, 71 [SEP] 17, Knife, -3.167, 0.946, -3.655, 0, 0, 0, 49 [SEP] 18, SoapBottle, -2.765, 0.716, -0.395, 0, 225, 0, 93 [SEP] 19, SoapBottle, -3.393, 0.913, -2.926, 0, 0, 0, 49 [SEP] 20, Bowl, -3.079, 0.638, -2.064, 0, 90, 0, 90 [SEP] 21, SaltShaker, -2.678, 0.713, -0.069, 0, 0, 0, 93 [SEP] 22, SaltShaker, -0.412, 0.743, -0.988, 0, 0, 0, 75 [SEP] 23, Lettuce, -3.346, 1.001, -3.729, 0, 0, 0, 49 [SEP] 24, Lettuce, -3.292, 0.801, -0.433, 0, 0, 0, 93 [SEP] 25, Mug, -2.809, 0.708, -0.640, 0, 135, 0, 93 [SEP] 26, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 89 [SEP] 27, Apple, -3.014, 0.929, -2.531, 0, 90, 0, 90 [SEP] 28, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 80 [SEP] 29, Egg, -1.262, 0.949, -3.581, 0, 0, 0, 49 [SEP] 30, Cup, -3.027, 1.399, -1.941, 0, 90, 0, 90 [SEP] 31, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 49 [SEP] 32, Fork, -0.530, 0.747, -1.408, 0, 90, 0, 72 [SEP] 33, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 74 [SEP] 34, Potato, -0.447, 0.957, -3.952, 0, 0, 0, 49 [SEP] 35, Lettuce, -2.581, 0.801, -0.496, 0, 270, 0, 93 [SEP] 36, Tomato, -1.776, 0.840, -3.790, 0, 0, 0, 91 [SEP] 37, Apple, -3.130, 1.441, -2.125, 0, 90, 0, 90 [SEP] 38, SoapBottle, -3.053, 0.713, -0.780, 0, 0, 0, 93 [SEP] 39, Spatula, -0.095, 0.930, -1.616, 0, 0, 0, 76 [SEP] 40, SaltShaker, -3.054, 0.713, -0.508, 0, 225, 0, 93 [SEP] 41, Knife, -3.098, 0.749, -0.528, 0, 225, 0, 93 [SEP] 42, PepperShaker, -3.477, 0.910, -3.126, 0, 0, 0, 49 [SEP] 43, ButterKnife, -3.225, 0.913, -3.327, 0, 0, 0, 49 [SEP] 44, Plate, -0.419, 0.914, -1.616, 0, 0, 0, 76 [SEP] 45, DishSponge, -0.128, 1.867, -2.358, 0, 0, 0, 68 [SEP] 46, Spoon, -0.338, 0.917, -0.524, 0, 0, 0, 76 [SEP] 47, Mug, -2.444, 1.290, -3.848, 0, 0, 0, 62 [SEP] 48, Bowl, -2.740, 0.714, -0.922, 0, 0, 0, 93 [SEP] 49, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 51, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 52, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 53, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 54, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 55, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 56, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 57, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 58, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 59, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 60, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 61, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 62, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 63, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 64, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 65, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 66, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 67, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 68, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 69, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 70, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 71, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 72, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 73, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 74, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 75, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 76, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 77, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 78, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 79, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 80, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 81, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 82, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 83, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 84, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 85, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 86, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 87, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 88, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 89, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 90, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 91, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 92, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 93, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 94, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 95, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk to the counter by the stove | STEP 2: grab the potato on the counter | STEP 3: turn left, walk to the microwave | STEP 4: put the potato in the microwave, heat the potato, open the microwave, take the potato out | STEP 5: turn left, walk to the grey trash bin | STEP 6: put the potato in the trash bin | END


Input: Place a heated potato in the grey bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -3.0, 0, 180, 0,  [SEP] 1, Pan, -1.008, 1.291, -3.927, 0, 270, 0, 63 [SEP] 2, Potato, -3.234, 1.442, -2.064, 0, 90, 0, 90 [SEP] 3, Potato, -0.419, 0.959, -1.370, 0, 0, 0, 76 [SEP] 4, DishSponge, -1.638, 0.790, -3.704, 0, 0, 0, 91 [SEP] 5, ButterKnife, -0.257, 0.916, -1.432, 0, 0, 0, 76 [SEP] 6, Pot, -0.412, 0.916, -2.911, 0, 0, 0, 49 [SEP] 7, Spatula, -0.412, 0.761, -1.563, 0, 90, 0, 72 [SEP] 8, Spatula, -0.176, 0.930, -1.370, 0, 270, 0, 76 [SEP] 9, Spoon, -3.024, 0.747, -2.857, 0, 270, 0, 71 [SEP] 10, Fork, -2.564, 0.717, -0.797, 0, 135, 0, 93 [SEP] 11, Fork, -3.309, 0.914, -3.026, 0, 90, 0, 49 [SEP] 12, Egg, -3.286, 1.049, -1.941, 0, 90, 0, 90 [SEP] 13, Cup, -2.620, 0.717, -0.339, 0, 225, 0, 93 [SEP] 14, Cup, -3.211, 0.714, -0.753, 0, 225, 0, 93 [SEP] 15, Plate, -0.854, 0.911, -3.952, 0, 0, 0, 49 [SEP] 16, Knife, -3.053, 0.779, -2.912, 0, 270, 0, 71 [SEP] 17, Knife, -3.167, 0.946, -3.655, 0, 0, 0, 49 [SEP] 18, SoapBottle, -2.765, 0.716, -0.395, 0, 225, 0, 93 [SEP] 19, SoapBottle, -3.393, 0.913, -2.926, 0, 0, 0, 49 [SEP] 20, Bowl, -3.079, 0.638, -2.064, 0, 90, 0, 90 [SEP] 21, SaltShaker, -2.678, 0.713, -0.069, 0, 0, 0, 93 [SEP] 22, SaltShaker, -0.412, 0.743, -0.988, 0, 0, 0, 75 [SEP] 23, Lettuce, -3.346, 1.001, -3.729, 0, 0, 0, 49 [SEP] 24, Lettuce, -3.292, 0.801, -0.433, 0, 0, 0, 93 [SEP] 25, Mug, -2.809, 0.708, -0.640, 0, 135, 0, 93 [SEP] 26, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 89 [SEP] 27, Apple, -3.014, 0.929, -2.531, 0, 90, 0, 90 [SEP] 28, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 80 [SEP] 29, Egg, -1.262, 0.949, -3.581, 0, 0, 0, 49 [SEP] 30, Cup, -3.027, 1.399, -1.941, 0, 90, 0, 90 [SEP] 31, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 49 [SEP] 32, Fork, -0.530, 0.747, -1.408, 0, 90, 0, 72 [SEP] 33, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 74 [SEP] 34, Potato, -0.447, 0.957, -3.952, 0, 0, 0, 49 [SEP] 35, Lettuce, -2.581, 0.801, -0.496, 0, 270, 0, 93 [SEP] 36, Tomato, -1.776, 0.840, -3.790, 0, 0, 0, 91 [SEP] 37, Apple, -3.130, 1.441, -2.125, 0, 90, 0, 90 [SEP] 38, SoapBottle, -3.053, 0.713, -0.780, 0, 0, 0, 93 [SEP] 39, Spatula, -0.095, 0.930, -1.616, 0, 0, 0, 76 [SEP] 40, SaltShaker, -3.054, 0.713, -0.508, 0, 225, 0, 93 [SEP] 41, Knife, -3.098, 0.749, -0.528, 0, 225, 0, 93 [SEP] 42, PepperShaker, -3.477, 0.910, -3.126, 0, 0, 0, 49 [SEP] 43, ButterKnife, -3.225, 0.913, -3.327, 0, 0, 0, 49 [SEP] 44, Plate, -0.419, 0.914, -1.616, 0, 0, 0, 76 [SEP] 45, DishSponge, -0.128, 1.867, -2.358, 0, 0, 0, 68 [SEP] 46, Spoon, -0.338, 0.917, -0.524, 0, 0, 0, 76 [SEP] 47, Mug, -2.444, 1.290, -3.848, 0, 0, 0, 62 [SEP] 48, Bowl, -2.740, 0.714, -0.922, 0, 0, 0, 93 [SEP] 49, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 51, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 52, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 53, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 54, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 55, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 56, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 57, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 58, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 59, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 60, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 61, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 62, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 63, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 64, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 65, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 66, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 67, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 68, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 69, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 70, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 71, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 72, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 73, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 74, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 75, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 76, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 77, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 78, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 79, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 80, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 81, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 82, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 83, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 84, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 85, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 86, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 87, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 88, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 89, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 90, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 91, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 92, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 93, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 94, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 95, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn around and head towards the microwave on your left. | STEP 2: Pick up the potato next to the microwave. | STEP 3: Take a step to the left to face the microwave. | STEP 4: Place the potato in it, heat the potato up, and take the potato out. | STEP 5: Take a step to the left to face the grey bin on the floor. | STEP 6: Place the potato in the bin. | END


Input: put a heated plate onto 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, -0.25, 0.900, 1.75, 0, 270, 0,  [SEP] 1, Potato, -0.152, 1.161, 0.662, 0, 0, 0, 75 [SEP] 2, Potato, -0.598, 1.161, 0.485, 0, 0, 0, 75 [SEP] 3, DishSponge, -0.203, 0.762, -2.008, 0, 0, 0, 89 [SEP] 4, Pot, -1.056, 0.956, -0.672, 0, 180, 0, 51 [SEP] 5, Spatula, 0.008, 0.928, 0.135, 0, 90, 0, 72 [SEP] 6, Spatula, -0.777, 0.926, -1.845, 0, 0, 0, 79 [SEP] 7, Fork, -0.509, 0.694, 0.190, 0, 270, 0, 73 [SEP] 8, Fork, -1.278, 0.914, 0.030, 0, 0, 0, 72 [SEP] 9, Egg, 1.836, 0.850, -0.551, 0, 270, 0, 86 [SEP] 10, Plate, -0.986, 0.127, -1.501, 0, 0, 0, 65 [SEP] 11, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 63 [SEP] 12, Plate, -0.658, 0.110, -1.918, 0, 0, 0, 64 [SEP] 13, Knife, -0.598, 1.155, 0.441, 0, 0, 0, 75 [SEP] 14, SoapBottle, 1.194, 0.911, -2.014, 0, 0, 0, 79 [SEP] 15, Tomato, -0.203, 0.812, -2.118, 0, 0, 0, 89 [SEP] 16, Tomato, 1.963, 0.112, 0.109, 0, 0, 0, 82 [SEP] 17, Bowl, 2.798, 0.549, 0.193, 0, 180, 0, 85 [SEP] 18, PepperShaker, 2.491, 0.876, 0.168, 0, 180, 0, 83 [SEP] 19, Lettuce, 1.945, 0.893, -0.644, 0, 270, 0, 86 [SEP] 20, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 95 [SEP] 21, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 79 [SEP] 22, Knife, 0.071, 1.155, 0.573, 0, 0, 0, 75 [SEP] 23, Bowl, -1.330, 0.910, -0.292, 0, 0, 0, 72 [SEP] 24, Fork, -0.117, 0.763, -1.952, 0, 270, 0, 89 [SEP] 25, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 89 [SEP] 26, Ladle, -0.205, 0.950, 0.083, 0, 0, 0, 72 [SEP] 27, Apple, 0.055, 0.811, -2.118, 0, 0, 0, 89 [SEP] 28, Kettle, -1.289, 0.957, -0.756, 0, 180, 0, 54 [SEP] 29, Vase, -0.264, 0.118, 0.163, 0, 180, 0, 67 [SEP] 30, Potato, -0.203, 0.793, -1.897, 0, 0, 0, 89 [SEP] 31, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 76 [SEP] 32, Bread, -1.148, 0.981, -0.193, 0, 0, 0, 72 [SEP] 33, Plate, 1.914, 1.650, -1.606, 0, 0, 0, 57 [SEP] 34, Spatula, -1.045, 1.146, 0.662, 0, 0, 0, 75 [SEP] 35, PaperTowelRoll, -0.375, 1.235, 0.706, 0, 0, 0, 75 [SEP] 36, Vase, 0.388, 1.667, -2.161, 0, 0, 0, 59 [SEP] 37, Egg, 1.836, 1.461, -0.458, 0, 270, 0, 86 [SEP] 38, SoapBottle, -1.259, 0.911, -2.098, 0, 0, 0, 79 [SEP] 39, SaltShaker, 1.000, 1.654, -2.126, 0, 0, 0, 58 [SEP] 40, Lettuce, 1.945, 1.175, -0.644, 0, 270, 0, 86 [SEP] 41, PepperShaker, 3.002, 0.876, 0.087, 0, 180, 0, 83 [SEP] 42, ButterKnife, -1.063, 0.913, 0.135, 0, 0, 0, 72 [SEP] 43, DishSponge, -0.031, 0.762, -2.008, 0, 0, 0, 89 [SEP] 44, Vase, 1.571, 0.114, -1.201, 0, 0, 0, 53 [SEP] 45, Spoon, -0.119, 0.696, 0.181, 0, 180, 0, 78 [SEP] 46, Tomato, 1.836, 1.148, -0.365, 0, 270, 0, 86 [SEP] 47, Mug, -0.031, 0.758, -1.897, 0, 0, 0, 89 [SEP] 48, Statue, -0.420, 0.920, 0.188, 0, 0, 0, 72 [SEP] 49, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 50, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 51, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 52, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 54, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 55, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 56, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 58, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 59, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 60, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 61, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 62, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 63, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 64, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 65, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 66, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 67, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 68, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 69, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 70, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 71, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 72, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 73, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 74, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 75, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 76, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 77, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 78, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 79, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 80, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 81, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 82, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 83, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 84, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 85, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 86, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 87, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 88, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 89, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 90, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 91, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 92, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 93, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 94, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 95, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 96, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 97, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 98, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: turn to face microwave and cabinets above | STEP 2: open right cabinet door, remove octagon plate, close the door | STEP 3: move gaze down to face microwave | STEP 4: heat plate in microwave, remove from microwave | STEP 5: turn right to face counter top with a coffee maker | STEP 6: put the plate on the counter top to the left of the coffee maker | END


Input: Put an egg in a pan in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.0, 0, 180, 0,  [SEP] 1, Pan, -1.383, 0.748, 2.087, 0, 0, 0, 51 [SEP] 2, Potato, -0.919, 0.793, 2.459, 0, 0, 0, 51 [SEP] 3, CellPhone, -1.278, 0.909, -0.907, 0, 0, 0, 76 [SEP] 4, CellPhone, -0.813, 0.909, -0.430, 0, 0, 0, 76 [SEP] 5, DishSponge, -1.325, 1.655, -0.519, 0, 0, 0, 57 [SEP] 6, ButterKnife, 1.367, 0.886, 2.369, 0, 0, 0, 102 [SEP] 7, Glassbottle, 0.041, 0.759, -0.612, 0, 0, 0, 97 [SEP] 8, Glassbottle, -1.149, 0.751, 1.197, 0, 90, 0, 90 [SEP] 9, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 76 [SEP] 10, Spoon, -1.123, 0.913, -0.509, 0, 0, 0, 76 [SEP] 11, Spoon, 1.200, 0.887, 2.261, 0, 0, 0, 102 [SEP] 12, Spatula, -1.105, 0.764, 2.830, 0, 0, 0, 51 [SEP] 13, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 14, Egg, 1.396, 0.120, 1.605, 0, 0, 0, 91 [SEP] 15, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 90 [SEP] 16, Plate, -1.012, 0.749, 1.902, 0, 0, 0, 51 [SEP] 17, Plate, 0.860, 2.156, -0.787, 0, 0, 0, 54 [SEP] 18, Knife, -0.658, 0.934, -0.669, 0, 0, 0, 76 [SEP] 19, Bowl, -1.105, 0.748, 2.273, 0, 0, 0, 51 [SEP] 20, Bread, -1.383, 0.812, 2.459, 0, 0, 0, 51 [SEP] 21, Bread, -1.206, 1.484, 1.197, 0, 90, 0, 90 [SEP] 22, Mug, 1.325, 2.151, 0.642, 0, 0, 0, 61 [SEP] 23, Apple, -1.329, 1.075, -0.005, 0, 90, 0, 96 [SEP] 24, Apple, -1.427, 1.075, -0.057, 0, 90, 0, 96 [SEP] 25, Bread, -1.320, 1.484, 0.883, 0, 90, 0, 90 [SEP] 26, Glassbottle, 1.200, 0.887, 2.692, 0, 0, 0, 102 [SEP] 27, Fork, 1.444, 0.912, 0.422, 0, 0, 0, 70 [SEP] 28, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 51 [SEP] 29, Tomato, -1.513, 0.961, -0.817, 0, 0, 0, 76 [SEP] 30, Plate, 1.325, 1.656, -0.453, 0, 0, 0, 52 [SEP] 31, CellPhone, -1.156, 0.773, -0.171, 0, 180, 0, 74 [SEP] 32, Lettuce, 1.238, 0.969, -0.16, 0, 0, 0, 70 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, 0.951, 0.887, 2.477, 0, 270, 0, 102 [SEP] 35, WineBottle, 0.209, 0.117, -0.577, 0, 0, 0, 65 [SEP] 36, Spatula, 1.365, 0.926, -0.428, 0, 90, 0, 70 [SEP] 37, Bowl, -1.263, 1.635, 0.984, 0, 90, 0, 90 [SEP] 38, Apple, 1.245, 0.146, 1.377, 0, 0, 0, 91 [SEP] 39, Cup, -1.012, 0.748, 2.087, 0, 0, 0, 51 [SEP] 40, Knife, -1.105, 0.770, 2.644, 0, 0, 0, 51 [SEP] 41, Egg, -0.314, 0.946, -0.921, 0, 0, 0, 76 [SEP] 42, SaltShaker, 1.034, 0.882, 2.477, 0, 0, 0, 102 [SEP] 43, PepperShaker, 1.200, 0.882, 2.153, 0, 0, 0, 102 [SEP] 44, Potato, -0.082, 0.803, -0.612, 0, 0, 0, 97 [SEP] 45, ButterKnife, -1.197, 0.749, 3.015, 0, 0, 0, 51 [SEP] 46, DishSponge, 1.207, 0.911, 0.706, 0, 0, 0, 70 [SEP] 47, Pan, 1.207, 0.911, 0.422, 0, 0, 0, 70 [SEP] 48, Spoon, 1.444, 0.912, 0.706, 0, 0, 0, 70 [SEP] 49, SprayBottle, -1.290, 0.749, 1.902, 0, 0, 0, 51 [SEP] 50, Mug, 1.450, 0.881, 2.477, 0, 0, 0, 102 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and go to the table. | STEP 2: Pick up the pan from the table. | STEP 3: Go to the fridge on your left. | STEP 4: Put the pan in the fridge. | STEP 5: Pick up an egg from the fridge. | STEP 6: Put the egg in the pan. | END


Input: Move two boxes to the coffee 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, 0.908, 5.25, 0, 270, 0,  [SEP] 1, Plate, -3.432, 0.797, 1.751, 0, 0, 0, 58 [SEP] 2, TissueBox, -2.324, 0.783, 1.906, 0, 0, 0, 58 [SEP] 3, TissueBox, -2.047, 0.783, 2.526, 0, 0, 0, 58 [SEP] 4, Newspaper, -2.601, 0.781, 2.526, 0, 0, 0, 58 [SEP] 5, Newspaper, -3.026, 0.456, 5.930, 0, 0, 0, 55 [SEP] 6, Statue, -2.878, 0.792, 2.681, 0, 0, 0, 58 [SEP] 7, KeyChain, -3.663, 0.329, 4.718, 0, 0, 0, 56 [SEP] 8, KeyChain, -3.538, 0.327, 4.718, 0, 0, 0, 56 [SEP] 9, CreditCard, -2.970, 0.533, 8.596, 0, 180, 0, 64 [SEP] 10, CreditCard, -3.608, 0.533, 8.471, 0, 180, 0, 64 [SEP] 11, Box, -1.775, 0.583, 6.739, 0, 0, 0, 51 [SEP] 12, Box, -2.324, 0.910, 2.371, 0, 0, 0, 58 [SEP] 13, Laptop, -1.775, 0.453, 5.549, 0, 0, 0, 51 [SEP] 14, Box, -1.623, 0.583, 6.144, 0, 90, 0, 51 [SEP] 15, KeyChain, -2.691, 0.329, 4.774, 0, 0, 0, 57 [SEP] 16, Plate, -3.432, 0.798, 2.371, 0, 0, 0, 58 [SEP] 17, Candle, -2.047, 0.782, 2.371, 0, 0, 0, 58 [SEP] 18, Pillow, -1.852, 0.516, 7.334, 0, 0, 0, 51 [SEP] 19, Candle, -3.449, 0.534, 8.471, 0, 180, 0, 64 [SEP] 20, TissueBox, -3.709, 0.783, 2.526, 0, 0, 0, 58 [SEP] 21, Laptop, -3.216, 0.450, 6.333, 0, 0, 0, 55 [SEP] 22, Newspaper, -2.047, 0.781, 2.216, 0, 0, 0, 58 [SEP] 23, CreditCard, -1.852, 0.454, 7.036, 0, 0, 0, 51 [SEP] 24, RemoteControl, -3.663, 0.333, 4.514, 0, 0, 0, 56 [SEP] 25, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 26, Candle, -2.942, 0.536, 8.321, 0, 90, 0, 64 [SEP] 27, Statue, -2.047, 0.883, 1.906, 0, 0, 0, 58 [SEP] 28, Watch, -0.246, 0.676, 0.227, 0, 329.437, 0, 53 [SEP] 29, Statue, -3.427, 0.466, 6.764, 0, 0, 0, 55 [SEP] 30, Mirror, -5.489, 1.825, 6.505, 0, 0, 0,  [SEP] 31, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0,  [SEP] 32, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0,  [SEP] 33, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0,  [SEP] 34, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0,  [SEP] 35, Television, -3.114, 0.996, 8.693, 1.686, 180, 0,  [SEP] 36, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0,  [SEP] 37, Painting, -5.954, 1.526, 1.153, 90, 270, 0,  [SEP] 38, Window, 0.157, 1.203, 6.895, 90, 90, 0,  [SEP] 39, Window, -4.855, 1.203, -0.158, 90, 180, 0,  [SEP] 40, Window, 0.157, 1.203, 4.923, 90, 90, 0,  [SEP] 41, Window, 0.157, 1.203, 2.986, 90, 90, 0,  [SEP] 42, Window, 0.157, 1.203, 1.088, 90, 90, 0,  [SEP] 43, Window, -2.942, 1.203, -0.158, 90, 180, 0,  [SEP] 44, Window, -1.057, 1.203, -0.158, 90, 180, 0,  [SEP] 45, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0,  [SEP] 46, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0,  [SEP] 47, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738,  [SEP] 48, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735,  [SEP] 49, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736,  [SEP] 50, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738,  [SEP] 51, Sofa, -1.706, 0.002, 6.448, 0, 270, 0,  [SEP] 52, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0,  [SEP] 53, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0,  [SEP] 54, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0,  [SEP] 55, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0,  [SEP] 56, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0,  [SEP] 57, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0,  [SEP] 58, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0,  [SEP] 59, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0,  [SEP] 60, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0,  [SEP] 61, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0,  [SEP] 62, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0,  [SEP] 63, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0,  [SEP] 64, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn right to walk behind the sofa, and when you get to the wall turn left and move around the sofa so you stop facing the center cushion of it. | STEP 2: Pick up the open box from the center cushion of the sofa. | STEP 3: Turn left and move around the coffee table so you stop facing the table with the sofa on the other side. | STEP 4: Place the box on the right corner of the table that's closest to you. | STEP 5: Move around the coffee table and then all the way around to the back of the sofa. | STEP 6: Pick up the remaining box from the sofa. | STEP 7: Turn right and carry the box back around the sofa and coffee table so you're on the same side where you left the previous box. | STEP 8: Place the new box on the front left corner of the table. | END


Input: Put a clean fork in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 3.0, 0, 90, 0,  [SEP] 1, SprayBottle, 0.121, 1.654, -1.876, 0, 0, 0, 59 [SEP] 2, Pen, -1.849, 0.775, -1.565, 0, 270, 0, 74 [SEP] 3, Potato, 1.408, 1.307, -0.021, 0, 270, 0, 91 [SEP] 4, Potato, 1.420, 1.762, 1.713, 0, 270, 0, 88 [SEP] 5, ButterKnife, -2.079, 0.910, 0.032, 0, 0, 0, 71 [SEP] 6, Fork, -1.712, 0.911, 0.549, 0, 0, 0, 71 [SEP] 7, Fork, -2.323, 0.911, 0.118, 0, 0, 0, 71 [SEP] 8, Spoon, 0.472, 0.774, -1.500, 0, 270, 0, 73 [SEP] 9, Spoon, -0.477, 0.912, -1.534, 0, 90, 0, 68 [SEP] 10, Spatula, 0.285, 0.934, -1.607, 0, 270, 0, 48 [SEP] 11, Spatula, -0.174, 0.926, -1.409, 0, 180, 0, 69 [SEP] 12, Egg, 1.302, 0.243, 0.993, 0, 0, 0, 86 [SEP] 13, Plate, 0.649, 0.117, -1.633, 0, 90, 0, 63 [SEP] 14, Knife, -2.193, 0.940, -1.879, 0, 90, 0, 67 [SEP] 15, Knife, -1.957, 0.940, 0.463, 0, 0, 0, 71 [SEP] 16, Bowl, -0.386, 1.656, -1.801, 0, 0, 0, 51 [SEP] 17, SaltShaker, 1.035, 0.110, -1.186, 0, 0, 0, 54 [SEP] 18, Mug, -0.703, 0.906, -1.448, 0, 0, 0, 69 [SEP] 19, Apple, 1.426, 1.402, 2.351, 0, 270, 0, 88 [SEP] 20, Tomato, 1.275, 1.407, 2.226, 0, 270, 0, 88 [SEP] 21, Glassbottle, -2.165, 1.656, -1.807, 0, 90, 0, 50 [SEP] 22, Knife, -1.809, 0.940, -1.448, 0, 0, 0, 67 [SEP] 23, Plate, -2.079, 0.911, 0.291, 0, 0, 0, 71 [SEP] 24, Fork, 0.115, 0.920, -1.657, 0, 270, 0, 48 [SEP] 25, Ladle, 0.758, 0.955, -1.789, 0, 0, 0, 69 [SEP] 26, Potato, -2.193, 0.952, -1.534, 0, 0, 0, 67 [SEP] 27, Lettuce, -1.712, 0.979, 0.291, 0, 0, 0, 71 [SEP] 28, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 79 [SEP] 29, Pen, -0.081, 0.913, -1.395, 0, 0, 0, 69 [SEP] 30, SaltShaker, -1.810, 1.651, -1.866, 0, 90, 0, 50 [SEP] 31, Cup, -2.074, 0.112, -1.681, 0, 0, 0, 72 [SEP] 32, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 48 [SEP] 33, Spatula, 0.936, 0.790, 0.323, 0, 90, 0, 46 [SEP] 34, Bowl, 1.150, 0.115, -1.013, 0, 0, 0, 54 [SEP] 35, SprayBottle, -2.116, 0.909, -1.448, 0, 0, 0, 67 [SEP] 36, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 70 [SEP] 37, SoapBottle, -1.082, 1.850, -1.802, 0, 0, 0, 49 [SEP] 38, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 77 [SEP] 39, ButterKnife, -1.886, 0.910, -1.793, 0, 0, 0, 67 [SEP] 40, PepperShaker, 1.335, 1.157, -1.688, 0, 0, 0, 75 [SEP] 41, DishSponge, 0.641, 0.772, -1.566, 0, 0, 0, 73 [SEP] 42, Bread, 0.927, 0.989, 0.031, 0, 0, 0, 69 [SEP] 43, Apple, 0.183, 0.954, -1.758, 0, 270, 0, 48 [SEP] 44, Spoon, 1.047, 0.776, -1.013, 0, 0, 0, 47 [SEP] 45, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 85 [SEP] 46, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 47, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 48, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 49, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 50, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 51, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 52, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 53, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 54, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 55, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 56, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 57, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 58, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 59, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 60, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 61, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 62, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 63, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 64, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 65, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 66, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 67, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 68, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 69, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 70, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 71, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 72, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 73, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 74, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 75, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 76, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 77, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 78, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 79, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 80, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 81, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 82, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 83, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 84, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 85, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 86, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 87, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 88, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 89, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 90, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 91, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 92, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 93, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 94, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 95, NorthWall, , , , , , ,  [SEP] 96, EastWall, , , , , , ,  [SEP] 97, SouthWall, , , , , , ,  [SEP] 98, WestWall, , , , , , ,

Output: STEP 1: Go right and cross the room to face the sink. | STEP 2: Pick the fork up from the left side of the sink. | STEP 3: Turn to the right and face the right side of the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up again. | STEP 5: Turn and open the drawer to the left of the sink. | STEP 6: Put the fork in the drawer. | END


Input: Move a cellphone to a desk. 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, 0.5, 0, 270, 0,  [SEP] 1, CD, -0.276, 0.618, 0.833, 0, 180, 0, 33 [SEP] 2, Pen, 0.996, 0.685, -2.553, 0, 0, 0, 35 [SEP] 3, Pencil, -0.741, 0.623, 0.677, 0, 180, 0, 33 [SEP] 4, CreditCard, -1.204, 0.675, -2.374, 0, 0, 0, 34 [SEP] 5, CreditCard, -0.276, 0.620, 0.988, 0, 180, 0, 33 [SEP] 6, KeyChain, -1.144, 0.677, -2.553, 0, 0, 0, 34 [SEP] 7, KeyChain, -1.204, 0.376, -2.375, 0, 0, 0, 39 [SEP] 8, Box, 2.453, 0.222, -0.041, 0, 0, 0,  [SEP] 9, Book, 0.430, 0.555, -1.880, 0, 0, 0, 21 [SEP] 10, KeyChain, 1.039, 0.084, -2.375, 0, 0, 0, 38 [SEP] 11, Pillow, -0.300, 0.653, -1.657, 0, 0, 0, 21 [SEP] 12, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0,  [SEP] 13, Pencil, -0.276, 0.625, 0.599, 0, 180, 0, 33 [SEP] 14, CellPhone, 1.114, 0.680, -2.464, 0, 0, 0, 35 [SEP] 15, CreditCard, 0.995, 0.374, -2.375, 0, 0, 0, 38 [SEP] 16, Pen, 0.033, 0.625, 0.988, 0, 180, 0, 33 [SEP] 17, Laptop, -0.483, 0.554, -2.103, 0, 0, 0, 21 [SEP] 18, AlarmClock, -0.741, 0.621, 0.988, 0, 180, 0, 33 [SEP] 19, CD, -0.586, 0.618, 0.910, 0, 180, 0, 33 [SEP] 20, Mug, 0.033, 0.616, 1.066, 0, 180, 0, 33 [SEP] 21, Bed, -0.118, -0.001, -1.699, 0, 180, 0,  [SEP] 22, Mirror, 2.644, 1.347, 0.384, 0, 90, 0,  [SEP] 23, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0,  [SEP] 24, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0,  [SEP] 25, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0,  [SEP] 26, Painting, 0.003, 1.562, -2.687, 90, 180, 0,  [SEP] 27, Window, -1.559, 1.414, -1.356, 90, 270, 0,  [SEP] 28, Window, -1.559, 1.414, -0.057, 90, 270, 0,  [SEP] 29, Shelf, -0.276, 0.351, 0.832, 0, 0, 0,  [SEP] 30, Shelf, -0.276, 0.099, 0.832, 0, 0, 0,  [SEP] 31, Blinds, -1.462, 2.157, -1.343, 0, 90, 0,  [SEP] 32, Blinds, -1.462, 2.157, -0.046, 0, 90, 0,  [SEP] 33, Desk, -0.276, -0.001, 0.833, 0, 0, 0,  [SEP] 34, SideTable, -1.204, 0.002, -2.456, 0, 0, 0,  [SEP] 35, SideTable, 0.948, 0.002, -2.456, 0, 0, 0,  [SEP] 36, Drawer, 0.948, 0.166, -2.389, 0, 0, 0,  [SEP] 37, Drawer, -1.204, 0.166, -2.389, 0, 0, 0,  [SEP] 38, Drawer, 0.948, 0.458, -2.389, 0, 0, 0,  [SEP] 39, Drawer, -1.204, 0.458, -2.389, 0, 0, 0,  [SEP] 40, , , , , , , ,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around completely and go forward. Turn to the right and walk to the nightstand. | STEP 2: Pick up the cellphone from the nightstand. | STEP 3: Turn around completely and walk forward. Turn to the left then right to face the desk. | STEP 4: Place the cellphone on the desk | END


Input: Slice, chill and move lettuce to the green bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 2.0, 0, 180, 0,  [SEP] 1, Potato, -2.890, 0.862, 0.462, 0, 90, 0, 48 [SEP] 2, DishSponge, -0.363, 0.696, 0.839, 0, 0, 0, 50 [SEP] 3, ButterKnife, -1.374, 0.823, 0.539, 0, 0, 0, 48 [SEP] 4, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 45 [SEP] 5, Fork, -2.957, 0.824, 0.352, 0, 90, 0, 48 [SEP] 6, Spoon, -2.608, 0.824, 0.129, 0, 0, 0, 48 [SEP] 7, Spoon, -2.631, 0.693, 1.474, 0, 90, 0, 53 [SEP] 8, Egg, -1.967, 0.721, 0.210, 0, 0, 0, 75 [SEP] 9, Egg, -1.801, 0.721, 0.381, 0, 0, 0, 75 [SEP] 10, Cup, -2.810, 0.921, 1.284, 0, 90, 0, 67 [SEP] 11, Plate, -2.837, 1.148, 2.045, 0, 90, 0, 66 [SEP] 12, Tomato, -2.837, 1.193, 2.221, 0, 90, 0, 66 [SEP] 13, Tomato, -2.837, 0.874, 2.221, 0, 90, 0, 66 [SEP] 14, SoapBottle, -0.092, 0.821, 1.326, 0, 0, 0, 48 [SEP] 15, PepperShaker, -2.375, 0.818, 0.278, 0, 0, 0, 48 [SEP] 16, PepperShaker, -0.477, 0.818, 0.770, 0, 0, 0, 48 [SEP] 17, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 76 [SEP] 18, Mug, -0.400, 0.818, 1.326, 0, 0, 0, 48 [SEP] 19, Apple, -2.504, 0.896, 0.544, 0, 0, 0, 48 [SEP] 20, Apple, -0.362, 0.129, 2.572, 0, 0, 0, 68 [SEP] 21, Fork, -0.169, 0.824, 1.103, 0, 0, 0, 48 [SEP] 22, Ladle, -2.540, 1.893, 2.316, 0, 0, 0, 58 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.817, 1.432, 0.325, 0, 45, 0, 54 [SEP] 25, Pot, -2.726, 1.443, 2.221, 0, 180, 0, 66 [SEP] 26, Tomato, -0.314, 0.873, 0.500, 0, 0, 0, 48 [SEP] 27, Potato, -0.817, 0.862, 0.129, 0, 0, 0, 48 [SEP] 28, SaltShaker, -1.876, 0.818, 0.046, 0, 0, 0, 48 [SEP] 29, Plate, -2.648, 0.126, 1.471, 0, 0, 0, 59 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 48 [SEP] 32, Egg, -0.229, 0.080, 2.674, 0, 0, 0, 68 [SEP] 33, Cup, -2.671, 1.144, 2.397, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 75 [SEP] 36, PepperShaker, -1.828, 0.120, 0.440, 0, 0, 0, 60 [SEP] 37, DishSponge, -2.631, 1.434, 0.250, 0, 45, 0, 54 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -1.161, 0.699, 0.444, 0, 270, 0, 52 [SEP] 40, Mug, -2.837, 1.138, 2.485, 0, 90, 0, 66 [SEP] 41, Bowl, -1.580, 0.121, 0.401, 0, 0, 0, 61 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn left and move to the sink. | STEP 2: Pick up the knife in front of the sink. | STEP 3: Move to the center of the sinks. | STEP 4: Slice the lettuce in the sink. | STEP 5: Turn around and move to the front of the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Turn left and move to the front of the sinks. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and move to the fridge. | STEP 10: Chill the lettuce in the fridge and remove it. | STEP 11: Turn around and move to the green bin. | STEP 12: Place the lettuce in the bin. | END


Input: Set a cup with a butter knife inside next to the microwave.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Move to the counter above the dishwasher. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Move over to the right to the sink. | STEP 4: Set the butter knife in the cup in the sink. | STEP 5: Pick up the cup with the butter knife in it. | STEP 6: Go to the counter to the right of the microwave. | STEP 7: Set the cup with the butter knife down on the counter. | END


Input: Place a cup with a knife in it on the counter to the left of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Approach the counter in front of you. | STEP 2: Pick up the the knife on the counter. | STEP 3: Turn to your right and walk to the the sink. | STEP 4: Place the knife in the cup in the sink. | STEP 5: Pick up the the cup in the sink. | STEP 6: Turn to your left and approach the counter on the left of the sink. | STEP 7: Place the cup on the counter to the left of the sink. | END


Input: Find a cup and put a knife in 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, -0.25, 0, 180, 0,  [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Walked over to the dishwasher.  | STEP 2: Picked up a knife from the counter | STEP 3: Took knife to kitchen sink. | STEP 4: Placed knife in cup in the kitchen sink. | STEP 5: Removed cup from kitchen sink | STEP 6: Walked over to dishwasher | STEP 7: Placed cup on the counter.  | END


Input: Put a glass with a knife inside 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, -0.75, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Look around then stand in front of the knife on the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Walk over to the sink. | STEP 4: Put the knife inside the glass in the sink. | STEP 5: Pick up the glass from the sink. | STEP 6: Walk over to the counter near the loaf of bread. | STEP 7: Place the glass on the counter. | END


Input: Warm a plate and put it in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -1.75, 0, 270, 0,  [SEP] 1, Book, -0.335, 1.110, -0.759, 0, 0, 0, 56 [SEP] 2, CreditCard, 0.835, 0.139, -2.479, 0, 0, 0, 76 [SEP] 3, Plate, 0.324, 0.907, -2.330, 0, 0, 0, 58 [SEP] 4, Plate, 0.217, 1.108, -0.759, 0, 0, 0, 56 [SEP] 5, Tomato, 0.582, 0.949, -2.714, 0, 0, 0, 58 [SEP] 6, SaltShaker, 0.620, 0.136, -2.288, 0, 0, 0, 73 [SEP] 7, SaltShaker, 1.893, 0.549, -2.562, 0, 180, 0, 86 [SEP] 8, PepperShaker, -1.013, 1.652, -2.532, 0, 0, 0, 70 [SEP] 9, Knife, -0.479, 1.106, -0.035, 90, 186.170, 0, 56 [SEP] 10, Spoon, -1.782, 0.795, 0.155, 0, 90, 0, 53 [SEP] 11, Spoon, 0.079, 1.112, -0.253, 0, 0, 0, 56 [SEP] 12, Spatula, 1.008, 0.330, -2.383, 0, 0, 0, 60 [SEP] 13, Spatula, 0.892, 0.157, -2.286, 0, 270, 0, 76 [SEP] 14, ButterKnife, 0.582, 0.910, -2.407, 0, 0, 0, 58 [SEP] 15, ButterKnife, 0.079, 1.111, -0.001, 0, 0, 0, 56 [SEP] 16, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 65 [SEP] 17, WineBottle, 0.079, 1.112, 0.251, 0, 0, 0, 56 [SEP] 18, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 56 [SEP] 19, DishSponge, -1.962, 0.047, 2.029, 0, 270, 0, 87 [SEP] 20, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 56 [SEP] 21, Book, 0.155, 1.1, 0.617, 0, 315, 0, 56 [SEP] 22, Glassbottle, 1.891, 0.881, -2.536, 0, 180, 0, 83 [SEP] 23, Knife, -1.597, 0.936, -1.869, 0, 90, 0, 81 [SEP] 24, Bread, -0.530, 1.177, -0.037, 357.927, 358.290, 0, 56 [SEP] 25, Fork, -1.586, 0.911, -2.637, 0, 0, 0, 81 [SEP] 26, Potato, -2.114, 1.336, 1.343, 0, 90, 0, 89 [SEP] 27, SoapBottle, -1.622, 1.659, -2.567, 0, 0, 0, 72 [SEP] 28, Kettle, 0.355, 1.112, -0.001, 0, 0, 0, 56 [SEP] 29, Pan, -2.080, 0.540, 1.085, 0, 180, 0, 89 [SEP] 30, Plate, -1.755, 0.133, -1.623, 0, 90, 0, 57 [SEP] 31, Tomato, 1.098, 0.949, -2.407, 0, 0, 0, 58 [SEP] 32, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 86 [SEP] 33, Egg, 0.582, 0.945, -2.253, 0, 0, 0, 58 [SEP] 34, CreditCard, -1.868, 0.475, -0.245, 0, 90, 0, 71 [SEP] 35, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 88 [SEP] 36, WineBottle, 0.279, 0.141, -2.387, 0, 0, 0, 73 [SEP] 37, Pot, -0.036, 0.950, -2.576, 0, 270, 0, 59 [SEP] 38, Spatula, 0.969, 0.925, -2.253, 0, 0, 0, 58 [SEP] 39, PaperTowelRoll, -1.880, 0.152, 2.124, 0, 270, 0, 87 [SEP] 40, Cup, -1.290, 0.909, -2.637, 0, 0, 0, 81 [SEP] 41, Vase, -1.856, 0.909, -2.036, 0, 0, 0, 81 [SEP] 42, Bowl, -2.026, 1.305, 1.008, 0, 90, 0, 89 [SEP] 43, SaltShaker, 1.098, 0.907, -2.560, 0, 0, 0, 58 [SEP] 44, PepperShaker, -1.071, 1.652, -2.676, 0, 0, 0, 70 [SEP] 45, Lettuce, 0.355, 1.191, -0.253, 0, 0, 0, 56 [SEP] 46, ButterKnife, -0.197, 1.101, 0.004, 0, 0, 0, 56 [SEP] 47, Apple, -2.163, 1.553, 1.176, 0, 90, 0, 89 [SEP] 48, DishSponge, 0.949, 0.645, -2.375, 0, 0, 0, 61 [SEP] 49, Spoon, -1.856, 0.912, -2.146, 0, 0, 0, 81 [SEP] 50, Mug, -1.143, 0.906, -2.637, 0, 0, 0, 81 [SEP] 51, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 52, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 53, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 54, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 55, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 56, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 57, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 58, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 59, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 60, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 61, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 62, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 63, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 64, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 65, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 66, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 67, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 68, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 69, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 70, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 71, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 72, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 73, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 74, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 75, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 76, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 77, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 78, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 79, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 80, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 81, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 82, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 83, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 84, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 85, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 86, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 87, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 88, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 89, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 90, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 91, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 92, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 93, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 94, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 95, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 96, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Turn right, go forward a bit, turn left, go to the sink | STEP 2: Open the cupboard under the sink, pick up the plate in it | STEP 3: Turn around, go forward, turn left in front of the stove, turn up to the microwave | STEP 4: Put the plate in the microwave, start the microwave, wait, pick up the plate | STEP 5: Turn around, go forward a bit, turn left and go to the sink | STEP 6: Put the plate in the sink | END


Input: Put a warm plate in the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -1.75, 0, 270, 0,  [SEP] 1, Book, -0.335, 1.110, -0.759, 0, 0, 0, 56 [SEP] 2, CreditCard, 0.835, 0.139, -2.479, 0, 0, 0, 76 [SEP] 3, Plate, 0.324, 0.907, -2.330, 0, 0, 0, 58 [SEP] 4, Plate, 0.217, 1.108, -0.759, 0, 0, 0, 56 [SEP] 5, Tomato, 0.582, 0.949, -2.714, 0, 0, 0, 58 [SEP] 6, SaltShaker, 0.620, 0.136, -2.288, 0, 0, 0, 73 [SEP] 7, SaltShaker, 1.893, 0.549, -2.562, 0, 180, 0, 86 [SEP] 8, PepperShaker, -1.013, 1.652, -2.532, 0, 0, 0, 70 [SEP] 9, Knife, -0.479, 1.106, -0.035, 90, 186.170, 0, 56 [SEP] 10, Spoon, -1.782, 0.795, 0.155, 0, 90, 0, 53 [SEP] 11, Spoon, 0.079, 1.112, -0.253, 0, 0, 0, 56 [SEP] 12, Spatula, 1.008, 0.330, -2.383, 0, 0, 0, 60 [SEP] 13, Spatula, 0.892, 0.157, -2.286, 0, 270, 0, 76 [SEP] 14, ButterKnife, 0.582, 0.910, -2.407, 0, 0, 0, 58 [SEP] 15, ButterKnife, 0.079, 1.111, -0.001, 0, 0, 0, 56 [SEP] 16, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 65 [SEP] 17, WineBottle, 0.079, 1.112, 0.251, 0, 0, 0, 56 [SEP] 18, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 56 [SEP] 19, DishSponge, -1.962, 0.047, 2.029, 0, 270, 0, 87 [SEP] 20, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 56 [SEP] 21, Book, 0.155, 1.1, 0.617, 0, 315, 0, 56 [SEP] 22, Glassbottle, 1.891, 0.881, -2.536, 0, 180, 0, 83 [SEP] 23, Knife, -1.597, 0.936, -1.869, 0, 90, 0, 81 [SEP] 24, Bread, -0.530, 1.177, -0.037, 357.927, 358.290, 0, 56 [SEP] 25, Fork, -1.586, 0.911, -2.637, 0, 0, 0, 81 [SEP] 26, Potato, -2.114, 1.336, 1.343, 0, 90, 0, 89 [SEP] 27, SoapBottle, -1.622, 1.659, -2.567, 0, 0, 0, 72 [SEP] 28, Kettle, 0.355, 1.112, -0.001, 0, 0, 0, 56 [SEP] 29, Pan, -2.080, 0.540, 1.085, 0, 180, 0, 89 [SEP] 30, Plate, -1.755, 0.133, -1.623, 0, 90, 0, 57 [SEP] 31, Tomato, 1.098, 0.949, -2.407, 0, 0, 0, 58 [SEP] 32, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 86 [SEP] 33, Egg, 0.582, 0.945, -2.253, 0, 0, 0, 58 [SEP] 34, CreditCard, -1.868, 0.475, -0.245, 0, 90, 0, 71 [SEP] 35, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 88 [SEP] 36, WineBottle, 0.279, 0.141, -2.387, 0, 0, 0, 73 [SEP] 37, Pot, -0.036, 0.950, -2.576, 0, 270, 0, 59 [SEP] 38, Spatula, 0.969, 0.925, -2.253, 0, 0, 0, 58 [SEP] 39, PaperTowelRoll, -1.880, 0.152, 2.124, 0, 270, 0, 87 [SEP] 40, Cup, -1.290, 0.909, -2.637, 0, 0, 0, 81 [SEP] 41, Vase, -1.856, 0.909, -2.036, 0, 0, 0, 81 [SEP] 42, Bowl, -2.026, 1.305, 1.008, 0, 90, 0, 89 [SEP] 43, SaltShaker, 1.098, 0.907, -2.560, 0, 0, 0, 58 [SEP] 44, PepperShaker, -1.071, 1.652, -2.676, 0, 0, 0, 70 [SEP] 45, Lettuce, 0.355, 1.191, -0.253, 0, 0, 0, 56 [SEP] 46, ButterKnife, -0.197, 1.101, 0.004, 0, 0, 0, 56 [SEP] 47, Apple, -2.163, 1.553, 1.176, 0, 90, 0, 89 [SEP] 48, DishSponge, 0.949, 0.645, -2.375, 0, 0, 0, 61 [SEP] 49, Spoon, -1.856, 0.912, -2.146, 0, 0, 0, 81 [SEP] 50, Mug, -1.143, 0.906, -2.637, 0, 0, 0, 81 [SEP] 51, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 52, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 53, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 54, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 55, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 56, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 57, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 58, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 59, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 60, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 61, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 62, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 63, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 64, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 65, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 66, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 67, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 68, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 69, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 70, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 71, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 72, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 73, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 74, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 75, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 76, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 77, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 78, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 79, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 80, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 81, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 82, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 83, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 84, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 85, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 86, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 87, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 88, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 89, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 90, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 91, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 92, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 93, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 94, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 95, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 96, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Go straight across the room to the cupboards under the sink.  | STEP 2: Pull out a plate from the cupboards, under the sink.  | STEP 3: Turn around and go to the microwave above the stove, to your right.  | STEP 4: Place the plate in the microwave, heat it up, then remove the plate from the microwave.  | STEP 5: Turn to your right and go back to the sink.  | STEP 6: Place the plate in the sink.  | END


Input: Place two eggs in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -3.0, 0, 0, 0,  [SEP] 1, Glassbottle, -0.344, 0.082, -2.247, 0, 0, 0, 61 [SEP] 2, Glassbottle, -2.210, 0.924, -1.654, 0, 0, 0, 81 [SEP] 3, Pencil, -2.324, 0.923, -1.423, 0, 0, 0, 81 [SEP] 4, Pencil, -2.324, 0.923, -0.963, 0, 0, 0, 81 [SEP] 5, DishSponge, -0.460, 0.080, -2.247, 0, 0, 0, 61 [SEP] 6, DishSponge, -0.302, 0.796, -2.155, 0, 270, 0, 74 [SEP] 7, WineBottle, -0.421, 0.081, -3.205, 0, 0, 0, 62 [SEP] 8, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 74 [SEP] 9, Spoon, -2.552, 0.924, -2.115, 0, 0, 0, 81 [SEP] 10, Spoon, -2.438, 0.924, -1.654, 0, 0, 0, 81 [SEP] 11, Plate, -0.460, 0.083, -1.758, 0, 0, 0, 51 [SEP] 12, Egg, -2.780, 0.956, -0.963, 0, 0, 0, 81 [SEP] 13, Egg, -0.815, 0.948, -3.768, 0, 0, 0, 56 [SEP] 14, Egg, -0.295, 1.423, -0.874, 0, 270, 0, 73 [SEP] 15, SoapBottle, -2.666, 0.922, -1.884, 0, 0, 0, 81 [SEP] 16, SoapBottle, -2.096, 0.922, -2.115, 0, 0, 0, 81 [SEP] 17, Tomato, -2.780, 0.987, -1.193, 0, 0, 0, 81 [SEP] 18, Bowl, -0.348, 1.689, -0.665, 0, 270, 0, 73 [SEP] 19, Lettuce, -2.666, 1.016, -1.423, 0, 0, 0, 81 [SEP] 20, Lettuce, -0.392, 1.483, -0.665, 0, 270, 0, 73 [SEP] 21, SaltShaker, -0.671, 0.912, -3.485, 0, 0, 0, 56 [SEP] 22, PepperShaker, -0.778, 0.742, -3.615, 0, 0, 0, 55 [SEP] 23, Mug, -0.230, 1.965, -1.828, 0, 0, 0, 58 [SEP] 24, Apple, -1.362, 1.703, -3.837, 0, 0, 0, 69 [SEP] 25, Apple, -1.943, 0.100, -3.727, 0, 0, 0, 72 [SEP] 26, Apple, -0.246, 1.172, -0.455, 0, 270, 0, 73 [SEP] 27, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 81 [SEP] 28, Glassbottle, -0.809, 0.083, -3.506, 0, 0, 0, 60 [SEP] 29, Egg, -2.438, 0.956, -1.884, 0, 0, 0, 81 [SEP] 30, Pen, -2.096, 0.926, -1.884, 0, 0, 0, 81 [SEP] 31, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 81 [SEP] 32, SoapBottle, -2.438, 0.922, -1.193, 0, 0, 0, 81 [SEP] 33, Pencil, -2.780, 0.923, -2.115, 0, 0, 0, 81 [SEP] 34, WineBottle, -0.385, 0.916, -3.839, 0, 0, 0, 56 [SEP] 35, Spatula, -2.324, 0.938, -1.193, 0, 90, 0, 81 [SEP] 36, Bread, -2.210, 0.976, -2.345, 0, 0, 0, 81 [SEP] 37, Tomato, -2.666, 0.987, -2.115, 0, 0, 0, 81 [SEP] 38, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 52 [SEP] 39, Cup, -1.151, 1.629, -3.870, 0, 0, 0, 69 [SEP] 40, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 54 [SEP] 41, SaltShaker, -0.671, 0.912, -3.909, 0, 0, 0, 56 [SEP] 42, Potato, -0.350, 0.828, -1.860, 0, 270, 0, 74 [SEP] 43, PepperShaker, -0.256, 1.966, -2.363, 0, 0, 0, 63 [SEP] 44, ButterKnife, -0.365, 0.915, -3.570, 0, 0, 0, 56 [SEP] 45, DishSponge, -0.420, 0.746, -3.267, 0, 0, 0, 67 [SEP] 46, Spoon, -2.552, 0.924, -2.345, 0, 0, 0, 81 [SEP] 47, Plate, -0.343, 1.101, -0.874, 0, 270, 0, 73 [SEP] 48, Knife, -2.438, 0.946, -0.963, 0, 0, 0, 81 [SEP] 49, Mug, -2.438, 0.918, -1.423, 0, 0, 0, 81 [SEP] 50, Bowl, -2.780, 0.922, -2.345, 0, 0, 0, 81 [SEP] 51, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 52, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 53, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 54, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 55, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 56, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 57, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 58, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 59, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 60, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 61, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 62, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 63, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 64, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 65, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 66, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 67, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 68, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 69, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 70, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 71, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 72, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 73, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 74, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 75, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 76, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 77, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 78, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 79, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 80, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 81, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 82, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 83, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 84, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 85, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 86, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 87, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the counter, facing the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Step right to face the microwave. | STEP 4: Place the egg in the microwave at the center. | STEP 5: Turn around and veer left to the right side of the table. | STEP 6: Pick up the egg on the table. | STEP 7: Turn left and walk back to the microwave. | STEP 8: Place the egg in the microwave to the left of the first egg. | END


Input: Microwave an apple slice, put it on a counter. 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, 1.5, 0, 90, 0,  [SEP] 1, Potato, 1.557, 0.942, -1.212, 0, 0, 0, 63 [SEP] 2, Potato, -1.495, 1.533, -0.910, 0, 90, 0, 71 [SEP] 3, Ladle, 0.444, 1.703, -2.162, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.181, 0.118, -2.022, 0, 0, 0, 55 [SEP] 5, WineBottle, 1.913, 1.659, -1.199, 0, 270, 0, 54 [SEP] 6, Spoon, 0.180, 0.931, 0.534, 0, 0, 0, 80 [SEP] 7, Cup, -0.047, 0.930, 0.991, 0, 0, 0, 80 [SEP] 8, Cup, 1.833, 1.657, -1.673, 0, 270, 0, 53 [SEP] 9, Tomato, -1.553, 1.235, -1.013, 0, 90, 0, 71 [SEP] 10, Tomato, -1.610, 0.911, -1.013, 0, 90, 0, 71 [SEP] 11, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 80 [SEP] 12, Bowl, -0.047, 0.923, 0.305, 0, 0, 0, 80 [SEP] 13, Bowl, -0.283, 0.761, -1.981, 0, 0, 0, 75 [SEP] 14, Lettuce, -1.438, 1.264, -0.495, 0, 90, 0, 71 [SEP] 15, SaltShaker, 0.294, 0.926, 0.534, 0, 0, 0, 80 [SEP] 16, PepperShaker, 0.563, 1.655, -2.238, 0, 0, 0, 52 [SEP] 17, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 80 [SEP] 18, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 73 [SEP] 19, Mug, 1.947, 1.652, -1.479, 0, 270, 0, 54 [SEP] 20, Apple, 0.522, 0.997, 0.762, 0, 0, 0, 80 [SEP] 21, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 80 [SEP] 22, Potato, 0.008, 0.793, -1.981, 0, 0, 0, 75 [SEP] 23, Bowl, -0.160, 0.927, 1.220, 0, 0, 0, 80 [SEP] 24, SoapBottle, 0.180, 0.925, 0.762, 0, 0, 0, 80 [SEP] 25, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 63 [SEP] 26, Ladle, 1.828, 0.957, -1.329, 0, 0, 0, 63 [SEP] 27, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 80 [SEP] 28, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 71 [SEP] 29, WineBottle, -1.394, 1.660, -1.917, 0, 90, 0, 46 [SEP] 30, Spatula, 0.066, 0.945, 0.076, 0, 180, 0, 80 [SEP] 31, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 80 [SEP] 32, SaltShaker, 1.466, 0.909, -1.680, 0, 0, 0, 63 [SEP] 33, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 45 [SEP] 34, Cup, 1.850, 0.913, -2.252, 0, 0, 0, 63 [SEP] 35, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 80 [SEP] 36, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 44 [SEP] 37, ButterKnife, 0.002, 0.913, -1.701, 0, 0, 0, 63 [SEP] 38, Tomato, 0.180, 0.978, 1.448, 0, 0, 0, 80 [SEP] 39, DishSponge, 1.786, 0.086, 0.083, 0, 0, 0, 64 [SEP] 40, Egg, -1.000, 0.967, -2.151, 0, 0, 0, 63 [SEP] 41, Spoon, -0.720, 0.914, -2.200, 0, 0, 0, 63 [SEP] 42, Knife, -0.137, 0.787, -2.071, 0, 90, 0, 75 [SEP] 43, Mug, 1.572, 0.115, -1.266, 0, 270, 0, 57 [SEP] 44, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 45, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 46, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 47, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 48, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 55, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 56, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 58, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 59, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 60, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 61, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 62, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 63, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 64, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 65, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 66, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 67, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 68, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 69, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 70, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 71, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 72, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 73, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 74, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 75, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 79, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 80, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 81, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 82, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 83, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 84, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 85, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 86, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 87, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 88, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: Turn right, turn left, walk straight, turn left to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Walk straight, turn left, walk straight, turn left to the counter. | STEP 4: Slice the apple on the counter. | STEP 5: Turn left. Walk straight, turn left to the green bin. | STEP 6: Put the knife in the bin. | STEP 7: Turn left, walk straight, turn left to the counter. | STEP 8: Pick up a slice of the apple. | STEP 9: Turn left, walk straight, turn right to the microwave. | STEP 10: Open the microwave, put the apple inside, close the microwave. Turn on the microwave. Open the microwave. | STEP 11: Turn right, turn left, turn right, walk straight, turn left, turn right, walk straight, turn right to the counter. | STEP 12: Put the slice on the counter. | END


Input: put a  slice  of hot apple 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, 1.25, 0.900, 1.5, 0, 90, 0,  [SEP] 1, Potato, 1.557, 0.942, -1.212, 0, 0, 0, 63 [SEP] 2, Potato, -1.495, 1.533, -0.910, 0, 90, 0, 71 [SEP] 3, Ladle, 0.444, 1.703, -2.162, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.181, 0.118, -2.022, 0, 0, 0, 55 [SEP] 5, WineBottle, 1.913, 1.659, -1.199, 0, 270, 0, 54 [SEP] 6, Spoon, 0.180, 0.931, 0.534, 0, 0, 0, 80 [SEP] 7, Cup, -0.047, 0.930, 0.991, 0, 0, 0, 80 [SEP] 8, Cup, 1.833, 1.657, -1.673, 0, 270, 0, 53 [SEP] 9, Tomato, -1.553, 1.235, -1.013, 0, 90, 0, 71 [SEP] 10, Tomato, -1.610, 0.911, -1.013, 0, 90, 0, 71 [SEP] 11, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 80 [SEP] 12, Bowl, -0.047, 0.923, 0.305, 0, 0, 0, 80 [SEP] 13, Bowl, -0.283, 0.761, -1.981, 0, 0, 0, 75 [SEP] 14, Lettuce, -1.438, 1.264, -0.495, 0, 90, 0, 71 [SEP] 15, SaltShaker, 0.294, 0.926, 0.534, 0, 0, 0, 80 [SEP] 16, PepperShaker, 0.563, 1.655, -2.238, 0, 0, 0, 52 [SEP] 17, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 80 [SEP] 18, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 73 [SEP] 19, Mug, 1.947, 1.652, -1.479, 0, 270, 0, 54 [SEP] 20, Apple, 0.522, 0.997, 0.762, 0, 0, 0, 80 [SEP] 21, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 80 [SEP] 22, Potato, 0.008, 0.793, -1.981, 0, 0, 0, 75 [SEP] 23, Bowl, -0.160, 0.927, 1.220, 0, 0, 0, 80 [SEP] 24, SoapBottle, 0.180, 0.925, 0.762, 0, 0, 0, 80 [SEP] 25, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 63 [SEP] 26, Ladle, 1.828, 0.957, -1.329, 0, 0, 0, 63 [SEP] 27, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 80 [SEP] 28, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 71 [SEP] 29, WineBottle, -1.394, 1.660, -1.917, 0, 90, 0, 46 [SEP] 30, Spatula, 0.066, 0.945, 0.076, 0, 180, 0, 80 [SEP] 31, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 80 [SEP] 32, SaltShaker, 1.466, 0.909, -1.680, 0, 0, 0, 63 [SEP] 33, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 45 [SEP] 34, Cup, 1.850, 0.913, -2.252, 0, 0, 0, 63 [SEP] 35, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 80 [SEP] 36, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 44 [SEP] 37, ButterKnife, 0.002, 0.913, -1.701, 0, 0, 0, 63 [SEP] 38, Tomato, 0.180, 0.978, 1.448, 0, 0, 0, 80 [SEP] 39, DishSponge, 1.786, 0.086, 0.083, 0, 0, 0, 64 [SEP] 40, Egg, -1.000, 0.967, -2.151, 0, 0, 0, 63 [SEP] 41, Spoon, -0.720, 0.914, -2.200, 0, 0, 0, 63 [SEP] 42, Knife, -0.137, 0.787, -2.071, 0, 90, 0, 75 [SEP] 43, Mug, 1.572, 0.115, -1.266, 0, 270, 0, 57 [SEP] 44, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 45, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 46, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 47, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 48, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 55, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 56, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 58, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 59, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 60, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 61, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 62, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 63, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 64, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 65, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 66, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 67, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 68, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 69, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 70, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 71, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 72, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 73, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 74, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 75, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 79, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 80, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 81, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 82, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 83, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 84, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 85, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 86, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 87, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 88, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 89, NorthWall, , , , , , ,  [SEP] 90, EastWall, , , , , , ,  [SEP] 91, SouthWall, , , , , , ,  [SEP] 92, WestWall, , , , , , ,

Output: STEP 1: turn and walk to the sink | STEP 2: pick up the knife that is in the sink | STEP 3:    turn  and walk to the  Apple that is on the counter | STEP 4: slice the Apple that is on the counter | STEP 5:  turn and walk to the trash can | STEP 6:  throw the knife into the trash can | STEP 7:   turn and walk  to the counter  | STEP 8:  pick up a piece of sliced Apple | STEP 9:  turn and walk to the microwave | STEP 10:    put a slice of apple into the microwave  turn on the microwave  wait take the Apple out of the microwave | STEP 11:  turn and walk to the counter  | STEP 12:   put the apple slice on the counter in front of the apple on the counter | END