Input: Heat the wineglass a little and put it away in the cupboard. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.75, 0, 90, 0,  [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 3, DishSponge, 1.336, 1.111, 0.537, 0, 315, 0, 64 [SEP] 4, DishSponge, -0.103, 1.662, -1.435, 0, 0, 0, 59 [SEP] 5, ButterKnife, -2.236, 0.911, -1.199, 0, 0, 0, 71 [SEP] 6, Kettle, -0.239, 0.912, -1.365, 0, 0, 0, 71 [SEP] 7, Pot, 0.836, 1.112, 0.729, 0, 315, 0, 64 [SEP] 8, Spoon, 0.254, 0.747, -1.052, 0, 0, 0, 72 [SEP] 9, Spoon, -1.332, 0.850, -1.305, 0, 0, 0, 81 [SEP] 10, Fork, -2.026, 0.747, -1.051, 0, 0, 0, 66 [SEP] 11, Fork, -1.591, 0.852, -1.139, 0, 270, 0, 81 [SEP] 12, Cup, -2.438, 0.909, -0.062, 0, 0, 0, 63 [SEP] 13, Cup, -0.093, 1.110, 1.814, 0, 315, 0, 64 [SEP] 14, Cup, -1.246, 0.850, -1.360, 0, 0, 0, 81 [SEP] 15, Plate, -2.772, 1.666, -0.033, 0, 0, 0, 57 [SEP] 16, Egg, -2.521, 0.946, -0.147, 0, 0, 0, 63 [SEP] 17, Lettuce, -2.800, 0.457, 0.690, 0, 90, 0, 83 [SEP] 18, SaltShaker, -2.886, 2.039, 1.370, 0, 0, 0, 56 [SEP] 19, SaltShaker, -2.847, 1.661, 0.166, 0, 0, 0, 57 [SEP] 20, Bread, -2.800, 1.528, 0.932, 0, 90, 0, 83 [SEP] 21, Apple, 0.284, 1.154, 1.580, 0, 0, 0, 64 [SEP] 22, Fork, 0.997, 0.911, -1.115, 0, 180, 0, 71 [SEP] 23, Kettle, 0.625, 1.112, 1.556, 0, 315, 0, 64 [SEP] 24, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 71 [SEP] 25, Bread, 0.842, 0.965, -1.032, 0, 0, 0, 71 [SEP] 26, Plate, -2.811, 2.045, 0.647, 0, 0, 0, 61 [SEP] 27, SoapBottle, -0.748, 0.899, -1.291, 0, 315, 0, 71 [SEP] 28, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 63 [SEP] 29, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 83 [SEP] 30, SaltShaker, -2.388, 0.907, -1.365, 0, 0, 0, 71 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 63 [SEP] 33, ButterKnife, 0.413, 1.111, 0.998, 0, 315, 0, 64 [SEP] 34, Pot, -2.823, 0.928, -0.396, 0, 0, 0, 70 [SEP] 35, DishSponge, -2.542, 0.746, 0.226, 0, 0, 0, 69 [SEP] 36, Egg, -2.786, 0.071, 1.361, 0, 0, 0, 82 [SEP] 37, Spoon, -1.505, 0.850, -1.25, 0, 0, 0, 81 [SEP] 38, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 64 [SEP] 39, Cup, -1.418, 0.848, -1.084, 0, 0, 0, 81 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 71 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the sink. | STEP 2: Take the wineglass on the right out of the sink. | STEP 3: Turn left and go to the microwave. | STEP 4: Open the microwave, heat the glass and take it out. | STEP 5: Look up to the cupboards above the microwave. | STEP 6: Open the cupboard and put the wineglass in the cupboard. | END


Input: Put the heated wine glass in the kitchen cupboard SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.75, 0, 90, 0,  [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 3, DishSponge, 1.336, 1.111, 0.537, 0, 315, 0, 64 [SEP] 4, DishSponge, -0.103, 1.662, -1.435, 0, 0, 0, 59 [SEP] 5, ButterKnife, -2.236, 0.911, -1.199, 0, 0, 0, 71 [SEP] 6, Kettle, -0.239, 0.912, -1.365, 0, 0, 0, 71 [SEP] 7, Pot, 0.836, 1.112, 0.729, 0, 315, 0, 64 [SEP] 8, Spoon, 0.254, 0.747, -1.052, 0, 0, 0, 72 [SEP] 9, Spoon, -1.332, 0.850, -1.305, 0, 0, 0, 81 [SEP] 10, Fork, -2.026, 0.747, -1.051, 0, 0, 0, 66 [SEP] 11, Fork, -1.591, 0.852, -1.139, 0, 270, 0, 81 [SEP] 12, Cup, -2.438, 0.909, -0.062, 0, 0, 0, 63 [SEP] 13, Cup, -0.093, 1.110, 1.814, 0, 315, 0, 64 [SEP] 14, Cup, -1.246, 0.850, -1.360, 0, 0, 0, 81 [SEP] 15, Plate, -2.772, 1.666, -0.033, 0, 0, 0, 57 [SEP] 16, Egg, -2.521, 0.946, -0.147, 0, 0, 0, 63 [SEP] 17, Lettuce, -2.800, 0.457, 0.690, 0, 90, 0, 83 [SEP] 18, SaltShaker, -2.886, 2.039, 1.370, 0, 0, 0, 56 [SEP] 19, SaltShaker, -2.847, 1.661, 0.166, 0, 0, 0, 57 [SEP] 20, Bread, -2.800, 1.528, 0.932, 0, 90, 0, 83 [SEP] 21, Apple, 0.284, 1.154, 1.580, 0, 0, 0, 64 [SEP] 22, Fork, 0.997, 0.911, -1.115, 0, 180, 0, 71 [SEP] 23, Kettle, 0.625, 1.112, 1.556, 0, 315, 0, 64 [SEP] 24, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 71 [SEP] 25, Bread, 0.842, 0.965, -1.032, 0, 0, 0, 71 [SEP] 26, Plate, -2.811, 2.045, 0.647, 0, 0, 0, 61 [SEP] 27, SoapBottle, -0.748, 0.899, -1.291, 0, 315, 0, 71 [SEP] 28, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 63 [SEP] 29, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 83 [SEP] 30, SaltShaker, -2.388, 0.907, -1.365, 0, 0, 0, 71 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 63 [SEP] 33, ButterKnife, 0.413, 1.111, 0.998, 0, 315, 0, 64 [SEP] 34, Pot, -2.823, 0.928, -0.396, 0, 0, 0, 70 [SEP] 35, DishSponge, -2.542, 0.746, 0.226, 0, 0, 0, 69 [SEP] 36, Egg, -2.786, 0.071, 1.361, 0, 0, 0, 82 [SEP] 37, Spoon, -1.505, 0.850, -1.25, 0, 0, 0, 81 [SEP] 38, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 64 [SEP] 39, Cup, -1.418, 0.848, -1.084, 0, 0, 0, 81 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 71 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0,  [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0,  [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0,  [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0,  [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0,  [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0,  [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0,  [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0,  [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0,  [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0,  [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0,  [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0,  [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0,  [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0,  [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0,  [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0,  [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0,  [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0,  [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0,  [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0,  [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0,  [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0,  [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0,  [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0,  [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0,  [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0,  [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0,  [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0,  [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0,  [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0,  [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0,  [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0,  [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180,  [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180,  [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180,  [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180,  [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0,  [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0,  [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0,  [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0,  [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0,  [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0,  [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0,  [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0,  [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk up to the kitchen sink | STEP 2: Pick up the left most wine glass from the sink | STEP 3: Turn left and walk over to the microwave | STEP 4: Warm the glass in the microwave then remove it | STEP 5: Look up to the cupboard above the microwave | STEP 6: Put the wine glass into the left cupboard above the microwave | END


Input: Set a pan with an apple slice inside on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 5.5, 0, 180, 0,  [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 2, Pan, 0.885, 0.141, 0.497, 0, 90, 0, 64 [SEP] 3, Pan, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 4, Potato, -0.181, 0.794, 6.721, 0, 225, 0, 94 [SEP] 5, Potato, 1.442, 0.925, 2.474, 0, 90, 0, 81 [SEP] 6, DishSponge, -0.221, 0.759, 6.941, 0, 0, 0, 94 [SEP] 7, DishSponge, -0.399, 0.759, 6.895, 0, 135, 0, 94 [SEP] 8, Spoon, 0.735, 0.773, 0.563, 0, 0, 0, 50 [SEP] 9, Spoon, 1.404, 0.772, 3.291, 0, 0, 0, 51 [SEP] 10, Spatula, 1.459, 0.786, 3.154, 0, 90, 0, 51 [SEP] 11, Fork, 1.292, 0.772, 3.154, 0, 0, 0, 51 [SEP] 12, Fork, 1.442, 0.891, 1.983, 0, 0, 0, 81 [SEP] 13, Egg, 0.064, 1.147, 0.278, 0, 0, 0, 74 [SEP] 14, Plate, -0.413, 0.144, 0.506, 0, 0, 0, 66 [SEP] 15, Knife, -0.345, 0.802, 0.563, 0, 270, 0, 54 [SEP] 16, Tomato, -0.312, 0.809, 6.479, 0, 270, 0, 94 [SEP] 17, Tomato, 0.083, 0.809, 6.456, 0, 225, 0, 94 [SEP] 18, SoapBottle, 1.135, 0.992, 2.950, 0, 0, 0, 58 [SEP] 19, SoapBottle, 0.014, 0.760, 6.217, 0, 135, 0, 94 [SEP] 20, SaltShaker, 0.544, 0.987, 0.670, 0, 0, 0, 58 [SEP] 21, SaltShaker, 0.107, 1.574, 0.295, 0, 0, 0, 71 [SEP] 22, Lettuce, 0.015, 0.848, 6.742, 0, 225, 0, 94 [SEP] 23, Bowl, 2.094, 1.514, 6.001, 0, 270, 0, 80 [SEP] 24, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 58 [SEP] 25, Egg, -0.034, 0.810, 6.014, 0, 0, 0, 94 [SEP] 26, Knife, 0.124, 0.801, 0.563, 0, 270, 0, 55 [SEP] 27, Fork, 0.305, 0.760, 6.541, 0, 270, 0, 94 [SEP] 28, Apple, 2.137, 1.590, 5.751, 0, 270, 0, 80 [SEP] 29, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 58 [SEP] 30, Plate, 1.238, 0.141, 1.864, 0, 0, 0, 47 [SEP] 31, SaltShaker, 0.956, 0.138, 0.260, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 94 [SEP] 33, SoapBottle, 0.771, 0.992, 0.670, 0, 0, 0, 58 [SEP] 34, Spatula, 1.442, 0.905, 2.188, 0, 0, 0, 81 [SEP] 35, PaperTowelRoll, 0.620, 1.096, 0.212, 0, 0, 0, 58 [SEP] 36, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 53 [SEP] 37, Potato, 2.094, 1.550, 5.501, 0, 270, 0, 80 [SEP] 38, ButterKnife, 0.696, 0.992, 0.303, 0, 0, 0, 58 [SEP] 39, PepperShaker, 1.543, 1.572, 1.349, 0, 0, 0, 68 [SEP] 40, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 41, Tomato, 1.671, 1.042, 3.417, 0, 0, 0, 58 [SEP] 42, DishSponge, 1.495, 2.206, 4.175, 0, 0, 0, 49 [SEP] 43, Cup, -0.135, 0.756, 6.237, 0, 225, 0, 94 [SEP] 44, Spoon, -0.459, 0.993, 0.212, 0, 0, 0, 58 [SEP] 45, Mug, 1.456, 1.572, 1.166, 0, 0, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: Go to the counter to the left of the microwave. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Turn and go to the fridge. | STEP 4: Slice the apple on the shelf in the fridge. | STEP 5: Turn and go to the stove. | STEP 6: Put the butter knife in the pan on the back right burner. | STEP 7: Turn and go back to the fridge. | STEP 8: Pick up a slice of apple from the fridge. | STEP 9: Go back to the stove. | STEP 10: Set the apple slice down in the pan on the front right burner. | STEP 11: Pick up the pan with the apple slice in it. | STEP 12: Go to the round table. | STEP 13: Set the pan with the apple slice down on the table. | END


Input: slice apple, put knife in pan on stove, place chilled apple slice in pan on table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 5.5, 0, 180, 0,  [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 2, Pan, 0.885, 0.141, 0.497, 0, 90, 0, 64 [SEP] 3, Pan, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 4, Potato, -0.181, 0.794, 6.721, 0, 225, 0, 94 [SEP] 5, Potato, 1.442, 0.925, 2.474, 0, 90, 0, 81 [SEP] 6, DishSponge, -0.221, 0.759, 6.941, 0, 0, 0, 94 [SEP] 7, DishSponge, -0.399, 0.759, 6.895, 0, 135, 0, 94 [SEP] 8, Spoon, 0.735, 0.773, 0.563, 0, 0, 0, 50 [SEP] 9, Spoon, 1.404, 0.772, 3.291, 0, 0, 0, 51 [SEP] 10, Spatula, 1.459, 0.786, 3.154, 0, 90, 0, 51 [SEP] 11, Fork, 1.292, 0.772, 3.154, 0, 0, 0, 51 [SEP] 12, Fork, 1.442, 0.891, 1.983, 0, 0, 0, 81 [SEP] 13, Egg, 0.064, 1.147, 0.278, 0, 0, 0, 74 [SEP] 14, Plate, -0.413, 0.144, 0.506, 0, 0, 0, 66 [SEP] 15, Knife, -0.345, 0.802, 0.563, 0, 270, 0, 54 [SEP] 16, Tomato, -0.312, 0.809, 6.479, 0, 270, 0, 94 [SEP] 17, Tomato, 0.083, 0.809, 6.456, 0, 225, 0, 94 [SEP] 18, SoapBottle, 1.135, 0.992, 2.950, 0, 0, 0, 58 [SEP] 19, SoapBottle, 0.014, 0.760, 6.217, 0, 135, 0, 94 [SEP] 20, SaltShaker, 0.544, 0.987, 0.670, 0, 0, 0, 58 [SEP] 21, SaltShaker, 0.107, 1.574, 0.295, 0, 0, 0, 71 [SEP] 22, Lettuce, 0.015, 0.848, 6.742, 0, 225, 0, 94 [SEP] 23, Bowl, 2.094, 1.514, 6.001, 0, 270, 0, 80 [SEP] 24, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 58 [SEP] 25, Egg, -0.034, 0.810, 6.014, 0, 0, 0, 94 [SEP] 26, Knife, 0.124, 0.801, 0.563, 0, 270, 0, 55 [SEP] 27, Fork, 0.305, 0.760, 6.541, 0, 270, 0, 94 [SEP] 28, Apple, 2.137, 1.590, 5.751, 0, 270, 0, 80 [SEP] 29, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 58 [SEP] 30, Plate, 1.238, 0.141, 1.864, 0, 0, 0, 47 [SEP] 31, SaltShaker, 0.956, 0.138, 0.260, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 94 [SEP] 33, SoapBottle, 0.771, 0.992, 0.670, 0, 0, 0, 58 [SEP] 34, Spatula, 1.442, 0.905, 2.188, 0, 0, 0, 81 [SEP] 35, PaperTowelRoll, 0.620, 1.096, 0.212, 0, 0, 0, 58 [SEP] 36, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 53 [SEP] 37, Potato, 2.094, 1.550, 5.501, 0, 270, 0, 80 [SEP] 38, ButterKnife, 0.696, 0.992, 0.303, 0, 0, 0, 58 [SEP] 39, PepperShaker, 1.543, 1.572, 1.349, 0, 0, 0, 68 [SEP] 40, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 41, Tomato, 1.671, 1.042, 3.417, 0, 0, 0, 58 [SEP] 42, DishSponge, 1.495, 2.206, 4.175, 0, 0, 0, 49 [SEP] 43, Cup, -0.135, 0.756, 6.237, 0, 225, 0, 94 [SEP] 44, Spoon, -0.459, 0.993, 0.212, 0, 0, 0, 58 [SEP] 45, Mug, 1.456, 1.572, 1.166, 0, 0, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0,  [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0,  [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0,  [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0,  [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0,  [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0,  [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0,  [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0,  [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0,  [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0,  [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0,  [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0,  [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0,  [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0,  [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0,  [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0,  [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0,  [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0,  [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0,  [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0,  [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0,  [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0,  [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0,  [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0,  [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0,  [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0,  [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0,  [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0,  [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0,  [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0,  [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0,  [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0,  [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0,  [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0,  [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0,  [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0,  [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0,  [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0,  [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0,  [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0,  [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0,  [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0,  [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0,  [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0,  [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0,  [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0,  [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0,  [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0,  [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0,  [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0,  [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492,  [SEP] 97, NorthWall, , , , , , ,  [SEP] 98, EastWall, , , , , , ,  [SEP] 99, SouthWall, , , , , , ,  [SEP] 100, WestWall, , , , , , ,

Output: STEP 1: go to counter to the left of microwave | STEP 2: pick up knife in front of paper towels from counter | STEP 3: turn around, go to white refrigerator to the right | STEP 4: open refrigerator, slice yellow apple on top shelf of refrigerator | STEP 5: go to stove to the right | STEP 6: place knife in pan on back right burner of stove | STEP 7: go to refrigerator to the left | STEP 8: pick up apple slice from top shelf of refrigerator, close refrigerator | STEP 9: go to stove to the right | STEP 10: place apple slice in pan on front right burner of stove | STEP 11: pick up pan with apple slice from stove | STEP 12: turn left, go to the right of chair by round dining table | STEP 13: place pan with apple slice in front of dispenser on table  | END


Input: Take an empty toilet paper roll from the dresser and place it on the toilet paper fixture SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 1.5, 0, 90, 0,  [SEP] 1, Cloth, -1.784, 0.199, 0.238, 0, 90, 0, 28 [SEP] 2, TissueBox, -0.805, 0.808, 0.417, 0, 90, 0, 26 [SEP] 3, TissueBox, -1.784, 0.508, 0.238, 0, 90, 0, 32 [SEP] 4, SoapBar, -3.066, 0.691, 0.125, 0, 0, 0, 27 [SEP] 5, SoapBar, -3.446, 0.220, 0.568, 0, 0, 0, 42 [SEP] 6, Candle, -0.697, 0.200, 0.350, 0, 90, 0, 25 [SEP] 7, Candle, -2.247, 0.953, 2.514, 0, 180, 0, 40 [SEP] 8, Towel, -2.554, 0.873, 0.106, 0, 0, 0, 34 [SEP] 9, Cloth, -0.863, 0.199, 0.182, 0, 270, 0, 25 [SEP] 10, Candle, -0.974, 0.506, 0.462, 0, 90, 0, 24 [SEP] 11, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 37 [SEP] 12, SoapBar, -0.376, 0.982, 3.207, 0, 180, 0, 22 [SEP] 13, ToiletPaper, -3.057, 0.688, 0.943, 0, 0, 0, 27 [SEP] 14, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 15, SprayBottle, -2.301, 0.951, 2.452, 0, 180, 0, 40 [SEP] 16, TissueBox, -1.067, 0.808, 0.286, 0, 90, 0, 26 [SEP] 17, ToiletPaper, -0.543, 0.805, 0.155, 0, 90, 0, 26 [SEP] 18, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 19, SoapBottle, -0.281, 0.809, 0.286, 0, 90, 0, 26 [SEP] 20, Drawer, -1.324, 0.312, 0.311, 0, 90, 0,  [SEP] 21, Drawer, -0.290, 0.312, 0.311, 0, 90, 0,  [SEP] 22, Sink, -0.463, -0.013, 3.046, 0, 180, 0,  [SEP] 23, Mirror, -0.504, 1.741, 3.304, 0, 0, 0,  [SEP] 24, Drawer, -0.808, 0.611, 0.311, 0, 90, 0,  [SEP] 25, Drawer, -0.808, 0.312, 0.311, 0, 90, 0,  [SEP] 26, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0,  [SEP] 27, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0,  [SEP] 28, Drawer, -1.840, 0.312, 0.311, 0, 90, 0,  [SEP] 29, Faucet, -0.463, 0.969, 3.212, 0, 180, 0,  [SEP] 30, Drawer, -0.290, 0.611, 0.311, 0, 90, 0,  [SEP] 31, Drawer, -1.324, 0.611, 0.311, 0, 90, 0,  [SEP] 32, Drawer, -1.840, 0.611, 0.311, 0, 90, 0,  [SEP] 33, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0,  [SEP] 34, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0,  [SEP] 35, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0,  [SEP] 36, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0,  [SEP] 37, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0,  [SEP] 38, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0,  [SEP] 39, Window, -4.083, 1.735, 1.162, 90, 270, 0,  [SEP] 40, Toilet, -1.835, 0.000, 2.503, 0, 90, 0,  [SEP] 41, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0,  [SEP] 42, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0,  [SEP] 43, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0,  [SEP] 44, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,

Output: STEP 1: turn right and face the dresser with the green drawers | STEP 2: pick up the toilet paper roll on the dresser | STEP 3: turn around and walk to the toilet  | STEP 4: place the toilet paper roll on the toilet paper fixture | END


Input: Put a chilled potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 3.5, 0, 270, 0,  [SEP] 1, ButterKnife, -0.921, 0.900, 1.555, 0, 180, 0, 90 [SEP] 2, Pot, 0.642, 0.850, 1.375, 0, 0, 0, 66 [SEP] 3, Spoon, 0.737, 0.692, 0.944, 0, 180, 0, 60 [SEP] 4, Fork, 0.703, 0.691, 1.016, 0, 270, 0, 60 [SEP] 5, Fork, 0.635, 0.691, 0.944, 0, 90, 0, 60 [SEP] 6, Cup, -1.309, 0.697, 3.816, 0, 0, 0, 84 [SEP] 7, Knife, -1.578, 0.846, 3.514, 0, 180, 0, 72 [SEP] 8, SoapBottle, -1.053, 0.900, 1.349, 0, 90, 0, 90 [SEP] 9, SoapBottle, -0.593, 0.158, 3.834, 0, 0, 0, 58 [SEP] 10, Tomato, 1.024, 0.891, 2.285, 0, 0, 0, 54 [SEP] 11, Bowl, -2.519, 0.993, 2.277, 0, 90, 0, 81 [SEP] 12, Bowl, -2.636, 0.765, 2.389, 0, 90, 0, 81 [SEP] 13, PepperShaker, -2.501, 1.395, 3.779, 0, 0, 0, 47 [SEP] 14, PepperShaker, -2.667, 0.123, 3.258, 0, 0, 0, 73 [SEP] 15, SaltShaker, -2.541, 1.845, 1.252, 0, 0, 0, 45 [SEP] 16, SaltShaker, -1.053, 0.896, 1.452, 0, 90, 0, 90 [SEP] 17, Lettuce, -2.636, 0.843, 2.165, 0, 90, 0, 81 [SEP] 18, Lettuce, -1.317, 0.976, 1.040, 0, 90, 0, 90 [SEP] 19, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 90 [SEP] 20, Mug, -2.117, 0.122, 3.634, 0, 0, 0, 75 [SEP] 21, Plate, -2.136, 1.402, 3.897, 0, 0, 0, 50 [SEP] 22, Fork, -1.185, 0.901, 1.349, 0, 0, 0, 90 [SEP] 23, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 49 [SEP] 24, Spatula, -2.492, 0.838, 3.331, 0, 90, 0, 72 [SEP] 25, PaperTowelRoll, -1.185, 1.004, 1.452, 0, 90, 0, 90 [SEP] 26, Potato, -0.657, 0.943, 1.555, 0, 90, 0, 90 [SEP] 27, SoapBottle, 0.931, 0.023, 2.889, 0, 0, 0, 83 [SEP] 28, Egg, 0.725, 0.859, 0.895, 0, 0, 0, 49 [SEP] 29, Cup, -1.836, 0.702, 3.774, 0, 0, 0, 84 [SEP] 30, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 70 [SEP] 31, SaltShaker, -2.478, 0.153, 1.295, 0, 0, 0, 57 [SEP] 32, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 72 [SEP] 33, PepperShaker, -1.317, 0.896, 1.452, 0, 90, 0, 90 [SEP] 34, ButterKnife, -0.657, 0.900, 1.246, 0, 90, 0, 90 [SEP] 35, Tomato, -0.882, 0.962, 1.502, 10.351, 349.774, 337.177, 90 [SEP] 36, DishSponge, -1.307, 1.683, 3.819, 0, 0, 0, 77 [SEP] 37, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 90 [SEP] 38, Spoon, -0.921, 0.890, 1.349, 0, 90, 0, 90 [SEP] 39, Apple, -1.185, 0.961, 1.555, 0, 90, 0, 90 [SEP] 40, Knife, -1.698, 0.846, 3.545, 0, 0, 0, 72 [SEP] 41, Mug, 0.820, 0.120, 1.020, 0, 0, 0, 51 [SEP] 42, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 59 [SEP] 43, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 44, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 45, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 46, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 47, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 48, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 49, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 50, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 51, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 52, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 53, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 54, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 55, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 56, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 57, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 58, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 59, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 60, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 61, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 62, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 63, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 64, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 65, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 66, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 67, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 68, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 69, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 70, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 71, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 72, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 73, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 74, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 75, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 76, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 77, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 78, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 79, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 80, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 81, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 82, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 83, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 84, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 85, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 86, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 87, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 88, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 89, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 90, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 91, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 92, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 93, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 94, NorthWall, , , , , , ,  [SEP] 95, EastWall, , , , , , ,  [SEP] 96, SouthWall, , , , , , ,  [SEP] 97, WestWall, , , , , , ,

Output: STEP 1: Walk over to the white table against the wall on your left. | STEP 2: Pick up the potato off of the white table. | STEP 3: Turn around and walk forward, then hang a left and walk up to the fridge. | STEP 4: Put the potato in the fridge for a couple seconds to chill it then take it out. | STEP 5: Turn right and walk over to the sink. | STEP 6: Put the chilled potato in the left sink basin. | END


Input: Put the plunger in the left cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, -0.25, 0, 270, 0,  [SEP] 1, Candle, -0.679, 1.046, -3.826, 0, 0, 0, 32 [SEP] 2, Candle, -2.618, 0.080, -0.901, 0, 0, 0, 20 [SEP] 3, SoapBar, -2.871, 0.079, -1.871, 0, 0, 0, 18 [SEP] 4, SoapBar, -2.567, 0.078, -1.597, 0, 0, 0, 24 [SEP] 5, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 25 [SEP] 6, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 27 [SEP] 7, SoapBar, -2.821, 0.079, -2.086, 0, 0, 0, 18 [SEP] 8, ToiletPaper, -0.084, 0.902, -3.286, 0, 270, 90, 32 [SEP] 9, ToiletPaper, -0.679, 1.042, -3.918, 0, 0, 0, 32 [SEP] 10, SoapBottle, -2.821, 0.081, -0.573, 0, 0, 0, 22 [SEP] 11, Candle, -2.719, 0.080, -1.543, 0, 0, 0, 24 [SEP] 12, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 28 [SEP] 13, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 14, Cloth, -2.669, 0.079, -1.978, 0, 0, 0, 18 [SEP] 15, SprayBottle, -0.482, 1.046, -3.826, 0, 0, 0, 32 [SEP] 16, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0,  [SEP] 17, Mirror, -2.947, 1.559, -1.194, 0, 0, 0,  [SEP] 18, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0,  [SEP] 19, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0,  [SEP] 20, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0,  [SEP] 21, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0,  [SEP] 22, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0,  [SEP] 23, Sink, -2.907, 0.986, -1.761, 0, 90, 0,  [SEP] 24, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0,  [SEP] 25, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0,  [SEP] 26, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0,  [SEP] 27, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0,  [SEP] 28, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0,  [SEP] 29, Window, -0.566, 1.730, -4.102, 90, 0, 0,  [SEP] 30, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0,  [SEP] 31, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0,  [SEP] 32, Toilet, -0.319, 0.000, -3.533, 0, 90, 0,  [SEP] 33, Faucet, -2.907, 0.993, -1.761, 0, 90, 0,  [SEP] 34, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0,  [SEP] 35, Sink, -2.907, 0.986, -0.732, 0, 90, 0,  [SEP] 36, Faucet, -2.907, 0.993, -0.731, 0, 90, 0,  [SEP] 37, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,

Output: STEP 1: Turn left and go to the toilet. | STEP 2: Pick up the plunger from the floor. | STEP 3: Turn around and then left to go to the sinks. | STEP 4: Open the cabinet under the left sink and put the plunger inside. | END


Input: Throw a cooked potato in the garbage. 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, -2.5, 0, 270, 0,  [SEP] 1, Potato, -3.234, 0.685, -1.879, 0, 90, 0, 82 [SEP] 2, Potato, -1.845, 0.834, -3.747, 0, 0, 0, 83 [SEP] 3, DishSponge, -2.990, 0.713, -0.922, 0, 0, 0, 85 [SEP] 4, DishSponge, -1.707, 0.790, -3.704, 0, 0, 0, 83 [SEP] 5, ButterKnife, -0.328, 0.913, -3.112, 0, 0, 0, 41 [SEP] 6, ButterKnife, -3.393, 0.913, -3.227, 0, 0, 0, 41 [SEP] 7, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 70 [SEP] 8, Spatula, -0.338, 0.930, -0.490, 0, 0, 0, 68 [SEP] 9, Spoon, -0.530, 0.747, -3.024, 0, 90, 0, 71 [SEP] 10, Fork, -3.292, 0.714, -0.370, 0, 270, 0, 85 [SEP] 11, Cup, -2.564, 0.714, -0.797, 0, 135, 0, 85 [SEP] 12, Cup, -2.978, 0.717, -0.785, 0, 225, 0, 85 [SEP] 13, Plate, -0.413, 0.078, -1.259, 0, 0, 0, 46 [SEP] 14, Tomato, -0.338, 0.965, -1.370, 0, 0, 0, 68 [SEP] 15, Tomato, -2.439, 0.766, -0.496, 0, 270, 0, 85 [SEP] 16, Bowl, -1.960, 0.079, -3.713, 0, 0, 0, 62 [SEP] 17, SaltShaker, -3.226, 1.864, -1.865, 0, 0, 0, 51 [SEP] 18, SaltShaker, -2.723, 0.710, -0.433, 0, 270, 0, 85 [SEP] 19, PepperShaker, -0.412, 0.742, -2.968, 0, 0, 0, 71 [SEP] 20, Pot, -1.058, 0.916, -3.729, 0, 0, 0, 41 [SEP] 21, Egg, -0.162, 0.115, -0.115, 0, 270, 0, 80 [SEP] 22, Cup, -3.130, 1.399, -1.941, 0, 90, 0, 82 [SEP] 23, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 41 [SEP] 24, Fork, -2.629, 0.914, -3.952, 0, 0, 0, 41 [SEP] 25, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 66 [SEP] 26, Potato, -0.500, 0.959, -1.432, 0, 0, 0, 68 [SEP] 27, Lettuce, -2.753, 0.801, -0.785, 0, 135, 0, 85 [SEP] 28, Tomato, -2.620, 0.763, -0.652, 0, 135, 0, 85 [SEP] 29, Apple, -3.079, 0.683, -2.064, 0, 90, 0, 82 [SEP] 30, SoapBottle, -2.966, 0.713, -0.596, 0, 225, 0, 85 [SEP] 31, Spatula, -3.309, 0.928, -3.327, 0, 0, 0, 41 [SEP] 32, SaltShaker, -3.167, 0.713, -0.797, 0, 225, 0, 85 [SEP] 33, Knife, -0.095, 0.948, -1.555, 0, 0, 0, 68 [SEP] 34, PepperShaker, -2.581, 0.710, -0.433, 0, 270, 0, 85 [SEP] 35, ButterKnife, -0.419, 0.916, -0.542, 0, 0, 0, 68 [SEP] 36, Plate, -0.413, 0.078, -1.492, 0, 0, 0, 46 [SEP] 37, DishSponge, -0.412, 0.745, -0.837, 0, 0, 0, 67 [SEP] 38, Spoon, -2.777, 0.718, -0.584, 0, 225, 0, 85 [SEP] 39, Mug, -1.164, 0.075, -3.673, 0, 0, 0, 56 [SEP] 40, Bowl, -1.614, 0.080, -3.673, 0, 0, 0, 57 [SEP] 41, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 42, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 43, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 44, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 45, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 46, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 47, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 48, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 49, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 50, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 51, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 52, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 53, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 54, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 55, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 56, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 57, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 58, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 59, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 60, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 61, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 62, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 63, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 64, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 65, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 66, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 67, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 68, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 69, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 70, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 71, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 72, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 73, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 74, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 75, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 76, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 77, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 78, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 79, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 80, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 81, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 82, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 83, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 84, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 85, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 86, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 87, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Turn right, turn right again, cross room to face the microwave. | STEP 2: Pick up potato from counter to right of microwave. | STEP 3: Walk to microwave and face it, put potato in microwave, turn microwave on. | STEP 4: Remove potato from microwave. | STEP 5: Turn left, walk to garbage can, face garbage can. | STEP 6: Put potato in garbage can. | END


Input: Examine a cell phone by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.916, 2.0, 0, 180, 0,  [SEP] 1, Statue, -0.204, 0.912, 1.703, 0, 0, 0, 63 [SEP] 2, Newspaper, -0.204, 0.912, 0.974, 0, 0, 0, 63 [SEP] 3, Newspaper, 0.158, 0.916, 2.188, 0, 0, 0, 63 [SEP] 4, CellPhone, -0.046, 0.413, 2.051, 0, 0, 0, 66 [SEP] 5, CellPhone, -2.958, 0.564, 1.806, 0, 270, 0, 58 [SEP] 6, CreditCard, -3.038, 0.366, -1.917, 0, 29.999, 0, 40 [SEP] 7, CreditCard, -0.023, 0.906, 2.188, 0, 0, 0, 63 [SEP] 8, RemoteControl, -2.812, 0.564, 1.600, 0, 270, 0, 58 [SEP] 9, Box, 3.160, 0.782, 0.298, 0, 180, 0, 46 [SEP] 10, Laptop, -2.885, 0.561, 1.187, 0, 270, 0, 58 [SEP] 11, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 63 [SEP] 12, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 49 [SEP] 13, Statue, -0.204, 0.912, 1.946, 0, 0, 0, 63 [SEP] 14, CreditCard, 3.198, 0.589, -0.772, 0, 180, 0, 49 [SEP] 15, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 40 [SEP] 16, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0,  [SEP] 17, Newspaper, 3.18, 0.586, -0.543, 0, 259.747, 0, 57 [SEP] 18, Vase, -2.168, 1.195, -2.183, 0, 0, 0,  [SEP] 19, CellPhone, -2.667, 0.368, -2.132, 0, 29.999, 0, 40 [SEP] 20, RemoteControl, -0.023, 0.907, 2.431, 0, 0, 0, 63 [SEP] 21, Vase, -1.046, 1.195, -2.151, 0, 0, 0,  [SEP] 22, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 58 [SEP] 23, KeyChain, -0.113, 0.906, 1.946, 0, 180, 0, 63 [SEP] 24, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0,  [SEP] 25, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0,  [SEP] 26, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0,  [SEP] 27, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0,  [SEP] 28, Television, 0.069, 1.406, 1.698, 0, 270, 0,  [SEP] 29, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0,  [SEP] 30, Painting, -1.561, 1.408, -2.318, 90, 180, 0,  [SEP] 31, Painting, 3.367, 1.789, -0.949, 90, 270, 0,  [SEP] 32, Painting, -3.488, 1.386, -0.507, 90, 270, 0,  [SEP] 33, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0,  [SEP] 34, Window, 1.133, 1.218, -2.740, 90, 0, 0,  [SEP] 35, Window, -3.368, 1.180, -1.539, 90, 90, 0,  [SEP] 36, Window, 2.898, 1.218, -2.740, 90, 0, 0,  [SEP] 37, Window, 2.006, 1.218, -2.740, 90, 0, 0,  [SEP] 38, Window, -0.193, 1.157, -2.563, 90, 0, 0,  [SEP] 39, Window, -2.970, 1.157, -2.563, 90, 0, 0,  [SEP] 40, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0,  [SEP] 41, SideTable, -0.170, 0.027, -2.279, 0, 0, 0,  [SEP] 42, Drawer, -0.173, 0.465, -2.135, 0, 0, 0,  [SEP] 43, Drawer, 3.104, 0.167, 1.400, 0, 270, 0,  [SEP] 44, SideTable, 3.163, 0.032, 1.400, 0, 270, 0,  [SEP] 45, Drawer, 3.103, 0.418, 1.401, 0, 270, 0,  [SEP] 46, SideTable, 3.163, 0.032, 0.364, 0, 270, 0,  [SEP] 47, Drawer, -3.241, 0.418, -0.490, 0, 90, 0,  [SEP] 48, Drawer, 3.104, 0.167, -0.574, 0, 270, 0,  [SEP] 49, SideTable, 3.163, 0.032, -0.574, 0, 270, 0,  [SEP] 50, Drawer, 3.104, 0.167, 0.364, 0, 270, 0,  [SEP] 51, Drawer, 3.104, 0.419, -0.574, 0, 270, 0,  [SEP] 52, Drawer, -3.241, 0.167, -0.489, 0, 90, 0,  [SEP] 53, SideTable, -3.300, 0.032, -0.489, 0, 90, 0,  [SEP] 54, Drawer, 3.104, 0.419, 0.364, 0, 270, 0,  [SEP] 55, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0,  [SEP] 56, DogBed, 2.739, 0.032, 2.260, 0, 45, 0,  [SEP] 57, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0,  [SEP] 58, Sofa, -2.957, 0.032, 1.393, 0, 90, 0,  [SEP] 59, Drawer, -0.189, 0.232, 0.954, 0, 270, 0,  [SEP] 60, Drawer, -0.415, 0.854, 1.921, 0, 270, 0,  [SEP] 61, Drawer, -0.415, 0.351, 1.414, 0, 270, 0,  [SEP] 62, Drawer, -0.415, 0.603, 1.414, 0, 270, 0,  [SEP] 63, Dresser, -0.052, 0.028, 1.667, 0, 270, 0,  [SEP] 64, Drawer, -0.190, 0.484, 0.954, 0, 270, 0,  [SEP] 65, Drawer, -0.190, 0.736, 0.954, 0, 270, 0,  [SEP] 66, Drawer, -0.415, 0.603, 1.921, 0, 270, 0,  [SEP] 67, Drawer, -0.415, 0.603, 2.384, 0, 270, 0,  [SEP] 68, Drawer, -0.415, 0.351, 2.384, 0, 270, 0,  [SEP] 69, Drawer, -0.415, 0.854, 2.384, 0, 270, 0,  [SEP] 70, Drawer, -0.415, 0.351, 1.921, 0, 270, 0,  [SEP] 71, Drawer, -0.415, 0.854, 1.414, 0, 270, 0,  [SEP] 72, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0,  [SEP] 73, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0,  [SEP] 74, NorthWall, , , , , , ,  [SEP] 75, EastWall, , , , , , ,  [SEP] 76, SouthWall, , , , , , ,  [SEP] 77, WestWall, , , , , , ,

Output: STEP 1: Walk to the chair on the right of the fire place that has a laptop on it. | STEP 2: Pick up the cell phone that is behind the laptop on the chair. | STEP 3: Turn around and walk to the floor lamp in the right corner of the other room. | STEP 4: Turn on the lamp. | END


Input: Put a rinsed sponge in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.902, 3.0, 0, 90, 0,  [SEP] 1, Cloth, -2.656, 0.746, 3.312, 0, 0, 0, 32 [SEP] 2, SoapBar, -0.379, 0.194, 1.754, 0, 0, 0, 43 [SEP] 3, SoapBar, -2.788, 0.937, 2.006, 0, 90, 0, 36 [SEP] 4, SprayBottle, -0.230, 0.052, 0.274, 0, 270, 0, 42 [SEP] 5, DishSponge, -2.546, 1.665, 3.149, 0, 0, 0, 30 [SEP] 6, SoapBottle, -2.800, 0.903, 3.364, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.549, 0.092, 2.709, 0, 0, 0, 35 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.549, 0.101, 2.804, 0, 0, 0, 35 [SEP] 10, SoapBottle, -2.902, 1.077, 0.652, 0, 90, 0, 46 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.788, 0.937, 2.455, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.613, 0.094, 3.442, 0, 0, 0, 24 [SEP] 16, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 41 [SEP] 17, SprayBottle, -2.792, 1.206, 1.400, 0, 270, 0, 37 [SEP] 18, PaperTowelRoll, -2.429, 1.311, 1.520, 0, 270, 0, 37 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.900, 0.930, 2.776, 0, 0, 0, 36 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0,  [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0,  [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0,  [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0,  [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0,  [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0,  [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0,  [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0,  [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0,  [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0,  [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0,  [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0,  [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0,  [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0,  [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0,  [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0,  [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0,  [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0,  [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0,  [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0,  [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0,  [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0,  [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0,  [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0,  [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0,  [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn around and head to the counter to the right of the sink. | STEP 2: Pick up the sponge on the counter. | STEP 3: Turn left and go to the sink. | STEP 4: Put the sponge in the sink, rinse it off and pick it back up. | STEP 5: Turn to the right and go to the tall cabinets. | STEP 6: Put the sponge in the bottom right cabinet. | END


Input: Move green sponge from counter and place it in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.902, 3.0, 0, 90, 0,  [SEP] 1, Cloth, -2.656, 0.746, 3.312, 0, 0, 0, 32 [SEP] 2, SoapBar, -0.379, 0.194, 1.754, 0, 0, 0, 43 [SEP] 3, SoapBar, -2.788, 0.937, 2.006, 0, 90, 0, 36 [SEP] 4, SprayBottle, -0.230, 0.052, 0.274, 0, 270, 0, 42 [SEP] 5, DishSponge, -2.546, 1.665, 3.149, 0, 0, 0, 30 [SEP] 6, SoapBottle, -2.800, 0.903, 3.364, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.549, 0.092, 2.709, 0, 0, 0, 35 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.549, 0.101, 2.804, 0, 0, 0, 35 [SEP] 10, SoapBottle, -2.902, 1.077, 0.652, 0, 90, 0, 46 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.788, 0.937, 2.455, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.613, 0.094, 3.442, 0, 0, 0, 24 [SEP] 16, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 41 [SEP] 17, SprayBottle, -2.792, 1.206, 1.400, 0, 270, 0, 37 [SEP] 18, PaperTowelRoll, -2.429, 1.311, 1.520, 0, 270, 0, 37 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.900, 0.930, 2.776, 0, 0, 0, 36 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0,  [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0,  [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0,  [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0,  [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0,  [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0,  [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0,  [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0,  [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0,  [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0,  [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0,  [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0,  [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0,  [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0,  [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0,  [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0,  [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0,  [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0,  [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0,  [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0,  [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0,  [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0,  [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0,  [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0,  [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0,  [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0,  [SEP] 47, NorthWall, , , , , , ,  [SEP] 48, EastWall, , , , , , ,  [SEP] 49, SouthWall, , , , , , ,  [SEP] 50, WestWall, , , , , , ,

Output: STEP 1: Turn around, proceed to counter. | STEP 2: Pick up green sponge from counter. | STEP 3: Turn left then right to position self in front of sink. | STEP 4: Put sponge in sink, fill up sink with water and drain sink.  Pick up sponge from sink. | STEP 5: Turn right then left to position self in front of counter. | STEP 6: Open lower cabinet, second from wall, place sponge in front part of cabinet, close door. | END


Input: Put a head of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0,  [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 2, Ladle, -2.375, 0.867, 0.352, 0, 0, 0, 45 [SEP] 3, Fork, -2.597, 0.693, 1.474, 0, 90, 0, 50 [SEP] 4, Spoon, -1.161, 0.699, 0.377, 0, 90, 0, 49 [SEP] 5, Spoon, -2.375, 0.824, 0.129, 0, 0, 0, 45 [SEP] 6, Spatula, -2.658, 0.838, 0.953, 0, 180, 0, 45 [SEP] 7, Spatula, -2.890, 0.838, 0.871, 0, 180, 0, 45 [SEP] 8, Cup, -0.092, 0.823, 1.326, 0, 0, 0, 45 [SEP] 9, Plate, -2.779, 1.439, 0.233, 0, 45, 0, 51 [SEP] 10, Tomato, -0.262, 0.106, 2.674, 0, 0, 0, 65 [SEP] 11, PepperShaker, -2.834, 1.430, 0.708, 0, 0, 0, 54 [SEP] 12, Lettuce, -2.837, 0.908, 2.045, 0, 90, 0, 63 [SEP] 13, Mug, -2.837, 1.440, 2.397, 0, 90, 0, 63 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -0.395, 0.129, 2.640, 0, 90, 0, 65 [SEP] 16, Apple, -2.744, 0.994, 1.231, 0, 270, 0, 64 [SEP] 17, Apple, -2.608, 0.896, 0.129, 0, 0, 0, 45 [SEP] 18, Fork, -0.147, 0.824, 0.426, 0, 0, 0, 45 [SEP] 19, Ladle, -2.609, 0.165, 1.471, 0, 0, 0, 56 [SEP] 20, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 40 [SEP] 21, SoapBottle, -0.817, 0.821, 0.500, 0, 0, 0, 45 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.671, 1.495, 2.133, 0, 90, 0, 63 [SEP] 24, Potato, -2.616, 1.484, 2.485, 0, 90, 0, 63 [SEP] 25, SaltShaker, -2.882, 1.429, 1.157, 0, 0, 0, 53 [SEP] 26, Plate, -2.000, 0.130, 0.440, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.329, 0.080, 2.539, 0, 0, 0, 65 [SEP] 30, Cup, -2.837, 1.445, 2.221, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 63 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.840, 0.823, 0.055, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.400, 0.824, 0.658, 0, 0, 0, 45 [SEP] 37, Mug, -2.782, 0.819, 2.309, 0, 90, 0, 63 [SEP] 38, Bowl, -1.465, 0.121, 0.401, 0, 0, 0, 58 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn left to face refrigerator. | STEP 2: Take lettuce from the top shelf of the refrigerator. | STEP 3: Turn left, walk to the sink. | STEP 4: Place lettuce on counter to the right of the sink, to the right of the knife. | END


Input: Grab lettuce from the fridge to place on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0,  [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 2, Ladle, -2.375, 0.867, 0.352, 0, 0, 0, 45 [SEP] 3, Fork, -2.597, 0.693, 1.474, 0, 90, 0, 50 [SEP] 4, Spoon, -1.161, 0.699, 0.377, 0, 90, 0, 49 [SEP] 5, Spoon, -2.375, 0.824, 0.129, 0, 0, 0, 45 [SEP] 6, Spatula, -2.658, 0.838, 0.953, 0, 180, 0, 45 [SEP] 7, Spatula, -2.890, 0.838, 0.871, 0, 180, 0, 45 [SEP] 8, Cup, -0.092, 0.823, 1.326, 0, 0, 0, 45 [SEP] 9, Plate, -2.779, 1.439, 0.233, 0, 45, 0, 51 [SEP] 10, Tomato, -0.262, 0.106, 2.674, 0, 0, 0, 65 [SEP] 11, PepperShaker, -2.834, 1.430, 0.708, 0, 0, 0, 54 [SEP] 12, Lettuce, -2.837, 0.908, 2.045, 0, 90, 0, 63 [SEP] 13, Mug, -2.837, 1.440, 2.397, 0, 90, 0, 63 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -0.395, 0.129, 2.640, 0, 90, 0, 65 [SEP] 16, Apple, -2.744, 0.994, 1.231, 0, 270, 0, 64 [SEP] 17, Apple, -2.608, 0.896, 0.129, 0, 0, 0, 45 [SEP] 18, Fork, -0.147, 0.824, 0.426, 0, 0, 0, 45 [SEP] 19, Ladle, -2.609, 0.165, 1.471, 0, 0, 0, 56 [SEP] 20, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 40 [SEP] 21, SoapBottle, -0.817, 0.821, 0.500, 0, 0, 0, 45 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.671, 1.495, 2.133, 0, 90, 0, 63 [SEP] 24, Potato, -2.616, 1.484, 2.485, 0, 90, 0, 63 [SEP] 25, SaltShaker, -2.882, 1.429, 1.157, 0, 0, 0, 53 [SEP] 26, Plate, -2.000, 0.130, 0.440, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.329, 0.080, 2.539, 0, 0, 0, 65 [SEP] 30, Cup, -2.837, 1.445, 2.221, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 63 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.840, 0.823, 0.055, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.400, 0.824, 0.658, 0, 0, 0, 45 [SEP] 37, Mug, -2.782, 0.819, 2.309, 0, 90, 0, 63 [SEP] 38, Bowl, -1.465, 0.121, 0.401, 0, 0, 0, 58 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn to the left to face the fridge | STEP 2: Open the fridge and remove the head if lettuce on the top shelf, shut the fridge | STEP 3: Head toward the sink | STEP 4: Place the lettuce behind the dinner knife to the right of the sink | END


Input: Put two bars of soap on the counter near the sinks. 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, 2.75, 0, 0, 0,  [SEP] 1, Cloth, -0.246, 0.512, 1.978, 0, 0, 0, 23 [SEP] 2, SoapBar, -0.394, 0.828, 1.772, 0, 0, 0, 43 [SEP] 3, Candle, -0.470, 0.510, 2.662, 0, 0, 0, 26 [SEP] 4, Candle, -0.482, 0.812, 3.172, 0, 0, 0, 22 [SEP] 5, SoapBottle, -0.417, 0.813, 2.243, 0, 0, 0, 22 [SEP] 6, ToiletPaper, -0.188, 0.949, 3.846, 0, 0, 0, 37 [SEP] 7, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 36 [SEP] 8, SoapBar, -0.363, 0.828, 2.753, 0, 0, 0, 40 [SEP] 9, ToiletPaper, -2.170, 0.053, 3.843, 0, 90, 0, 35 [SEP] 10, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 11, Candle, -0.190, 0.206, 2.551, 0, 0, 0, 21 [SEP] 12, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 22 [SEP] 13, ToiletPaper, -1.156, 0.897, 3.925, 0, 180, 90, 33 [SEP] 14, SprayBottle, -0.289, 0.813, 2.243, 0, 0, 0, 22 [SEP] 15, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 34 [SEP] 16, Cloth, -0.302, 0.206, 2.034, 0, 0, 0, 23 [SEP] 17, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 18, DishSponge, -0.134, 0.954, 3.658, 0, 0, 0, 37 [SEP] 19, Sink, -0.299, 0.807, 2.754, 0, 270, 0,  [SEP] 20, Drawer, -0.319, 0.615, 3.012, 0, 0, 0,  [SEP] 21, Drawer, -0.319, 0.316, 3.012, 0, 0, 0,  [SEP] 22, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0,  [SEP] 23, Drawer, -0.319, 0.615, 1.978, 0, 0, 0,  [SEP] 24, Drawer, -0.319, 0.316, 1.978, 0, 0, 0,  [SEP] 25, Drawer, -0.319, 0.316, 1.463, 0, 0, 0,  [SEP] 26, Drawer, -0.319, 0.615, 2.495, 0, 0, 0,  [SEP] 27, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0,  [SEP] 28, Drawer, -0.319, 0.615, 1.463, 0, 0, 0,  [SEP] 29, Drawer, -0.319, 0.316, 2.495, 0, 0, 0,  [SEP] 30, Faucet, -0.076, 0.805, 2.757, 0, 0, 0,  [SEP] 31, Mirror, -0.228, 0.465, 1.453, 0, 0, 0,  [SEP] 32, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0,  [SEP] 33, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0,  [SEP] 34, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0,  [SEP] 35, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0,  [SEP] 36, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0,  [SEP] 37, Toilet, -0.600, -0.000, 3.671, 0, 270, 0,  [SEP] 38, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0,  [SEP] 39, Faucet, -0.076, 0.805, 1.733, 0, 0, 0,  [SEP] 40, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0,  [SEP] 41, Sink, -0.298, 0.807, 1.725, 0, 270, 0,  [SEP] 42, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0,  [SEP] 43, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,

Output: STEP 1: Back up and turn right, walk to left-hand sink | STEP 2: Take bar of soap from sink. | STEP 3: Turn right, walk to right-hand sink, turn to face sink. | STEP 4: Put soap down to left of right-hand sink. | STEP 5: Pick up soap from the right-hand sink. | STEP 6: Put soap down to right of sink. | END


Input: Put salt on the small black table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.25, 0, 180, 0,  [SEP] 1, Potato, -0.855, 0.933, 1.187, 0, 270, 0, 69 [SEP] 2, DishSponge, -1.599, 0.699, -3.698, 0, 0, 0, 70 [SEP] 3, DishSponge, -1.578, 0.699, -3.529, 0, 0, 0, 70 [SEP] 4, ButterKnife, 0.803, 0.883, -0.245, 0, 0, 0, 43 [SEP] 5, ButterKnife, 0.729, 0.883, -0.039, 0, 0, 0, 43 [SEP] 6, Spatula, 0.769, 0.774, 0.002, 0, 270, 0, 42 [SEP] 7, Spatula, 0.950, 0.898, -0.108, 0, 270, 0, 43 [SEP] 8, Spoon, 0.655, 0.884, -0.108, 0, 90, 0, 43 [SEP] 9, Spoon, 0.781, 0.666, 0.326, 0, 0, 0, 48 [SEP] 10, Fork, 0.866, 0.760, -0.124, 0, 90, 0, 42 [SEP] 11, Fork, 0.149, 0.901, 1.187, 0, 270, 0, 69 [SEP] 12, Cup, 0.901, 0.663, 0.387, 0, 0, 0, 48 [SEP] 13, Cup, 0.661, 0.663, 0.569, 0, 0, 0, 48 [SEP] 14, Tomato, 0.708, 1.207, -1.880, 0, 270, 0, 63 [SEP] 15, Tomato, -1.261, 0.100, -3.537, 0, 270, 0, 58 [SEP] 16, SaltShaker, 0.961, 0.660, 0.630, 0, 0, 0, 48 [SEP] 17, Bread, -1.719, 0.745, -1.199, 0, 0, 0, 79 [SEP] 18, Lettuce, -0.051, 0.987, 1.015, 0, 270, 0, 69 [SEP] 19, Apple, 0.715, 0.826, -0.790, 0, 270, 0, 66 [SEP] 20, Apple, 0.708, 0.519, -1.958, 0, 270, 0, 63 [SEP] 21, Pot, -2.071, 0.927, 0.772, 0, 266.284, 0, 45 [SEP] 22, Plate, 0.732, 0.019, -0.184, 0, 0, 0, 53 [SEP] 23, Fork, 0.950, 0.884, 0.029, 0, 0, 0, 43 [SEP] 24, SoapBottle, -0.051, 0.899, 1.187, 0, 270, 0, 69 [SEP] 25, Apple, -1.949, 0.852, -3.673, 0, 0, 0, 65 [SEP] 26, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 52 [SEP] 27, Egg, -0.855, 0.937, 1.101, 0, 270, 0, 69 [SEP] 28, Spatula, 0.574, 0.775, 0.002, 0, 270, 0, 42 [SEP] 29, Potato, 0.721, 0.698, 0.448, 0, 0, 0, 48 [SEP] 30, Cup, 0.757, 0.771, -0.680, 0, 270, 0, 66 [SEP] 31, SaltShaker, 0.901, 0.661, 0.569, 0, 0, 0, 48 [SEP] 32, PepperShaker, -1.719, 0.698, -1.416, 0, 0, 0, 79 [SEP] 33, ButterKnife, -2.054, 0.701, -0.875, 0, 0, 0, 79 [SEP] 34, DishSponge, 0.671, 0.760, 0.002, 0, 0, 0, 42 [SEP] 35, Bread, -0.252, 0.944, 0.929, 0, 270, 0, 69 [SEP] 36, Lettuce, 0.746, 1.461, -1.880, 0, 270, 0, 63 [SEP] 37, Tomato, 0.669, 0.713, -2.113, 0, 270, 0, 63 [SEP] 38, Spoon, -1.719, 0.702, -0.875, 0, 0, 0, 79 [SEP] 39, Knife, -1.886, 0.724, -1.091, 0, 0, 0, 79 [SEP] 40, Mug, 0.708, 0.660, -1.880, 0, 270, 0, 63 [SEP] 41, Bowl, -1.056, 0.899, 1.187, 0, 270, 0, 69 [SEP] 42, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 43, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 44, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 45, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 46, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 47, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 48, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 49, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 50, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 51, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 52, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 53, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 54, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 55, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 56, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 57, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 58, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 59, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 60, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 61, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 64, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 65, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 66, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 67, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 68, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 69, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 70, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 71, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 72, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 73, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 74, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 75, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 76, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 77, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 78, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 79, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 80, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 81, NorthWall, , , , , , ,  [SEP] 82, EastWall, , , , , , ,  [SEP] 83, SouthWall, , , , , , ,  [SEP] 84, WestWall, , , , , , ,

Output: STEP 1: Move to the table near the stove. | STEP 2: Pick up the salt from the table.  | STEP 3: Bring the salt to the small black table. | STEP 4: Put the salt on the small black table.  | END


Input: slice a potato heat it up put it inside the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Pan, -0.601, 0.910, 1.094, 0, 0, 0, 41 [SEP] 2, Potato, -2.455, 0.947, 0.931, 0, 0, 0, 69 [SEP] 3, DishSponge, -2.273, 0.114, 0.076, 0, 0, 0, 57 [SEP] 4, ButterKnife, -0.211, 0.910, 1.094, 0, 0, 0, 41 [SEP] 5, ButterKnife, 1.318, 0.918, -1.204, 0, 225, 0, 55 [SEP] 6, Spoon, 1.372, 0.919, -1.150, 0, 225, 0, 55 [SEP] 7, Spatula, 1.593, 0.925, -0.742, 0, 225, 0, 51 [SEP] 8, Pot, -0.211, 0.914, 1.764, 0, 0, 0, 41 [SEP] 9, Pot, 1.691, 0.929, 0.064, 0, 0, 0, 52 [SEP] 10, Cup, 0.516, 1.661, -1.729, 0, 90, 0, 48 [SEP] 11, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 41 [SEP] 12, SoapBottle, 1.562, 0.187, 0.651, 0, 0, 0, 80 [SEP] 13, SaltShaker, -2.605, 1.532, -0.165, 0, 0, 0, 64 [SEP] 14, Lettuce, -0.081, 0.994, 1.317, 0, 0, 0, 41 [SEP] 15, Mug, 0.301, 1.658, -1.766, 0, 90, 0, 48 [SEP] 16, Mug, -2.578, 1.295, -0.507, 0, 180, 0, 73 [SEP] 17, Apple, -2.439, 1.150, -0.979, 0, 90, 0, 73 [SEP] 18, Pan, 1.691, 0.929, -0.335, 0, 0, 0, 49 [SEP] 19, Knife, -2.318, 0.798, 0.486, 0, 270, 0, 58 [SEP] 20, Apple, -2.485, 1.362, -0.790, 0, 90, 0, 73 [SEP] 21, Bowl, 1.772, 1.660, -0.550, 0, 0, 0, 61 [SEP] 22, Fork, -0.601, 0.911, 0.423, 0, 180, 0, 41 [SEP] 23, Bread, -0.601, 0.996, 1.540, 0, 0, 0, 41 [SEP] 24, Plate, -2.372, 0.913, 1.530, 0, 0, 0, 69 [SEP] 25, Egg, 1.491, 0.941, -0.740, 0, 45, 0, 51 [SEP] 26, Kettle, 0.854, 0.900, -1.790, 0, 0, 0, 51 [SEP] 27, Potato, -2.289, 0.947, 0.031, 0, 0, 0, 69 [SEP] 28, SaltShaker, -2.638, 1.533, 0.629, 0, 0, 0, 65 [SEP] 29, Lettuce, 1.442, 1.006, -1.220, 0, 225, 0, 55 [SEP] 30, Cup, -2.313, 0.112, 0.437, 0, 0, 0, 66 [SEP] 31, SoapBottle, 1.697, 1.658, 0.313, 0, 0, 0, 60 [SEP] 32, Spatula, -2.348, 0.788, 0.857, 0, 90, 0, 46 [SEP] 33, PaperTowelRoll, -0.730, 1.015, 0.870, 0, 0, 0, 41 [SEP] 34, ButterKnife, -2.621, 0.910, 0.331, 0, 0, 0, 69 [SEP] 35, PepperShaker, -2.685, 1.532, -0.019, 0, 0, 0, 64 [SEP] 36, DishSponge, -2.318, 0.773, -0.025, 0, 0, 0, 59 [SEP] 37, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 70 [SEP] 38, Spoon, -2.379, 0.775, 0.486, 0, 90, 0, 58 [SEP] 39, Tomato, 0.048, 0.953, 1.094, 0, 0, 0, 41 [SEP] 40, Mug, -2.466, 0.589, -0.872, 0, 90, 0, 73 [SEP] 41, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 42, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 43, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 44, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 45, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 46, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 47, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 48, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 49, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 50, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 51, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 52, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 53, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 54, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 55, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 56, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 57, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 58, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 59, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 60, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 61, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 62, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 63, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 64, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 65, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 66, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 67, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 68, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 69, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 70, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 71, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 72, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 73, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 74, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 75, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 76, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 77, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 78, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 79, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 80, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 81, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 82, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 83, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 84, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 85, NorthWall, , , , , , ,  [SEP] 86, EastWall, , , , , , ,  [SEP] 87, SouthWall, , , , , , ,  [SEP] 88, WestWall, , , , , , ,

Output: STEP 1: turn to the right across the room | STEP 2: pick up the knife from the counter  | STEP 3: turn to the right | STEP 4: slice the potato that is in the counter | STEP 5: turn to the left across the room | STEP 6: face the refrigerator put the knife inside | STEP 7: turn to the right and across the room | STEP 8: pick up a slice of potato | STEP 9: turn all the way around face the microwave  | STEP 10: put the slice of potato inside the microwave get it back out | STEP 11: turn left and across the room face the refrigerator | STEP 12: open the refrigerator door and put the slice of potato inside the refrigerator | END


Input: Put two sponges on the metal shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 2.75, 0, 180, 0,  [SEP] 1, Cloth, 0.385, 1.047, 3.034, 0, 270, 0, 39 [SEP] 2, SoapBar, -0.503, 0.630, 2.010, 0, 227.956, 0, 27 [SEP] 3, SoapBar, 0.025, 0.052, 0.193, 0, 0, 0, 24 [SEP] 4, Candle, -3.376, 0.234, 0.000, 0, 270, 0, 43 [SEP] 5, Candle, 0.289, 0.632, 1.914, 0, 317.956, 0, 27 [SEP] 6, DishSponge, -0.819, 0.044, 3.887, 0, 0, 0, 36 [SEP] 7, DishSponge, -3.007, 0.856, 1.531, 0, 90, 0, 42 [SEP] 8, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 30 [SEP] 9, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 37 [SEP] 10, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 11, SoapBar, 0.416, 1.046, 2.903, 0, 270, 0, 39 [SEP] 12, ToiletPaper, -0.482, 0.784, 2.361, 0, 0, 270, 31 [SEP] 13, SoapBottle, -2.574, 1.545, 3.940, 0, 0, 0, 35 [SEP] 14, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 32 [SEP] 15, Cloth, -0.058, 0.053, 0.423, 0, 0, 0, 24 [SEP] 16, PaperTowelRoll, -0.962, 0.149, 3.805, 0, 0, 0, 36 [SEP] 17, Candle, 0.294, 1.048, 3.297, 0, 270, 0, 39 [SEP] 18, SprayBottle, -3.263, 0.236, -0.077, 0, 270, 0, 43 [SEP] 19, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 20, DishSponge, 0.109, 0.054, 0.423, 0, 0, 0, 24 [SEP] 21, Faucet, -0.141, 0.524, -0.211, 0, 0, 0,  [SEP] 22, Window, -1.507, 1.322, -0.364, 0, 0, 0,  [SEP] 23, Faucet, -3.401, 1.017, 1.531, 0, 90, 0,  [SEP] 24, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0,  [SEP] 25, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0,  [SEP] 26, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0,  [SEP] 27, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0,  [SEP] 28, Mirror, -3.447, 1.575, 1.516, 0, 0, 0,  [SEP] 29, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0,  [SEP] 30, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0,  [SEP] 31, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0,  [SEP] 32, Shelf, -2.587, 0.778, 3.909, 0, 0, 0,  [SEP] 33, Shelf, -2.587, 1.287, 3.941, 0, 0, 0,  [SEP] 34, Shelf, -2.587, 1.032, 3.941, 0, 0, 0,  [SEP] 35, Shelf, -2.587, 1.534, 3.909, 0, 0, 0,  [SEP] 36, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0,  [SEP] 37, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0,  [SEP] 38, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0,  [SEP] 39, Toilet, 0.063, 0.002, 3.096, 0, 0, 0,  [SEP] 40, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0,  [SEP] 41, Sink, -3.115, -0.013, 1.531, 0, 90, 0,  [SEP] 42, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0,  [SEP] 43, SideTable, -3.171, 0.002, 0.170, 0, 270, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Walk forward and turn right to get to the sink. | STEP 2: Pick up the sponge in the sink. | STEP 3: Turn left to walk to the metal shelf. | STEP 4: Set the sponge down on the metal shelf. | STEP 5: Turn around to walk to the bathtub. | STEP 6: Pick up the sponge from the bathtub. | STEP 7: Turn around to walk to the metal shelf. | STEP 8: Put the sponge next to the other sponge on the metal shelf. | END


Input: move the spray bottle from the dresser to the toilet 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, -0.75, 0, 0, 0,  [SEP] 1, Candle, -2.480, 0.356, -2.296, 0, 0, 0, 24 [SEP] 2, Candle, -2.576, 0.356, -2.714, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.768, 0.993, -2.923, 0, 0, 0, 26 [SEP] 4, SprayBottle, -2.915, 0.993, -2.125, 0, 0, 0, 26 [SEP] 5, SoapBar, -2.649, 0.080, -0.391, 0, 90, 0, 32 [SEP] 6, SoapBar, -2.512, 0.093, -2.296, 0, 0, 0, 25 [SEP] 7, SoapBottle, -0.191, 0.045, -2.772, 0, 90, 0, 34 [SEP] 8, SoapBottle, -2.512, 0.095, -3.549, 0, 0, 0, 25 [SEP] 9, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 30 [SEP] 10, SoapBar, -0.334, 0.868, -2.077, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -2.640, 0.354, -2.923, 0, 0, 0, 24 [SEP] 13, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 27 [SEP] 14, SoapBottle, -0.116, 1.166, -3.104, 0, 90, 0, 40 [SEP] 15, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 16, Cloth, -2.587, 0.085, -0.678, 0, 90, 0, 32 [SEP] 17, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 18, Candle, -0.091, 0.093, -3.471, 0, 90, 0, 36 [SEP] 19, SprayBottle, -0.245, 1.162, -3.693, 0, 90, 0, 40 [SEP] 20, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0,  [SEP] 21, Faucet, -0.040, 1.017, -2.076, 0, 270, 0,  [SEP] 22, Sink, -0.307, 0.0, -2.076, 0, 270, 0,  [SEP] 23, Mirror, -2.983, 1.565, -2.900, 0, 0, 0,  [SEP] 24, Shelf, -2.581, 0.395, -2.923, 0, 0, 0,  [SEP] 25, Shelf, -2.539, 0.130, -2.923, 0, 0, 0,  [SEP] 26, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0,  [SEP] 27, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0,  [SEP] 28, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0,  [SEP] 29, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0,  [SEP] 30, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0,  [SEP] 31, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0,  [SEP] 32, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0,  [SEP] 34, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0,  [SEP] 35, Toilet, -0.411, -0.000, -0.547, 0, 0, 0,  [SEP] 36, Drawer, -0.229, 0.161, -3.398, 0, 270, 0,  [SEP] 37, Drawer, -0.229, 0.420, -3.398, 0, 270, 0,  [SEP] 38, Drawer, -0.229, 0.680, -3.398, 0, 270, 0,  [SEP] 39, Drawer, -0.229, 0.940, -3.398, 0, 270, 0,  [SEP] 40, Dresser, -0.205, 0.000, -3.398, 0, 270, 0,  [SEP] 41, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0,  [SEP] 42, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, EastWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,

Output: STEP 1: go to the white dresser | STEP 2:  pick up the spray bottle from the top | STEP 3: take the bottle to the toilet | STEP 4: put the spray bottle on the back of the toilet | END


Input: Place a washed ice cream scoop in the cabinet below the right sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 270, 0,  [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 40 [SEP] 2, ButterKnife, -1.876, 0.823, 0.518, 0, 0, 0, 41 [SEP] 3, ButterKnife, -1.542, 0.823, 0.549, 0, 0, 0, 41 [SEP] 4, Plate, -2.726, 0.829, 2.045, 0, 90, 0, 59 [SEP] 5, Knife, -2.044, 0.849, 0.528, 0, 0, 0, 41 [SEP] 6, Knife, -2.504, 0.849, 0.544, 0, 90, 0, 41 [SEP] 7, Tomato, -2.671, 1.495, 2.485, 0, 90, 0, 59 [SEP] 8, Tomato, -2.724, 0.873, 0.129, 0, 0, 0, 41 [SEP] 9, Bowl, -2.540, 1.845, 1.978, 0, 0, 0, 35 [SEP] 10, SaltShaker, -1.885, 0.120, 0.323, 0, 0, 0, 53 [SEP] 11, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 69 [SEP] 12, Apple, -0.169, 0.896, 1.214, 0, 0, 0, 41 [SEP] 13, Apple, -2.813, 0.896, 0.871, 0, 90, 0, 41 [SEP] 14, Fork, -2.698, 0.692, 1.474, 0, 90, 0, 46 [SEP] 15, Ladle, -2.840, 0.867, 0.352, 0, 0, 0, 41 [SEP] 16, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 36 [SEP] 17, SoapBottle, -2.375, 0.821, 0.500, 0, 0, 0, 41 [SEP] 18, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 38 [SEP] 19, Tomato, -0.395, 0.106, 2.674, 0, 0, 0, 61 [SEP] 20, Potato, -2.658, 0.862, 0.871, 0, 0, 0, 41 [SEP] 21, SaltShaker, -2.115, 0.120, 0.479, 0, 0, 0, 53 [SEP] 22, Plate, -2.837, 1.148, 2.309, 0, 90, 0, 59 [SEP] 23, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 37 [SEP] 24, Knife, -1.151, 0.849, 0.352, 0, 270, 0, 41 [SEP] 25, Egg, -2.837, 1.469, 2.045, 0, 90, 0, 59 [SEP] 26, Cup, -2.844, 0.921, 1.231, 0, 90, 0, 60 [SEP] 27, ButterKnife, -0.817, 0.813, 0.203, 0, 0, 0, 41 [SEP] 28, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 68 [SEP] 29, PepperShaker, -2.608, 0.818, 0.426, 0, 0, 0, 41 [SEP] 30, DishSponge, -2.501, 1.848, 1.823, 0, 0, 0, 35 [SEP] 31, Bread, -0.982, 0.855, 0.249, 0, 29.806, 0, 41 [SEP] 32, Spoon, -1.133, 0.699, 0.444, 0, 270, 0, 45 [SEP] 33, Mug, -2.671, 1.440, 2.221, 0, 90, 0, 59 [SEP] 34, Bowl, -2.540, 1.845, 2.368, 0, 0, 0, 51 [SEP] 35, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 36, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 37, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 38, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 39, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 41, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 43, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 44, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 45, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 46, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 47, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 48, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 49, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 50, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 51, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 52, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 53, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 54, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 55, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 56, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 57, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 58, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 59, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 60, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 61, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 62, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 63, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 64, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 65, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 66, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 67, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 68, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 69, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 70, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 71, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 72, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: Turn left towards the sink and then turn right towards the metal bowl on the counter. | STEP 2: Pick up the ice cream scoop to the left of the metal bowl. | STEP 3: Take a step to the left to face the sink. | STEP 4: Place the scoop in the left sink, wash it, and pick it back up. | STEP 5: Take a step backwards to find the cabinet below the right sink. | STEP 6: Place the scoop in the cabinet and close the door. | END


Input: Place a sponge in a skillet onto a kitchen island. 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, 270, 0,  [SEP] 1, Pan, 1.850, 0.913, -1.918, 0, 0, 0, 63 [SEP] 2, Potato, -1.438, 1.212, -0.910, 0, 90, 0, 71 [SEP] 3, WineBottle, 1.557, 0.914, -1.563, 0, 0, 0, 63 [SEP] 4, WineBottle, -0.963, 0.914, -2.188, 0, 0, 0, 63 [SEP] 5, Spatula, -0.346, 0.928, -1.713, 0, 0, 0, 63 [SEP] 6, Fork, -0.047, 0.931, 0.534, 0, 0, 0, 80 [SEP] 7, Fork, -0.137, 0.765, -2.071, 0, 180, 0, 75 [SEP] 8, Cup, 1.877, 0.553, 2.586, 0, 0, 0, 89 [SEP] 9, Plate, 0.408, 0.934, 0.076, 0, 0, 0, 80 [SEP] 10, Plate, 1.359, 0.556, 2.431, 0, 0, 0, 83 [SEP] 11, Knife, -0.356, 0.787, -1.981, 0, 270, 0, 75 [SEP] 12, Tomato, -1.553, 0.911, -0.703, 0, 90, 0, 71 [SEP] 13, Tomato, -1.553, 1.235, -0.910, 0, 90, 0, 71 [SEP] 14, Lettuce, 0.180, 1.011, 1.448, 0, 0, 0, 80 [SEP] 15, Lettuce, -1.572, 1.585, -0.495, 0, 90, 0, 71 [SEP] 16, SaltShaker, -0.564, 0.909, -2.167, 0, 0, 0, 63 [SEP] 17, Bread, 0.408, 0.972, 0.534, 0, 0, 0, 80 [SEP] 18, Bread, -1.495, 1.228, -0.703, 0, 90, 0, 71 [SEP] 19, Mug, -1.072, 0.121, -1.575, 0, 90, 0, 58 [SEP] 20, Mug, -0.047, 0.921, 1.220, 0, 0, 0, 80 [SEP] 21, Apple, -1.380, 0.930, -0.495, 0, 90, 0, 71 [SEP] 22, Potato, -0.047, 0.956, 1.448, 0, 0, 0, 80 [SEP] 23, Bowl, -0.697, 0.108, -1.917, 0, 0, 0, 56 [SEP] 24, SoapBottle, 1.514, 0.119, -1.397, 0, 270, 0, 55 [SEP] 25, Fork, -0.668, 0.914, -2.167, 0, 0, 0, 63 [SEP] 26, Ladle, 1.919, 0.957, -1.446, 0, 0, 0, 63 [SEP] 27, Bread, 0.066, 0.972, 0.762, 0, 0, 0, 80 [SEP] 28, Lettuce, 1.872, 0.167, 0.083, 0, 0, 0, 64 [SEP] 29, WineBottle, -0.160, 0.931, 1.448, 0, 0, 0, 80 [SEP] 30, Spatula, 1.919, 0.928, -1.212, 0, 0, 0, 63 [SEP] 31, Plate, 1.909, 1.661, -1.608, 0, 270, 0, 53 [SEP] 32, SaltShaker, 1.362, 0.877, 2.483, 0, 0, 0, 84 [SEP] 33, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 45 [SEP] 34, Cup, 1.988, 1.658, -1.281, 0, 270, 0, 53 [SEP] 35, PepperShaker, 0.522, 0.926, 0.305, 0, 0, 0, 80 [SEP] 36, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 44 [SEP] 37, ButterKnife, -0.791, 0.9, -2.186, 0, 164.999, 0, 63 [SEP] 38, Tomato, -1.610, 0.911, -1.013, 0, 90, 0, 71 [SEP] 39, DishSponge, 1.557, 0.913, -1.680, 0, 0, 0, 63 [SEP] 40, Egg, 1.557, 0.967, -1.095, 0, 0, 0, 63 [SEP] 41, Spoon, -0.047, 0.928, 0.076, 0, 0, 0, 80 [SEP] 42, Knife, 0.066, 0.953, 1.220, 0, 0, 0, 80 [SEP] 43, Mug, -0.210, 0.759, -2.116, 0, 180, 0, 75 [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, , , , , , , ,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Face left, then go to the counter to the right of the stove. | STEP 2: Pick up the sponge on the right of the wine bottle. | STEP 3: Move left, to face the left half of the stove. | STEP 4: Put the sponge in the skillet that is on the back left burner. | STEP 5: Pick up the skillet. | STEP 6: Turn to your right and go to face the center of the kitchen island on your right. | STEP 7: Put the skillet holding the sponge onto the top of the island, to the right of the fork. | END


Input: Move a salt shaker to the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.899, 3.0, 0, 90, 0,  [SEP] 1, Pencil, -3.830, 0.747, 5.133, 0, 180, 0, 76 [SEP] 2, Pencil, -3.748, 0.068, 6.375, 0, 270, 0, 99 [SEP] 3, Potato, -0.242, 1.104, 3.479, 0, 270, 0, 106 [SEP] 4, Potato, -0.565, 0.958, 5.603, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.202, 2.133, 3.326, 0, 180, 0, 75 [SEP] 6, DishSponge, -0.532, 0.745, 6.074, 0, 270, 0, 84 [SEP] 7, ButterKnife, -0.488, 0.925, 4.944, 0, 0, 0, 58 [SEP] 8, ButterKnife, -0.334, 0.925, 4.615, 0, 0, 0, 58 [SEP] 9, WineBottle, -4.033, 0.924, 4.640, 0, 90, 0, 73 [SEP] 10, Fork, -0.181, 0.925, 5.932, 0, 0, 0, 58 [SEP] 11, Fork, -4.159, 0.791, 3.097, 0, 0, 0, 105 [SEP] 12, Cup, -0.334, 0.923, 4.944, 0, 0, 0, 58 [SEP] 13, Cup, -2.688, 1.545, 1.633, 0, 0, 0, 103 [SEP] 14, Plate, -4.102, 0.924, 2.183, 0, 0, 0, 73 [SEP] 15, Knife, -3.255, 0.953, 5.182, 0, 90, 0, 73 [SEP] 16, SoapBottle, -4.312, 0.923, 2.300, 0, 90, 0, 73 [SEP] 17, SoapBottle, -1.777, 0.923, 1.724, 0, 0, 0, 55 [SEP] 18, Bowl, -0.301, 1.332, 3.231, 0, 270, 0, 106 [SEP] 19, SaltShaker, -3.251, 0.078, 1.812, 0, 0, 0, 48 [SEP] 20, PepperShaker, -1.943, 0.919, 1.573, 0, 0, 0, 55 [SEP] 21, Lettuce, -0.258, 1.020, 5.603, 0, 0, 0, 58 [SEP] 22, Bread, -0.488, 1.004, 5.273, 0, 0, 0, 58 [SEP] 23, Egg, -2.688, 1.582, 1.731, 0, 0, 0, 103 [SEP] 24, Apple, -2.583, 1.599, 1.731, 0, 0, 0, 103 [SEP] 25, Knife, -1.860, 0.953, 1.875, 0, 0, 0, 55 [SEP] 26, Potato, -1.943, 0.956, 1.951, 0, 0, 0, 55 [SEP] 27, Fork, -4.249, 0.754, 2.590, 0, 90, 0, 53 [SEP] 28, Bowl, -3.258, 1.456, 5.512, 0, 90, 0, 59 [SEP] 29, Plate, -4.159, 0.791, 3.347, 0, 270, 0, 105 [SEP] 30, Lettuce, -3.675, 0.164, 6.416, 0, 0, 0, 99 [SEP] 31, Bread, -0.301, 1.415, 3.479, 0, 270, 0, 106 [SEP] 32, Tomato, -0.342, 1.742, 3.733, 0, 270, 0, 106 [SEP] 33, WineBottle, -3.340, 0.924, 2.026, 0, 0, 0, 73 [SEP] 34, Spatula, -0.181, 0.940, 5.273, 0, 0, 0, 58 [SEP] 35, PaperTowelRoll, -2.109, 1.027, 2.026, 0, 0, 0, 55 [SEP] 36, Cup, -1.610, 0.922, 1.724, 0, 0, 0, 55 [SEP] 37, Pencil, -4.108, 0.923, 4.122, 0, 90, 0, 73 [SEP] 38, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 70 [SEP] 39, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 88 [SEP] 40, SaltShaker, -4.094, 0.751, 2.413, 0, 0, 0, 53 [SEP] 41, SoapBottle, -0.181, 0.924, 4.615, 0, 0, 0, 58 [SEP] 42, PepperShaker, -3.475, 0.078, 1.850, 0, 0, 0, 48 [SEP] 43, ButterKnife, -1.693, 0.923, 1.724, 0, 0, 0, 55 [SEP] 44, DishSponge, -0.532, 0.745, 5.919, 0, 270, 0, 84 [SEP] 45, Spoon, -4.335, 0.924, 4.381, 0, 90, 0, 73 [SEP] 46, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 94 [SEP] 47, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 48, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 49, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 50, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 51, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 52, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 53, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 54, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 55, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 56, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 57, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 58, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 59, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 60, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 61, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 62, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 63, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 64, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 65, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 66, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 67, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 68, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 69, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 70, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 71, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 72, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 73, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 74, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 75, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 76, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 77, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 78, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 79, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 80, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 81, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 82, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 83, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 84, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 85, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 86, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 87, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 88, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 89, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 90, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 91, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 92, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 93, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 94, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 95, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 96, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 97, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 98, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 99, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 100, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 101, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 102, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 103, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 104, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 105, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 106, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 107, NorthWall, , , , , , ,  [SEP] 108, EastWall, , , , , , ,  [SEP] 109, SouthWall, , , , , , ,  [SEP] 110, WestWall, , , , , , ,

Output: STEP 1: Turn around then face the cupboard under the toaster to the right of the oven | STEP 2: Open the cupboard and remove the salt inside then shut the cupboard door | STEP 3: Move to face the drawer directly above the cupboard | STEP 4: Place the salt inside the drawer, shut the drawer | END