Input: Get utensils out of the cabinet to the table  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.75, 0, 90, 0,  [SEP] 1, Potato, -1.013, 1.484, -0.184, 0, 90, 0, 97 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 53 [SEP] 3, WineBottle, 2.126, 1.027, 1.601, 0, 136.999, 0, 53 [SEP] 4, Glassbottle, 1.638, 1.027, 1.704, 0, 136.999, 0, 53 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 7, Spatula, 2.368, 1.041, 0.711, 0, 136.999, 0, 53 [SEP] 8, Spatula, 1.623, 0.815, 1.524, 0, 47.0, 0, 68 [SEP] 9, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 62 [SEP] 10, Fork, 2.275, 0.765, 4.192, 0, 0, 0, 54 [SEP] 11, Cup, 2.555, 0.763, 3.865, 0, 225, 0, 54 [SEP] 12, Cup, -0.577, 0.815, 1.492, 0, 90, 0, 110 [SEP] 13, Knife, -0.874, 0.826, 2.372, 0, 90, 0, 59 [SEP] 14, Knife, -0.920, 1.052, 1.821, 0, 0, 0, 56 [SEP] 15, Tomato, -0.714, 0.878, 1.337, 0, 90, 0, 110 [SEP] 16, SoapBottle, 2.386, 0.763, 3.932, 0, 329.999, 0, 54 [SEP] 17, SoapBottle, -1.061, 1.779, 1.801, 0, 0, 0, 70 [SEP] 18, Bowl, 2.822, 0.031, -1.074, 0, 0, 0, 95 [SEP] 19, SaltShaker, 2.302, 0.760, 3.62, 0, 0, 0, 54 [SEP] 20, Bread, 2.976, 0.832, 3.970, 0, 270, 0, 54 [SEP] 21, Bread, 2.626, 0.832, 4.118, 0, 270, 0, 54 [SEP] 22, Lettuce, 2.331, 0.822, 4.325, 0, 329.999, 0, 54 [SEP] 23, Lettuce, 2.788, 0.822, 4.412, 0, 225, 0, 54 [SEP] 24, Apple, 2.998, 0.814, 4.202, 0, 225, 0, 54 [SEP] 25, Pan, 2.614, 1.026, 1.499, 0, 136.999, 0, 53 [SEP] 26, Glassbottle, -0.714, 0.817, 1.570, 0, 90, 0, 110 [SEP] 27, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 110 [SEP] 28, SoapBottle, 2.875, 1.025, -1.456, 0, 0, 0, 53 [SEP] 29, Egg, 2.000, 1.895, -1.809, 0, 0, 0, 99 [SEP] 30, Fork, 2.566, 0.801, 0.697, 0, 317.0, 0, 65 [SEP] 31, Potato, -0.968, 1.484, -0.516, 0, 90, 0, 97 [SEP] 32, Ladle, 2.651, 0.840, -0.267, 0, 0, 0, 63 [SEP] 33, Tomato, 2.855, 0.818, 3.567, 0, 329.999, 0, 54 [SEP] 34, Pot, 2.790, 1.029, -0.541, 0, 0, 0, 53 [SEP] 35, WineBottle, 1.956, 0.765, 3.685, 0, 225, 0, 54 [SEP] 36, Plate, -0.807, 2.290, -0.676, 0, 0, 0, 85 [SEP] 37, Spatula, 2.525, 0.779, 4.495, 0, 0, 0, 54 [SEP] 38, PaperTowelRoll, 2.790, 1.131, -1.762, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.294, 0.822, 4.091, 0, 329.999, 0, 54 [SEP] 40, Apple, 2.893, 1.077, 1.200, 0, 136.999, 0, 53 [SEP] 41, SaltShaker, -0.544, 1.023, 2.189, 0, 0, 0, 56 [SEP] 42, PepperShaker, 1.787, 0.798, 1.342, 0, 317.0, 0, 68 [SEP] 43, ButterKnife, -0.802, 0.800, 0.615, 0, 0, 0, 55 [SEP] 44, Bread, 1.409, 1.094, -1.454, 0, 90, 0, 53 [SEP] 45, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 97 [SEP] 46, DishSponge, 2.698, 0.764, 3.688, 0, 329.999, 0, 54 [SEP] 47, Bowl, -0.984, 1.779, 1.975, 0, 0, 0, 70 [SEP] 48, Spoon, 2.945, 0.765, 4.254, 0, 315, 0, 54 [SEP] 49, Mug, -0.714, 0.811, 1.103, 0, 90, 0, 110 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 114, , , , , , , ,  [SEP] 115, NorthWall, , , , , , ,  [SEP] 116, EastWall, , , , , , ,  [SEP] 117, SouthWall, , , , , , ,  [SEP] 118, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk across the room to the table | STEP 2: Place the spatula on the table | STEP 3: Pick the spatula up from the table and walk across the room to the cabinets to the right of the sink | STEP 4: Open the upper cabinet to the right of the sink | STEP 5: Take the bowl out of the upper cabinet to the right of the sink | STEP 6: Take the bowl and spatula to the table | STEP 7: Place the bowl and spatula on the table | END


Input: Place a bowl containing a spatula on the kitchen 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, -0.75, 0, 90, 0,  [SEP] 1, Potato, -1.013, 1.484, -0.184, 0, 90, 0, 97 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 53 [SEP] 3, WineBottle, 2.126, 1.027, 1.601, 0, 136.999, 0, 53 [SEP] 4, Glassbottle, 1.638, 1.027, 1.704, 0, 136.999, 0, 53 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 7, Spatula, 2.368, 1.041, 0.711, 0, 136.999, 0, 53 [SEP] 8, Spatula, 1.623, 0.815, 1.524, 0, 47.0, 0, 68 [SEP] 9, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 62 [SEP] 10, Fork, 2.275, 0.765, 4.192, 0, 0, 0, 54 [SEP] 11, Cup, 2.555, 0.763, 3.865, 0, 225, 0, 54 [SEP] 12, Cup, -0.577, 0.815, 1.492, 0, 90, 0, 110 [SEP] 13, Knife, -0.874, 0.826, 2.372, 0, 90, 0, 59 [SEP] 14, Knife, -0.920, 1.052, 1.821, 0, 0, 0, 56 [SEP] 15, Tomato, -0.714, 0.878, 1.337, 0, 90, 0, 110 [SEP] 16, SoapBottle, 2.386, 0.763, 3.932, 0, 329.999, 0, 54 [SEP] 17, SoapBottle, -1.061, 1.779, 1.801, 0, 0, 0, 70 [SEP] 18, Bowl, 2.822, 0.031, -1.074, 0, 0, 0, 95 [SEP] 19, SaltShaker, 2.302, 0.760, 3.62, 0, 0, 0, 54 [SEP] 20, Bread, 2.976, 0.832, 3.970, 0, 270, 0, 54 [SEP] 21, Bread, 2.626, 0.832, 4.118, 0, 270, 0, 54 [SEP] 22, Lettuce, 2.331, 0.822, 4.325, 0, 329.999, 0, 54 [SEP] 23, Lettuce, 2.788, 0.822, 4.412, 0, 225, 0, 54 [SEP] 24, Apple, 2.998, 0.814, 4.202, 0, 225, 0, 54 [SEP] 25, Pan, 2.614, 1.026, 1.499, 0, 136.999, 0, 53 [SEP] 26, Glassbottle, -0.714, 0.817, 1.570, 0, 90, 0, 110 [SEP] 27, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 110 [SEP] 28, SoapBottle, 2.875, 1.025, -1.456, 0, 0, 0, 53 [SEP] 29, Egg, 2.000, 1.895, -1.809, 0, 0, 0, 99 [SEP] 30, Fork, 2.566, 0.801, 0.697, 0, 317.0, 0, 65 [SEP] 31, Potato, -0.968, 1.484, -0.516, 0, 90, 0, 97 [SEP] 32, Ladle, 2.651, 0.840, -0.267, 0, 0, 0, 63 [SEP] 33, Tomato, 2.855, 0.818, 3.567, 0, 329.999, 0, 54 [SEP] 34, Pot, 2.790, 1.029, -0.541, 0, 0, 0, 53 [SEP] 35, WineBottle, 1.956, 0.765, 3.685, 0, 225, 0, 54 [SEP] 36, Plate, -0.807, 2.290, -0.676, 0, 0, 0, 85 [SEP] 37, Spatula, 2.525, 0.779, 4.495, 0, 0, 0, 54 [SEP] 38, PaperTowelRoll, 2.790, 1.131, -1.762, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.294, 0.822, 4.091, 0, 329.999, 0, 54 [SEP] 40, Apple, 2.893, 1.077, 1.200, 0, 136.999, 0, 53 [SEP] 41, SaltShaker, -0.544, 1.023, 2.189, 0, 0, 0, 56 [SEP] 42, PepperShaker, 1.787, 0.798, 1.342, 0, 317.0, 0, 68 [SEP] 43, ButterKnife, -0.802, 0.800, 0.615, 0, 0, 0, 55 [SEP] 44, Bread, 1.409, 1.094, -1.454, 0, 90, 0, 53 [SEP] 45, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 97 [SEP] 46, DishSponge, 2.698, 0.764, 3.688, 0, 329.999, 0, 54 [SEP] 47, Bowl, -0.984, 1.779, 1.975, 0, 0, 0, 70 [SEP] 48, Spoon, 2.945, 0.765, 4.254, 0, 315, 0, 54 [SEP] 49, Mug, -0.714, 0.811, 1.103, 0, 90, 0, 110 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 114, , , , , , , ,  [SEP] 115, NorthWall, , , , , , ,  [SEP] 116, EastWall, , , , , , ,  [SEP] 117, SouthWall, , , , , , ,  [SEP] 118, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the white table to the right of the window. | STEP 2: Pick up the spatula near the edge of the table. | STEP 3: Walk to the counter space to the right of the sink. | STEP 4: Open the cabinet door closest to the kitchen sink and place the spatula inside of the bronze bowl. | STEP 5: Lift the bowl out of the cabinet. | STEP 6: Carry the bowl back to the white kitchen table on the opposite side of the room. | STEP 7: Place the bowl containing the spatula down on the table to the left of the salt. | END


Input: Get the spatula off the table, put the spatula in the bowl, put the bowl 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, -0.75, 0, 90, 0,  [SEP] 1, Potato, -1.013, 1.484, -0.184, 0, 90, 0, 97 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 53 [SEP] 3, WineBottle, 2.126, 1.027, 1.601, 0, 136.999, 0, 53 [SEP] 4, Glassbottle, 1.638, 1.027, 1.704, 0, 136.999, 0, 53 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 7, Spatula, 2.368, 1.041, 0.711, 0, 136.999, 0, 53 [SEP] 8, Spatula, 1.623, 0.815, 1.524, 0, 47.0, 0, 68 [SEP] 9, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 62 [SEP] 10, Fork, 2.275, 0.765, 4.192, 0, 0, 0, 54 [SEP] 11, Cup, 2.555, 0.763, 3.865, 0, 225, 0, 54 [SEP] 12, Cup, -0.577, 0.815, 1.492, 0, 90, 0, 110 [SEP] 13, Knife, -0.874, 0.826, 2.372, 0, 90, 0, 59 [SEP] 14, Knife, -0.920, 1.052, 1.821, 0, 0, 0, 56 [SEP] 15, Tomato, -0.714, 0.878, 1.337, 0, 90, 0, 110 [SEP] 16, SoapBottle, 2.386, 0.763, 3.932, 0, 329.999, 0, 54 [SEP] 17, SoapBottle, -1.061, 1.779, 1.801, 0, 0, 0, 70 [SEP] 18, Bowl, 2.822, 0.031, -1.074, 0, 0, 0, 95 [SEP] 19, SaltShaker, 2.302, 0.760, 3.62, 0, 0, 0, 54 [SEP] 20, Bread, 2.976, 0.832, 3.970, 0, 270, 0, 54 [SEP] 21, Bread, 2.626, 0.832, 4.118, 0, 270, 0, 54 [SEP] 22, Lettuce, 2.331, 0.822, 4.325, 0, 329.999, 0, 54 [SEP] 23, Lettuce, 2.788, 0.822, 4.412, 0, 225, 0, 54 [SEP] 24, Apple, 2.998, 0.814, 4.202, 0, 225, 0, 54 [SEP] 25, Pan, 2.614, 1.026, 1.499, 0, 136.999, 0, 53 [SEP] 26, Glassbottle, -0.714, 0.817, 1.570, 0, 90, 0, 110 [SEP] 27, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 110 [SEP] 28, SoapBottle, 2.875, 1.025, -1.456, 0, 0, 0, 53 [SEP] 29, Egg, 2.000, 1.895, -1.809, 0, 0, 0, 99 [SEP] 30, Fork, 2.566, 0.801, 0.697, 0, 317.0, 0, 65 [SEP] 31, Potato, -0.968, 1.484, -0.516, 0, 90, 0, 97 [SEP] 32, Ladle, 2.651, 0.840, -0.267, 0, 0, 0, 63 [SEP] 33, Tomato, 2.855, 0.818, 3.567, 0, 329.999, 0, 54 [SEP] 34, Pot, 2.790, 1.029, -0.541, 0, 0, 0, 53 [SEP] 35, WineBottle, 1.956, 0.765, 3.685, 0, 225, 0, 54 [SEP] 36, Plate, -0.807, 2.290, -0.676, 0, 0, 0, 85 [SEP] 37, Spatula, 2.525, 0.779, 4.495, 0, 0, 0, 54 [SEP] 38, PaperTowelRoll, 2.790, 1.131, -1.762, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.294, 0.822, 4.091, 0, 329.999, 0, 54 [SEP] 40, Apple, 2.893, 1.077, 1.200, 0, 136.999, 0, 53 [SEP] 41, SaltShaker, -0.544, 1.023, 2.189, 0, 0, 0, 56 [SEP] 42, PepperShaker, 1.787, 0.798, 1.342, 0, 317.0, 0, 68 [SEP] 43, ButterKnife, -0.802, 0.800, 0.615, 0, 0, 0, 55 [SEP] 44, Bread, 1.409, 1.094, -1.454, 0, 90, 0, 53 [SEP] 45, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 97 [SEP] 46, DishSponge, 2.698, 0.764, 3.688, 0, 329.999, 0, 54 [SEP] 47, Bowl, -0.984, 1.779, 1.975, 0, 0, 0, 70 [SEP] 48, Spoon, 2.945, 0.765, 4.254, 0, 315, 0, 54 [SEP] 49, Mug, -0.714, 0.811, 1.103, 0, 90, 0, 110 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 114, , , , , , , ,  [SEP] 115, NorthWall, , , , , , ,  [SEP] 116, EastWall, , , , , , ,  [SEP] 117, SouthWall, , , , , , ,  [SEP] 118, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk toward the table, turn right and walk toward the wall, turn left and walk to the table. | STEP 2: Pick up the spatula at the back of the table. | STEP 3:  Turn left and walk to the counter. | STEP 4: Find the brown bowl a put the spatula in it. | STEP 5: Pick up the brown bowl with the spatula in it. | STEP 6: Turn around and walk to the table. | STEP 7: Set the bowl down next to the salt shaker. | END


Input: Place a tomato on a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 3.75, 0, 0, 0,  [SEP] 1, Potato, -0.921, 0.822, 0.447, 0, 0, 0, 66 [SEP] 2, DishSponge, -2.170, 0.927, 0.602, 0, 0, 0, 48 [SEP] 3, ButterKnife, -0.486, 0.900, 2.932, 0, 0, 0, 71 [SEP] 4, ButterKnife, -1.094, 0.795, 0.337, 0, 0, 0, 66 [SEP] 5, Fork, -0.486, 0.901, 3.133, 0, 0, 0, 71 [SEP] 6, Egg, -1.352, 0.961, 0.659, 0, 0, 0, 48 [SEP] 7, Plate, -0.572, 0.904, 2.329, 0, 0, 0, 71 [SEP] 8, Knife, -1.662, 0.688, 0.409, 0, 90, 0, 51 [SEP] 9, SoapBottle, -2.866, 0.053, 0.351, 0, 26.101, 0, 62 [SEP] 10, SaltShaker, -2.377, 0.896, 2.573, 0, 0, 0, 69 [SEP] 11, SaltShaker, -0.486, 0.896, 2.731, 0, 0, 0, 71 [SEP] 12, PepperShaker, -0.433, 0.658, 0.245, 0, 0, 0, 37 [SEP] 13, Lettuce, -2.847, 1.266, 4.501, 0, 90, 0, 65 [SEP] 14, Mug, -2.789, 0.895, 2.441, 0, 0, 0, 69 [SEP] 15, Apple, -0.143, 0.956, 2.731, 0, 0, 0, 71 [SEP] 16, Egg, -0.191, 1.051, 0.140, 0, 0, 0, 67 [SEP] 17, Plate, -1.904, 0.932, 0.348, 0, 0, 0, 48 [SEP] 18, Fork, -1.770, 0.662, 0.519, 0, 270, 0, 51 [SEP] 19, Bread, -2.870, 0.940, 1.982, 0, 0, 2.210, 69 [SEP] 20, Apple, -0.350, 1.074, 0.235, 0, 0, 0, 67 [SEP] 21, Lettuce, -2.892, 0.980, 2.309, 0, 90, 0, 69 [SEP] 22, Spatula, -2.706, 0.950, 3.209, 0, 0, 0, 55 [SEP] 23, Knife, -2.377, 0.688, 0.355, 0, 90, 0, 56 [SEP] 24, Potato, -2.805, 1.212, 4.204, 0, 90, 0, 65 [SEP] 25, Tomato, -2.549, 0.999, 3.673, 0, 0, 0, 55 [SEP] 26, Cup, -2.789, 0.900, 2.573, 0, 0, 0, 69 [SEP] 27, SaltShaker, -2.377, 0.896, 2.441, 0, 0, 0, 69 [SEP] 28, PepperShaker, -1.986, 0.658, 0.355, 0, 0, 0, 51 [SEP] 29, ButterKnife, -0.380, 0.662, 0.409, 0, 0, 0, 37 [SEP] 30, SoapBottle, -2.686, 0.889, 1.913, 0, 0, 0, 69 [SEP] 31, Pan, -0.536, 0.928, 4.672, 0, 0, 0, 54 [SEP] 32, DishSponge, -2.628, 0.935, 3.488, 0, 0, 0, 55 [SEP] 33, Pot, -2.785, 0.298, 4.575, 0, 0, 0, 65 [SEP] 34, Spoon, -1.266, 0.797, 0.392, 0, 0, 0, 66 [SEP] 35, Mug, -2.480, 0.895, 2.573, 0, 0, 0, 69 [SEP] 36, Bowl, -2.377, 0.897, 2.045, 0, 0, 0, 69 [SEP] 37, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 38, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 39, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 40, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 41, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 42, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 43, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 44, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 45, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 46, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 47, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 48, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 49, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 50, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 51, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 52, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 53, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 54, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 55, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 56, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 57, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 58, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 59, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 60, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 61, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 62, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 63, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 64, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 65, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 66, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 67, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 68, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 69, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 70, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 71, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Turn left to face the coffee machine | STEP 2: Pick up the tomato that is in front of the coffee machine | STEP 3: turn left and head forward, then turn right at the white table so that you are facing the white table | STEP 4: Place to tomato on the table to the left of the salt shakers | END


Input: put two wine bottles in 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, 1.124, 1.0, 0, 90, 0,  [SEP] 1, Pan, -1.790, 1.322, 2.069, 0, 270, 0, 50 [SEP] 2, Pan, -1.886, 0.343, 1.317, 0, 0, 0, 51 [SEP] 3, DishSponge, -1.561, 0.422, -1.086, 0, 0, 0, 56 [SEP] 4, WineBottle, -2.179, 1.323, -2.721, 0, 0, 0, 50 [SEP] 5, Kettle, -1.530, 1.324, 0.120, 0, 0, 0, 50 [SEP] 6, Fork, 0.766, 1.323, -2.794, 0, 0, 0, 50 [SEP] 7, Fork, -1.826, 1.064, -0.542, 0, 0, 0, 68 [SEP] 8, Spoon, -2.049, 1.324, 1.744, 0, 0, 0, 50 [SEP] 9, Spoon, -1.603, 0.421, -1.217, 0, 0, 0, 56 [SEP] 10, Egg, -1.657, 0.321, 2.275, 0, 270, 0, 65 [SEP] 11, Cup, 1.115, 1.307, 0.810, 0, 270, 0, 75 [SEP] 12, Plate, 0.900, 0.345, -1.957, 0, 180, 0, 49 [SEP] 13, Knife, -1.790, 1.352, -1.681, 0, 0, 0, 50 [SEP] 14, Tomato, 1.006, 1.980, 1.788, 0, 270, 0, 63 [SEP] 15, Tomato, 0.977, 1.709, 1.545, 0, 270, 0, 63 [SEP] 16, Bowl, -1.602, 0.342, -2.063, 0, 0, 0, 46 [SEP] 17, SaltShaker, -1.681, 0.338, 0.512, 0, 0, 0, 48 [SEP] 18, SaltShaker, -1.363, 1.318, -1.503, 0, 0, 0, 50 [SEP] 19, Mug, 0.492, 1.318, -3.343, 0, 0, 0, 50 [SEP] 20, Apple, -1.698, 1.099, -0.496, 0, 0, 0, 68 [SEP] 21, Apple, 1.213, 1.359, 0.965, 0, 270, 0, 75 [SEP] 22, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 50 [SEP] 23, Pot, -1.790, 1.329, 0.770, 0, 0, 0, 50 [SEP] 24, Knife, 0.277, 1.352, -3.121, 0, 90, 0, 50 [SEP] 25, Bowl, 0.492, 1.321, -2.678, 0, 0, 0, 50 [SEP] 26, Potato, -1.660, 1.362, -2.201, 0, 0, 0, 50 [SEP] 27, SoapBottle, 1.110, 1.207, 1.238, 0, 0, 0, 75 [SEP] 28, Fork, -1.401, 1.323, -1.941, 0, 0, 0, 50 [SEP] 29, Cup, -2.049, 1.320, 2.069, 0, 0, 0, 50 [SEP] 30, Kettle, -1.790, 1.324, -1.941, 0, 0, 0, 50 [SEP] 31, Egg, -2.179, 1.363, -2.201, 0, 0, 0, 50 [SEP] 32, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 45 [SEP] 33, SaltShaker, 0.861, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, 0.492, 1.323, -3.121, 0, 0, 0, 50 [SEP] 35, Lettuce, -1.891, 1.400, -1.072, 1.503, 0, 355.747, 57 [SEP] 36, Spatula, -2.179, 1.337, 0.770, 0, 90, 0, 50 [SEP] 37, PaperTowelRoll, 0.563, 1.427, -3.232, 0, 0, 0, 50 [SEP] 38, Tomato, -1.380, 1.356, -3.203, 0, 0, 0, 50 [SEP] 39, Plate, -1.750, 0.344, 1.523, 0, 0, 0, 51 [SEP] 40, PepperShaker, -1.884, 0.338, 0.613, 0, 0, 0, 48 [SEP] 41, DishSponge, 0.898, 0.953, 0.711, 0, 0, 0, 72 [SEP] 42, Spoon, -1.308, 1.324, -3.314, 0, 90, 0, 50 [SEP] 43, Apple, -1.610, 0.329, 2.110, 0, 270, 0, 65 [SEP] 44, Mug, 0.920, 1.519, 1.786, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: walk to face stove | STEP 2: pick up wine bottle from counter to left of stove | STEP 3: turn left and gaze down at cabinet below counter | STEP 4: put wine bottle in cabinet | STEP 5: turn left to face counter to right of stove | STEP 6: pick up wine bottle from counter | STEP 7: turn left and gaze down at cabinet below counter | STEP 8: put wine bottle in cabinet | END


Input: Put two bottles of wine in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 1.124, 1.0, 0, 90, 0,  [SEP] 1, Pan, -1.790, 1.322, 2.069, 0, 270, 0, 50 [SEP] 2, Pan, -1.886, 0.343, 1.317, 0, 0, 0, 51 [SEP] 3, DishSponge, -1.561, 0.422, -1.086, 0, 0, 0, 56 [SEP] 4, WineBottle, -2.179, 1.323, -2.721, 0, 0, 0, 50 [SEP] 5, Kettle, -1.530, 1.324, 0.120, 0, 0, 0, 50 [SEP] 6, Fork, 0.766, 1.323, -2.794, 0, 0, 0, 50 [SEP] 7, Fork, -1.826, 1.064, -0.542, 0, 0, 0, 68 [SEP] 8, Spoon, -2.049, 1.324, 1.744, 0, 0, 0, 50 [SEP] 9, Spoon, -1.603, 0.421, -1.217, 0, 0, 0, 56 [SEP] 10, Egg, -1.657, 0.321, 2.275, 0, 270, 0, 65 [SEP] 11, Cup, 1.115, 1.307, 0.810, 0, 270, 0, 75 [SEP] 12, Plate, 0.900, 0.345, -1.957, 0, 180, 0, 49 [SEP] 13, Knife, -1.790, 1.352, -1.681, 0, 0, 0, 50 [SEP] 14, Tomato, 1.006, 1.980, 1.788, 0, 270, 0, 63 [SEP] 15, Tomato, 0.977, 1.709, 1.545, 0, 270, 0, 63 [SEP] 16, Bowl, -1.602, 0.342, -2.063, 0, 0, 0, 46 [SEP] 17, SaltShaker, -1.681, 0.338, 0.512, 0, 0, 0, 48 [SEP] 18, SaltShaker, -1.363, 1.318, -1.503, 0, 0, 0, 50 [SEP] 19, Mug, 0.492, 1.318, -3.343, 0, 0, 0, 50 [SEP] 20, Apple, -1.698, 1.099, -0.496, 0, 0, 0, 68 [SEP] 21, Apple, 1.213, 1.359, 0.965, 0, 270, 0, 75 [SEP] 22, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 50 [SEP] 23, Pot, -1.790, 1.329, 0.770, 0, 0, 0, 50 [SEP] 24, Knife, 0.277, 1.352, -3.121, 0, 90, 0, 50 [SEP] 25, Bowl, 0.492, 1.321, -2.678, 0, 0, 0, 50 [SEP] 26, Potato, -1.660, 1.362, -2.201, 0, 0, 0, 50 [SEP] 27, SoapBottle, 1.110, 1.207, 1.238, 0, 0, 0, 75 [SEP] 28, Fork, -1.401, 1.323, -1.941, 0, 0, 0, 50 [SEP] 29, Cup, -2.049, 1.320, 2.069, 0, 0, 0, 50 [SEP] 30, Kettle, -1.790, 1.324, -1.941, 0, 0, 0, 50 [SEP] 31, Egg, -2.179, 1.363, -2.201, 0, 0, 0, 50 [SEP] 32, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 45 [SEP] 33, SaltShaker, 0.861, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, 0.492, 1.323, -3.121, 0, 0, 0, 50 [SEP] 35, Lettuce, -1.891, 1.400, -1.072, 1.503, 0, 355.747, 57 [SEP] 36, Spatula, -2.179, 1.337, 0.770, 0, 90, 0, 50 [SEP] 37, PaperTowelRoll, 0.563, 1.427, -3.232, 0, 0, 0, 50 [SEP] 38, Tomato, -1.380, 1.356, -3.203, 0, 0, 0, 50 [SEP] 39, Plate, -1.750, 0.344, 1.523, 0, 0, 0, 51 [SEP] 40, PepperShaker, -1.884, 0.338, 0.613, 0, 0, 0, 48 [SEP] 41, DishSponge, 0.898, 0.953, 0.711, 0, 0, 0, 72 [SEP] 42, Spoon, -1.308, 1.324, -3.314, 0, 90, 0, 50 [SEP] 43, Apple, -1.610, 0.329, 2.110, 0, 270, 0, 65 [SEP] 44, Mug, 0.920, 1.519, 1.786, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn around and move forward, then turn left to go to the stove. | STEP 2: Pick up the bottle of wine on the counter, to the left of the stove. | STEP 3: Go to the counter to your left and look down at the cabinet beneath the counter. | STEP 4: Open the cabinet, put the bottle of wine inside, and close it. | STEP 5: Turn around and go to the counter in front of you. | STEP 6: Pick up the bottle of wine from the counter. | STEP 7: Turn around and move forward, then look down at the cabinet under the counter. | STEP 8: Open the cabinet, put the bottle of wine inside, and close it. | END


Input: take the air freshener out of the cabinet, put it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, -2.0, 0, 90, 0,  [SEP] 1, Candle, -0.745, 1.046, -3.918, 0, 0, 0, 33 [SEP] 2, SoapBar, -2.726, 0.924, -1.723, 351.180, 90, 0, 32 [SEP] 3, SprayBottle, -2.740, 0.996, -0.277, 0, 0, 0, 20 [SEP] 4, SoapBottle, -2.719, 0.082, -0.955, 0, 0, 0, 21 [SEP] 5, ToiletPaper, -2.821, 0.075, -1.597, 0, 0, 0, 25 [SEP] 6, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 26 [SEP] 7, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 28 [SEP] 8, SoapBar, -2.550, 0.995, -0.307, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -2.770, 0.075, -0.519, 0, 0, 0, 23 [SEP] 10, ToiletPaper, -0.679, 1.042, -3.856, 0, 0, 0, 33 [SEP] 11, SoapBottle, -2.567, 0.082, -2.086, 0, 270, 0, 19 [SEP] 12, Candle, -2.557, 0.996, -1.285, 0, 0, 0, 20 [SEP] 13, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 29 [SEP] 14, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 15, Cloth, -2.719, 0.079, -2.032, 0, 0, 0, 19 [SEP] 16, SprayBottle, -2.770, 0.079, -1.381, 0, 0, 0, 25 [SEP] 17, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0,  [SEP] 18, Mirror, -2.947, 1.559, -1.194, 0, 0, 0,  [SEP] 19, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0,  [SEP] 20, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0,  [SEP] 21, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0,  [SEP] 22, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0,  [SEP] 23, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0,  [SEP] 24, Sink, -2.907, 0.986, -1.761, 0, 90, 0,  [SEP] 25, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0,  [SEP] 26, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0,  [SEP] 27, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0,  [SEP] 28, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0,  [SEP] 29, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0,  [SEP] 30, Window, -0.566, 1.730, -4.102, 90, 0, 0,  [SEP] 31, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0,  [SEP] 32, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0,  [SEP] 33, Toilet, -0.319, 0.000, -3.533, 0, 90, 0,  [SEP] 34, Faucet, -2.907, 0.993, -1.761, 0, 90, 0,  [SEP] 35, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0,  [SEP] 36, Sink, -2.907, 0.986, -0.732, 0, 90, 0,  [SEP] 37, Faucet, -2.907, 0.993, -0.731, 0, 90, 0,  [SEP] 38, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, EastWall, , , , , , ,  [SEP] 41, SouthWall, , , , , , ,

Output: STEP 1: turn around, head to the sink | STEP 2: open the cabinet, take the air freshener from the cabinet, close the cabinet | STEP 3: take a few steps to the left | STEP 4: put the air freshener on the counter | END


Input: move the clock from the dresser to the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 0, 0,  [SEP] 1, CD, -0.509, 0.924, -0.391, 0, 0, 0, 36 [SEP] 2, CD, 2.253, 0.049, 2.606, 0, 0, 0, 27 [SEP] 3, Pen, -0.603, 0.930, -1.032, 0, 0, 0, 36 [SEP] 4, Pen, -0.414, 0.930, -1.032, 0, 0, 0, 36 [SEP] 5, KeyChain, 2.190, 0.843, -0.090, 0, 0, 0, 31 [SEP] 6, KeyChain, -0.603, 0.925, -1.245, 0, 90, 0, 36 [SEP] 7, Book, -0.351, 0.668, -0.469, 0, 0, 0, 37 [SEP] 8, Laptop, 0.172, 0.548, 1.555, 0, 0, 0, 21 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0,  [SEP] 10, Book, -0.131, 0.926, -1.245, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0,  [SEP] 12, Pen, 2.238, 0.848, -0.090, 0, 0, 0, 31 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, -0.225, 0.928, -1.245, 0, 0, 0, 36 [SEP] 15, CellPhone, 0.012, 0.552, 0.971, 0, 0, 0, 21 [SEP] 16, KeyChain, 2.195, 0.094, -0.679, 0, 0, 0, 30 [SEP] 17, CreditCard, 2.380, 0.842, -0.090, 0, 0, 0, 31 [SEP] 18, AlarmClock, 2.303, 0.836, -0.829, 0, 285.000, 0, 31 [SEP] 19, CD, 2.238, 0.842, -0.484, 0, 0, 0, 29 [SEP] 20, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 36 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0,  [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0,  [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0,  [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0,  [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0,  [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0,  [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0,  [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0,  [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0,  [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0,  [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0,  [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0,  [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0,  [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0,  [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0,  [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0,  [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: turn around, walk across the room, turn left, walk to the dresser | STEP 2: pick up the clock that is on the dresser | STEP 3: turn around, walk to the desk | STEP 4: put the clock on the desk | END


Input: Move a clock to the desk.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 0, 0,  [SEP] 1, CD, -0.509, 0.924, -0.391, 0, 0, 0, 36 [SEP] 2, CD, 2.253, 0.049, 2.606, 0, 0, 0, 27 [SEP] 3, Pen, -0.603, 0.930, -1.032, 0, 0, 0, 36 [SEP] 4, Pen, -0.414, 0.930, -1.032, 0, 0, 0, 36 [SEP] 5, KeyChain, 2.190, 0.843, -0.090, 0, 0, 0, 31 [SEP] 6, KeyChain, -0.603, 0.925, -1.245, 0, 90, 0, 36 [SEP] 7, Book, -0.351, 0.668, -0.469, 0, 0, 0, 37 [SEP] 8, Laptop, 0.172, 0.548, 1.555, 0, 0, 0, 21 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0,  [SEP] 10, Book, -0.131, 0.926, -1.245, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0,  [SEP] 12, Pen, 2.238, 0.848, -0.090, 0, 0, 0, 31 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, -0.225, 0.928, -1.245, 0, 0, 0, 36 [SEP] 15, CellPhone, 0.012, 0.552, 0.971, 0, 0, 0, 21 [SEP] 16, KeyChain, 2.195, 0.094, -0.679, 0, 0, 0, 30 [SEP] 17, CreditCard, 2.380, 0.842, -0.090, 0, 0, 0, 31 [SEP] 18, AlarmClock, 2.303, 0.836, -0.829, 0, 285.000, 0, 31 [SEP] 19, CD, 2.238, 0.842, -0.484, 0, 0, 0, 29 [SEP] 20, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 36 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0,  [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0,  [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0,  [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0,  [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0,  [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0,  [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0,  [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0,  [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0,  [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0,  [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0,  [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0,  [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0,  [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0,  [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0,  [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0,  [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn around, move to face the shelf on the left. | STEP 2: Pick up the clock on the shelf.  | STEP 3: Turn around, bring the clock over to the desk in the corner. | STEP 4: Put the clock on the desk, right of the book. | END


Input: Place two cleaners on the top of the flush tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 180, 0,  [SEP] 1, Cloth, -2.064, 0.850, 0.276, 0, 0, 0, 39 [SEP] 2, Cloth, -3.449, 0.219, 0.449, 0, 0, 0, 38 [SEP] 3, SprayBottle, -0.812, 1.135, 0.407, 0, 0, 0, 29 [SEP] 4, SoapBottle, -0.753, 1.137, 0.169, 0, 0, 0, 29 [SEP] 5, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 35 [SEP] 6, SoapBar, -2.089, 1.104, 2.096, 0, 0, 0, 30 [SEP] 7, ToiletPaper, -0.921, 1.124, 0.210, 0, 0, 0, 29 [SEP] 8, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 9, Candle, -3.041, 0.689, 1.322, 0, 0, 0, 22 [SEP] 10, TissueBox, -0.813, 0.860, 0.374, 0, 270, 0, 18 [SEP] 11, ToiletPaper, -2.117, 1.297, 2.236, 0, 0, 0, 31 [SEP] 12, SoapBottle, -1.542, 0.815, 0.348, 0, 0, 0, 23 [SEP] 13, SprayBottle, -0.254, 0.028, 0.240, 0, 0, 0, 40 [SEP] 14, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 32 [SEP] 15, Cloth, -3.574, 0.219, 0.941, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 17, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0,  [SEP] 18, Drawer, -0.813, 0.956, 0.384, 0, 270, 0,  [SEP] 19, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0,  [SEP] 20, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0,  [SEP] 21, Drawer, -2.032, 0.942, 2.190, 0, 0, 0,  [SEP] 22, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0,  [SEP] 23, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0,  [SEP] 24, Sink, -1.924, 0.772, 0.326, 0, 0, 0,  [SEP] 25, Mirror, -1.934, 1.666, 0.107, 0, 0, 0,  [SEP] 26, Faucet, -1.925, 0.958, 0.179, 0, 0, 0,  [SEP] 27, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0,  [SEP] 28, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0,  [SEP] 29, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0,  [SEP] 30, Shelf, -2.029, 1.183, 2.189, 0, 0, 0,  [SEP] 31, Shelf, -2.123, 1.393, 2.189, 0, 0, 0,  [SEP] 32, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0,  [SEP] 33, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0,  [SEP] 34, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0,  [SEP] 35, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0,  [SEP] 36, Window, -4.149, 1.717, 1.154, 90, 270, 0,  [SEP] 37, Toilet, -0.456, -0.000, 2.257, 0, 180, 0,  [SEP] 38, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0,  [SEP] 39, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0,  [SEP] 40, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0,  [SEP] 41, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0,  [SEP] 42, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838,  [SEP] 43, NorthWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, SouthWall, , , , , , ,

Output: STEP 1: Go to the small blue bin at the corner by the door | STEP 2: Pick up the toilet cleaner from the bin | STEP 3: Go to the flush toilet | STEP 4: Put the cleaner on the top flush tank | STEP 5: Turn around and go to the cabinet to the right of the blue bin | STEP 6: Pick the cleaner from the top of the cabinet | STEP 7: Turn around and go back to the flush toilet  | STEP 8: Place the cleaner to the right of the first cleaner on the flush tank | END


Input: Put the cooked potato in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.930, -0.75, 0, 0, 0,  [SEP] 1, Pan, 3.084, 0.176, 0.841, 0, 0, 0, 73 [SEP] 2, Potato, -0.789, 0.938, 0.399, 0, 0, 0, 64 [SEP] 3, Potato, 2.987, 0.785, -0.034, 0, 90, 0, 109 [SEP] 4, Potato, 3.155, 0.139, 1.680, 0, 225, 0, 105 [SEP] 5, Ladle, -0.991, 0.555, 0.576, 0, 90, 0, 61 [SEP] 6, DishSponge, -0.917, 1.257, -0.811, 0, 45, 0, 83 [SEP] 7, DishSponge, 3.208, 0.100, 1.573, 0, 225, 0, 105 [SEP] 8, ButterKnife, 3.044, 0.900, -0.300, 0, 0, 0, 63 [SEP] 9, Glassbottle, 0.897, 0.908, 0.608, 0, 36.810, 0, 95 [SEP] 10, Spoon, 0.422, 0.706, -1.515, 0, 90, 0, 72 [SEP] 11, Spoon, -0.827, 0.707, 0.839, 0, 0, 0, 68 [SEP] 12, CellPhone, -0.909, 0.515, 1.605, 0, 0, 0, 52 [SEP] 13, CellPhone, -0.290, 0.897, -1.547, 0, 45, 0, 85 [SEP] 14, Mug, -1.119, 0.992, 1.523, 0, 180, 0, 112 [SEP] 15, Mug, 1.164, 0.881, -1.475, 0, 0, 0, 110 [SEP] 16, Bread, -0.862, 0.979, 0.623, 0, 0, 0, 64 [SEP] 17, Lettuce, 0.967, 0.976, 0.747, 0, 0, 0, 95 [SEP] 18, Lettuce, -0.752, 0.965, -0.776, 0, 45, 0, 64 [SEP] 19, PepperShaker, 2.907, 1.460, -1.550, 0, 0, 0, 62 [SEP] 20, Bowl, 2.960, 1.461, -1.186, 0, 0, 0, 78 [SEP] 21, Egg, 0.022, 0.952, -1.803, 0, 0, 0, 85 [SEP] 22, Egg, 0.101, 0.952, -1.373, 0, 0, 0, 85 [SEP] 23, Plate, 3.113, 1.477, -1.648, 0, 0, 0, 62 [SEP] 24, Knife, -0.099, 0.925, -1.635, 0, 135, 0, 85 [SEP] 25, Plate, 0.719, 0.923, 0.254, 0, 36.810, 0, 95 [SEP] 26, Glassbottle, 0.710, 0.908, 0.727, 0, 0, 0, 95 [SEP] 27, SoapBottle, 0.017, 0.909, -1.239, 0, 45, 0, 85 [SEP] 28, Potato, 3.152, 0.785, -0.100, 0, 90, 0, 109 [SEP] 29, Fork, 2.988, 0.713, 0.761, 0, 180, 0, 86 [SEP] 30, Ladle, 0.669, 0.947, 0.535, 0, 216.810, 0, 95 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, -0.868, 0.721, 1.168, 0, 90, 0, 57 [SEP] 34, Knife, 0.179, 0.925, -1.660, 0, 0, 0, 85 [SEP] 35, Lettuce, -1.008, 0.965, 0.846, 0, 0, 0, 64 [SEP] 36, Cup, -0.234, 0.898, -1.398, 0, 45, 0, 85 [SEP] 37, SaltShaker, 3.111, 0.708, -0.902, 0, 180, 0, 51 [SEP] 38, Egg, 1.008, 0.763, -1.407, 0, 0, 0, 110 [SEP] 39, PepperShaker, -0.987, 0.896, -0.746, 0, 45, 0, 64 [SEP] 40, ButterKnife, -1.008, 0.900, 0.623, 0, 0, 0, 64 [SEP] 41, Apple, -1.080, 0.974, 0.176, 0, 0, 0, 64 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, -0.789, 0.979, -0.047, 0, 0, 0, 64 [SEP] 44, CellPhone, -0.909, 0.323, 0.489, 0, 0, 0, 65 [SEP] 45, DishSponge, -0.703, 0.899, -0.517, 0, 45, 0, 64 [SEP] 46, Tomato, 0.773, 0.923, -1.531, 0, 0, 0, 110 [SEP] 47, Spoon, 3.277, 0.901, -0.599, 0, 0, 0, 63 [SEP] 48, Bowl, 1.160, 1.671, -1.410, 0, 0, 0, 55 [SEP] 49, Mug, 0.713, 1.669, -1.480, 0, 0, 0, 79 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Walk forward and turn left to face the kitchen counter below the mirror | STEP 2: Pick up the potato from the kitchen counter | STEP 3: Turn right and walk to the microwave on the right side of the counter | STEP 4: Put the potato in the microwave, cook it, and remove it | STEP 5: Turn left and walk around to the fridge | STEP 6: Open the fridge and put the potato on the lower shelf next to the egg | END


Input: Grab a towel and put it in a tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.902, -0.75, 0, 270, 0,  [SEP] 1, Candle, -0.173, 0.558, 0.178, 0, 0, 0, 19 [SEP] 2, Candle, -1.254, 1.087, 0.784, 0, 180, 0, 33 [SEP] 3, SoapBar, -2.890, 0.182, -1.56, 0, 0, 0, 28 [SEP] 4, SoapBottle, -2.541, 0.083, 0.567, 0, 0, 0, 18 [SEP] 5, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 27 [SEP] 6, Candle, -2.138, 0.122, 0.502, 0, 0, 0, 21 [SEP] 7, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 31 [SEP] 8, SoapBar, -2.804, 0.970, 0.645, 0, 180, 0, 36 [SEP] 9, ToiletPaper, -0.860, 1.042, 0.814, 0, 180, 0, 33 [SEP] 10, Cloth, 0.419, 0.034, 0.561, 0, 270, 0, 29 [SEP] 11, ToiletPaper, -0.865, 1.038, 0.946, 357.597, 0, 0, 33 [SEP] 12, SprayBottle, -0.991, 1.047, 0.784, 0, 180, 0, 33 [SEP] 13, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 14, SoapBottle, -2.858, 0.083, 0.502, 0, 0, 0, 16 [SEP] 15, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 16, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0,  [SEP] 17, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0,  [SEP] 18, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0,  [SEP] 19, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0,  [SEP] 20, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0,  [SEP] 21, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0,  [SEP] 22, Sink, -1.924, 0.930, 0.675, 0, 180, 0,  [SEP] 23, Faucet, -1.922, 1.015, 0.887, 0, 0, 0,  [SEP] 24, Mirror, -2.306, 1.526, 1.001, 0, 0, 0,  [SEP] 25, Faucet, -2.681, 1.015, 0.887, 0, 0, 0,  [SEP] 26, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0,  [SEP] 27, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0,  [SEP] 28, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0,  [SEP] 29, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0,  [SEP] 30, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0,  [SEP] 31, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0,  [SEP] 32, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0,  [SEP] 33, Toilet, -1.054, 0.001, 0.552, 0, 270, 0,  [SEP] 34, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0,  [SEP] 35, Faucet, 0.270, 0.670, 0.906, 0, 0, 0,  [SEP] 36, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0,  [SEP] 37, Sink, -2.681, 0.930, 0.675, 0, 180, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Walk to the left kitchen sink. | STEP 2: Grab the green towel off the rack. | STEP 3: Walk to the tub on your right. | STEP 4: Place the towel inside the tub. | END


Input: Place a warmed plate next to the tomato inside the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.25, 0, 90, 0,  [SEP] 1, Book, -1.937, 0.910, -2.146, 0, 270, 0, 86 [SEP] 2, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 64 [SEP] 3, CreditCard, 0.779, 0.312, -2.286, 0, 0, 0, 81 [SEP] 4, Plate, -1.856, 0.908, -0.513, 0, 0, 0, 86 [SEP] 5, Plate, -1.586, 0.908, -2.329, 0, 0, 0, 86 [SEP] 6, Cup, 0.453, 0.908, -2.484, 0, 0, 0, 63 [SEP] 7, Egg, 0.969, 0.945, -2.484, 0, 0, 0, 63 [SEP] 8, Tomato, -1.997, 0.579, 1.334, 0, 90, 0, 94 [SEP] 9, Tomato, -1.611, 0.950, -2.695, 0, 0, 0, 86 [SEP] 10, SoapBottle, -0.197, 1.112, -0.001, 0, 0, 0, 61 [SEP] 11, SaltShaker, -0.059, 1.107, 0.757, 0, 0, 0, 61 [SEP] 12, Bread, -0.848, 0.983, -2.329, 0, 0, 0, 86 [SEP] 13, Fork, 0.079, 1.112, 0.251, 0, 0, 0, 61 [SEP] 14, Fork, -1.740, 0.155, -0.197, 0, 90, 0, 84 [SEP] 15, Spoon, -0.473, 1.112, -0.759, 0, 0, 0, 61 [SEP] 16, Mug, 0.217, 1.106, -0.001, 0, 0, 0, 61 [SEP] 17, Mug, -2.080, 0.535, 0.837, 0, 90, 0, 94 [SEP] 18, Spatula, -0.335, 1.126, -0.001, 0, 0, 0, 61 [SEP] 19, Spatula, 1.122, 0.496, -2.282, 0, 270, 0, 69 [SEP] 20, ButterKnife, -1.963, 0.769, -1.587, 0, 270, 0, 96 [SEP] 21, ButterKnife, 1.008, 0.315, -2.383, 0, 0, 0, 65 [SEP] 22, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 23, WineBottle, 0.840, 0.911, -2.637, 0, 0, 0, 63 [SEP] 24, WineBottle, -1.962, 0.048, 2.124, 0, 270, 0, 92 [SEP] 25, DishSponge, -1.696, 0.153, -0.293, 0, 90, 0, 84 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, 0.969, 0.911, -2.253, 0, 0, 0, 63 [SEP] 28, Knife, 0.355, 1.136, -0.506, 0, 0, 0, 61 [SEP] 29, Bread, -0.473, 1.184, -0.506, 0, 0, 0, 61 [SEP] 30, Fork, 0.217, 1.112, -0.253, 0, 0, 0, 61 [SEP] 31, Potato, -2.162, 0.828, 1.251, 0, 90, 0, 94 [SEP] 32, SoapBottle, -1.071, 1.657, -2.604, 0, 0, 0, 75 [SEP] 33, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 70 [SEP] 34, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 63 [SEP] 35, Plate, -0.059, 1.108, -0.253, 0, 0, 0, 61 [SEP] 36, Tomato, -1.797, 0.808, -1.328, 0, 90, 0, 96 [SEP] 37, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 91 [SEP] 38, Egg, 0.324, 0.945, -2.253, 0, 0, 0, 63 [SEP] 39, CreditCard, -0.197, 1.108, -0.759, 0, 0, 0, 61 [SEP] 40, Statue, -0.335, 1.110, 0.251, 0, 90, 0, 61 [SEP] 41, WineBottle, -1.935, 0.048, 2.029, 0, 270, 0, 92 [SEP] 42, Pot, -2.040, 1.507, 0.925, 0, 90, 0, 94 [SEP] 43, Spatula, -1.852, 0.784, -1.760, 0, 0, 0, 96 [SEP] 44, PaperTowelRoll, -1.693, 1.015, -0.698, 0, 0, 0, 86 [SEP] 45, Cup, -2.078, 0.796, 1.003, 0, 90, 0, 94 [SEP] 46, Vase, 0.393, 0.138, -2.485, 0, 0, 0, 78 [SEP] 47, Bowl, 0.453, 0.907, -2.330, 0, 0, 0, 63 [SEP] 48, SaltShaker, 0.393, 0.136, -2.239, 0, 0, 0, 78 [SEP] 49, PepperShaker, 1.685, 0.549, -2.407, 0, 180, 0, 91 [SEP] 50, Lettuce, -0.197, 1.191, -0.506, 0, 0, 0, 61 [SEP] 51, ButterKnife, -1.908, 0.769, -1.414, 0, 90, 0, 96 [SEP] 52, Apple, -1.982, 1.359, 1.008, 0, 90, 0, 94 [SEP] 53, DishSponge, 1.098, 0.910, -2.253, 0, 0, 0, 63 [SEP] 54, Spoon, 0.079, 1.112, -0.506, 0, 0, 0, 61 [SEP] 55, Mug, -2.163, 1.497, 1.176, 0, 90, 0, 94 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn around, head towards the sink, and then turn right towards the middle of the kitchen island on your left. | STEP 2: Pick up the plate from the island. | STEP 3: Turn right towards the microwave above the stove. | STEP 4: Warm up the plate and take the plate out of the microwave. | STEP 5: Turn around and head towards the fridge on your left. | STEP 6: Place the plate to the left of the tomato inside the fridge. | END


Input: Preparing a slice of potato and putting it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -3.0, 0, 90, 0,  [SEP] 1, Potato, -2.054, 0.832, -3.705, 0, 0, 0, 66 [SEP] 2, Potato, -0.855, 0.933, 0.843, 0, 270, 0, 70 [SEP] 3, DishSponge, 0.623, 0.760, -0.061, 0, 0, 0, 43 [SEP] 4, DishSponge, 0.582, 0.883, -0.108, 0, 0, 0, 44 [SEP] 5, ButterKnife, -1.056, 0.900, 0.843, 0, 270, 0, 70 [SEP] 6, ButterKnife, -2.137, 0.701, -1.091, 0, 90, 0, 80 [SEP] 7, Spoon, 0.961, 0.666, 0.387, 0, 90, 0, 49 [SEP] 8, Spoon, 0.721, 0.665, 0.387, 0, 180, 0, 49 [SEP] 9, Fork, 0.720, 0.761, -0.188, 0, 0, 0, 43 [SEP] 10, Cup, 0.732, 0.014, -0.119, 0, 0, 0, 54 [SEP] 11, Knife, -1.719, 0.724, -1.307, 0, 90, 0, 80 [SEP] 12, Knife, -1.056, 0.923, 1.015, 0, 90, 0, 70 [SEP] 13, Tomato, 0.877, 0.931, -0.314, 0, 0, 0, 44 [SEP] 14, Tomato, 0.746, 0.514, -2.113, 0, 270, 0, 64 [SEP] 15, SoapBottle, 0.661, 0.664, 0.508, 0, 0, 0, 49 [SEP] 16, SoapBottle, 0.842, 0.014, 0.011, 0, 0, 0, 54 [SEP] 17, Bowl, 0.903, 1.462, 0.349, 0, 0, 0, 56 [SEP] 18, SaltShaker, 0.621, 0.012, 0.076, 0, 0, 0, 54 [SEP] 19, SaltShaker, 0.721, 0.661, 0.630, 0, 0, 0, 49 [SEP] 20, Bread, 0.841, 0.708, 0.508, 0, 0, 0, 49 [SEP] 21, Mug, 0.746, 1.369, -1.958, 0, 270, 0, 64 [SEP] 22, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 48 [SEP] 23, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 80 [SEP] 24, Fork, -1.970, 0.702, -0.983, 0, 0, 0, 80 [SEP] 25, SoapBottle, 0.661, 0.663, 0.326, 0, 0, 0, 49 [SEP] 26, Apple, 1.040, 0.937, -0.460, 0, 0, 0, 44 [SEP] 27, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 46 [SEP] 28, Egg, 0.883, 0.809, -0.735, 0, 270, 0, 67 [SEP] 29, Spatula, 0.672, 0.787, -0.845, 0, 180, 0, 67 [SEP] 30, Potato, -1.260, 0.085, -3.684, 0, 270, 0, 59 [SEP] 31, Cup, 0.715, 0.771, -0.735, 0, 270, 0, 67 [SEP] 32, SaltShaker, 0.877, 0.879, -0.108, 0, 0, 0, 44 [SEP] 33, PepperShaker, -1.635, 0.698, -1.199, 0, 0, 0, 80 [SEP] 34, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 67 [SEP] 35, DishSponge, -1.261, 0.051, -3.574, 0, 270, 0, 59 [SEP] 36, Bread, -0.051, 0.944, 1.101, 0, 270, 0, 70 [SEP] 37, Lettuce, 0.785, 0.751, -1.880, 0, 270, 0, 64 [SEP] 38, Tomato, 0.669, 0.514, -1.957, 0, 270, 0, 64 [SEP] 39, Spoon, 0.769, 0.760, 0.002, 0, 0, 0, 43 [SEP] 40, Knife, 0.149, 0.923, 0.929, 0, 270, 0, 70 [SEP] 41, Mug, 0.708, 1.153, -2.190, 0, 270, 0, 64 [SEP] 42, Bowl, 0.858, 1.462, -0.146, 0, 0, 0, 55 [SEP] 43, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 44, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 45, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 46, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 47, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 48, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 49, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 50, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 51, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 52, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 53, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 54, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 55, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 57, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 58, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 59, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 60, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 61, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 65, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 66, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 67, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 68, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 69, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 70, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 72, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 73, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 74, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 75, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 76, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 77, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 78, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 79, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 80, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 81, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the small table just to the right | STEP 2: Pick up the knife from behind the salt shaker | STEP 3: Move to the microwave to the left of the table | STEP 4: Open the microwave and cut the potato in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Take a slice of potato and then close the microwave | STEP 7: Turn to the left and go to the fridge | STEP 8: Open the fridge and put the the slice in the fridge, close the fridge, wait, open the fridge and remove the potato slice, close the fridge | STEP 9: Turn around and move to the microwave to the left | STEP 10: Open the microwave, put the slice inside behind the knife and close the microwave | END


Input: Put the empty toilet paper roll in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 1.25, 0, 90, 0,  [SEP] 1, SoapBar, -1.621, 0.641, 3.443, 0, 270, 0, 37 [SEP] 2, SoapBar, -1.674, 0.641, 2.362, 0, 270, 0, 34 [SEP] 3, Candle, -1.823, 1.087, 0.616, 0, 90, 0, 35 [SEP] 4, SprayBottle, -1.702, 0.046, 1.273, 0, 180, 0, 32 [SEP] 5, SoapBottle, -1.887, 0.731, 2.776, 0, 0, 0, 21 [SEP] 6, HandTowel, -1.513, 1.461, 3.962, 0, 0, 0, 27 [SEP] 7, ToiletPaper, -1.612, 0.235, 2.132, 0, 0, 0, 23 [SEP] 8, ToiletPaper, -1.529, 0.236, 3.596, 0, 0, 0, 20 [SEP] 9, Candle, -1.873, 1.087, 0.879, 0, 90, 0, 35 [SEP] 10, HandTowel, -1.961, 1.588, 1.323, 0, 270, 0, 28 [SEP] 11, Plunger, -1.685, 0.000, 0.327, 0, 0, 0, Floor|-02.00| [SEP] 12, Towel, 0.871, 1.172, 2.356, 0, 0, 0, 26 [SEP] 13, SoapBottle, -1.458, 0.731, 2.726, 0, 0, 0, 21 [SEP] 14, SoapBar, -1.887, 0.731, 2.927, 0, 0, 0, 21 [SEP] 15, ToiletPaper, -1.372, 0.728, 2.927, 0, 0, 0, 21 [SEP] 16, Cloth, -1.767, 0.720, 1.632, 0, 0, 0, 23 [SEP] 17, ToiletPaper, -1.848, 1.042, 0.748, 0, 90, 0, 35 [SEP] 18, ScrubBrush, -1.849, 0.000, 0.137, 0, 0, 0, Floor|-02.00| [SEP] 19, SprayBottle, -1.372, 0.732, 2.776, 0, 0, 0, 21 [SEP] 20, Drawer, -1.335, 0.301, 3.329, 0, 0, 0,  [SEP] 21, CounterTop, -1.608, 0.701, 2.831, 0, 0, 0,  [SEP] 22, ShowerDoor, 0.564, 1.018, 1.115, 0, 0, 0,  [SEP] 23, Drawer, -1.335, 0.301, 2.132, 0, 0, 0,  [SEP] 24, Mirror, -1.924, 1.414, 2.759, 0, 0, 0,  [SEP] 25, Sink, -1.695, 0.616, 2.283, 0, 90, 0,  [SEP] 26, TowelHolder, 0.870, 1.157, 2.25, 0, 0, 0,  [SEP] 27, HandTowelHolder, -1.513, 1.562, 4.000, 0, 90, 0,  [SEP] 28, HandTowelHolder, -2.0, 1.690, 1.323, 0, 0, 0,  [SEP] 29, Window, -1.037, 1.399, 0.019, 90, 0, 0,  [SEP] 30, Window, -1.986, 1.396, 0.707, 90, 90, 0,  [SEP] 31, ToiletPaperHanger, -1.498, 0.721, 0.000, 0, 0, 0,  [SEP] 32, GarbageCan, -1.739, -0.031, 1.268, 0, 90, 0,  [SEP] 33, LightSwitch, 1.25, 1.273, 3.634, 0, 270, 0,  [SEP] 34, SinkBasin, -1.674, 0.633, 2.274, 0, 270, 0,  [SEP] 35, Toilet, -1.547, 0.000, 0.685, 0, 180, 0,  [SEP] 36, Sink, -1.695, 0.616, 3.365, 0, 90, 0,  [SEP] 37, SinkBasin, -1.674, 0.633, 3.355, 0, 270, 0,  [SEP] 38, ShowerHead, 0.853, 1.797, 1.108, 0, 180, 0,  [SEP] 39, Faucet, -1.926, 0.721, 2.285, 0, 90, 0,  [SEP] 40, Faucet, -1.926, 0.721, 3.368, 0, 90, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Go to the trash can on your right. | STEP 4: Throw the empty roll into the trash can. | END


Input: Place an apple slice in a pot inside of the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -2.25, 0, 180, 0,  [SEP] 1, Potato, -0.252, 0.933, 0.843, 0, 270, 0, 71 [SEP] 2, Potato, 1.040, 0.916, -0.460, 0, 0, 0, 45 [SEP] 3, ButterKnife, 0.950, 0.883, 0.098, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.855, 0.900, 0.843, 0, 270, 0, 71 [SEP] 5, Spatula, -1.803, 0.716, -0.875, 0, 180, 0, 81 [SEP] 6, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 71 [SEP] 7, Spoon, 0.901, 0.665, 0.569, 0, 0, 0, 50 [SEP] 8, Fork, 0.817, 0.760, 0.002, 0, 270, 0, 44 [SEP] 9, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 10, Egg, -1.790, 0.836, -3.640, 0, 0, 0, 67 [SEP] 11, Egg, 0.630, 0.809, -0.570, 0, 270, 0, 68 [SEP] 12, Cup, 0.149, 0.899, 1.187, 0, 270, 0, 71 [SEP] 13, Cup, 0.746, 1.373, -1.880, 0, 270, 0, 65 [SEP] 14, Knife, 1.070, 0.906, -0.838, 0, 90, 0, 45 [SEP] 15, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 68 [SEP] 16, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 50 [SEP] 17, Bowl, 0.949, 1.462, -0.146, 0, 0, 0, 56 [SEP] 18, Bowl, -0.855, 0.899, 1.101, 0, 270, 0, 71 [SEP] 19, PepperShaker, -1.056, 0.896, 1.272, 0, 270, 0, 71 [SEP] 20, PepperShaker, -2.137, 0.698, -1.199, 0, 0, 0, 81 [SEP] 21, Apple, -1.578, 0.750, -3.276, 0, 0, 0, 72 [SEP] 22, Apple, 0.746, 1.212, -1.958, 0, 270, 0, 65 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, 0.676, 0.019, -0.768, 0, 0, 0, 48 [SEP] 25, Fork, 0.799, 0.773, -0.515, 0, 0, 0, 68 [SEP] 26, SoapBottle, -1.635, 0.701, -0.983, 0, 0, 0, 81 [SEP] 27, Apple, 0.149, 0.954, 0.758, 0, 270, 0, 71 [SEP] 28, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 49 [SEP] 29, Egg, -1.599, 0.736, -3.782, 0, 0, 0, 72 [SEP] 30, Spatula, 0.623, 0.774, -0.252, 0, 90, 0, 44 [SEP] 31, Potato, 0.901, 0.697, 0.448, 0, 0, 0, 50 [SEP] 32, Cup, 0.672, 0.771, -0.680, 0, 270, 0, 68 [SEP] 33, SaltShaker, 0.903, 1.460, 0.039, 0, 0, 0, 56 [SEP] 34, PepperShaker, -0.252, 0.896, 1.015, 0, 270, 0, 71 [SEP] 35, ButterKnife, -1.719, 0.701, -1.307, 0, 0, 0, 81 [SEP] 36, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 37, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 71 [SEP] 38, Lettuce, -1.970, 0.788, -1.307, 0, 0, 0, 81 [SEP] 39, Tomato, 0.824, 1.423, -2.113, 0, 270, 0, 65 [SEP] 40, Spoon, 0.950, 0.884, -0.245, 0, 0, 0, 45 [SEP] 41, Knife, 0.720, 0.783, -0.252, 0, 90, 0, 44 [SEP] 42, Mug, 0.655, 0.878, -0.314, 0, 0, 0, 45 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Turn around and head to the counter by the sink to your right. | STEP 2: Pick up the knife from the counter in front of you. | STEP 3: Turn right then face the fridge on your left. | STEP 4: Open the fridge, slice the apple inside then close the fridge. | STEP 5: Turn around then face the stove to your right. | STEP 6: Place the knife in the right pot on the stove. | STEP 7: Turn around then face the fridge on your left. | STEP 8: Open the fridge and take out an apple slice inside then close the fridge. | STEP 9: Turn around then face the stove on your right. | STEP 10: Place the apple slice inside the pot with the knife on the stove. | STEP 11: Pick up the pot with the apple slice from the stove in front of you. | STEP 12: Turn around then face the fridge on your left. | STEP 13: Place the pot with the apple inside of the fridge then close it. | END


Input: Put a pan with a chunk of apple in it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -2.25, 0, 180, 0,  [SEP] 1, Potato, -0.252, 0.933, 0.843, 0, 270, 0, 71 [SEP] 2, Potato, 1.040, 0.916, -0.460, 0, 0, 0, 45 [SEP] 3, ButterKnife, 0.950, 0.883, 0.098, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.855, 0.900, 0.843, 0, 270, 0, 71 [SEP] 5, Spatula, -1.803, 0.716, -0.875, 0, 180, 0, 81 [SEP] 6, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 71 [SEP] 7, Spoon, 0.901, 0.665, 0.569, 0, 0, 0, 50 [SEP] 8, Fork, 0.817, 0.760, 0.002, 0, 270, 0, 44 [SEP] 9, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 10, Egg, -1.790, 0.836, -3.640, 0, 0, 0, 67 [SEP] 11, Egg, 0.630, 0.809, -0.570, 0, 270, 0, 68 [SEP] 12, Cup, 0.149, 0.899, 1.187, 0, 270, 0, 71 [SEP] 13, Cup, 0.746, 1.373, -1.880, 0, 270, 0, 65 [SEP] 14, Knife, 1.070, 0.906, -0.838, 0, 90, 0, 45 [SEP] 15, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 68 [SEP] 16, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 50 [SEP] 17, Bowl, 0.949, 1.462, -0.146, 0, 0, 0, 56 [SEP] 18, Bowl, -0.855, 0.899, 1.101, 0, 270, 0, 71 [SEP] 19, PepperShaker, -1.056, 0.896, 1.272, 0, 270, 0, 71 [SEP] 20, PepperShaker, -2.137, 0.698, -1.199, 0, 0, 0, 81 [SEP] 21, Apple, -1.578, 0.750, -3.276, 0, 0, 0, 72 [SEP] 22, Apple, 0.746, 1.212, -1.958, 0, 270, 0, 65 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, 0.676, 0.019, -0.768, 0, 0, 0, 48 [SEP] 25, Fork, 0.799, 0.773, -0.515, 0, 0, 0, 68 [SEP] 26, SoapBottle, -1.635, 0.701, -0.983, 0, 0, 0, 81 [SEP] 27, Apple, 0.149, 0.954, 0.758, 0, 270, 0, 71 [SEP] 28, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 49 [SEP] 29, Egg, -1.599, 0.736, -3.782, 0, 0, 0, 72 [SEP] 30, Spatula, 0.623, 0.774, -0.252, 0, 90, 0, 44 [SEP] 31, Potato, 0.901, 0.697, 0.448, 0, 0, 0, 50 [SEP] 32, Cup, 0.672, 0.771, -0.680, 0, 270, 0, 68 [SEP] 33, SaltShaker, 0.903, 1.460, 0.039, 0, 0, 0, 56 [SEP] 34, PepperShaker, -0.252, 0.896, 1.015, 0, 270, 0, 71 [SEP] 35, ButterKnife, -1.719, 0.701, -1.307, 0, 0, 0, 81 [SEP] 36, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 37, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 71 [SEP] 38, Lettuce, -1.970, 0.788, -1.307, 0, 0, 0, 81 [SEP] 39, Tomato, 0.824, 1.423, -2.113, 0, 270, 0, 65 [SEP] 40, Spoon, 0.950, 0.884, -0.245, 0, 0, 0, 45 [SEP] 41, Knife, 0.720, 0.783, -0.252, 0, 90, 0, 44 [SEP] 42, Mug, 0.655, 0.878, -0.314, 0, 0, 0, 45 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the counter tot he left of the sink and face it. | STEP 2: Take the butter knife off of the edge of the counter. | STEP 3: Turn right and walk over to the fridge then turn left to face it. | STEP 4: Cut the apple in the freezer into three chunks. | STEP 5: Turn left and walk to the sink and then turn left and walk to the wall then turn right and walk to the stove. | STEP 6: Put the knife in the pan on the back left burner. | STEP 7: Go back to the fridge. | STEP 8: Get a chunk of apple out of the freezer. | STEP 9: Walk back over to the stove. | STEP 10: Put the apple chunk in the pan on the back left burner. | STEP 11: Pick up the pan with the chunk of apple and knife in it. | STEP 12: Pick up the pan on the back left burner. | STEP 13: Walk back to the fridge and put the pan in it and close the door. | END


Input: put an apple in a bowl with a knife and put it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -2.25, 0, 180, 0,  [SEP] 1, Potato, -0.252, 0.933, 0.843, 0, 270, 0, 71 [SEP] 2, Potato, 1.040, 0.916, -0.460, 0, 0, 0, 45 [SEP] 3, ButterKnife, 0.950, 0.883, 0.098, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.855, 0.900, 0.843, 0, 270, 0, 71 [SEP] 5, Spatula, -1.803, 0.716, -0.875, 0, 180, 0, 81 [SEP] 6, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 71 [SEP] 7, Spoon, 0.901, 0.665, 0.569, 0, 0, 0, 50 [SEP] 8, Fork, 0.817, 0.760, 0.002, 0, 270, 0, 44 [SEP] 9, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 10, Egg, -1.790, 0.836, -3.640, 0, 0, 0, 67 [SEP] 11, Egg, 0.630, 0.809, -0.570, 0, 270, 0, 68 [SEP] 12, Cup, 0.149, 0.899, 1.187, 0, 270, 0, 71 [SEP] 13, Cup, 0.746, 1.373, -1.880, 0, 270, 0, 65 [SEP] 14, Knife, 1.070, 0.906, -0.838, 0, 90, 0, 45 [SEP] 15, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 68 [SEP] 16, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 50 [SEP] 17, Bowl, 0.949, 1.462, -0.146, 0, 0, 0, 56 [SEP] 18, Bowl, -0.855, 0.899, 1.101, 0, 270, 0, 71 [SEP] 19, PepperShaker, -1.056, 0.896, 1.272, 0, 270, 0, 71 [SEP] 20, PepperShaker, -2.137, 0.698, -1.199, 0, 0, 0, 81 [SEP] 21, Apple, -1.578, 0.750, -3.276, 0, 0, 0, 72 [SEP] 22, Apple, 0.746, 1.212, -1.958, 0, 270, 0, 65 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, 0.676, 0.019, -0.768, 0, 0, 0, 48 [SEP] 25, Fork, 0.799, 0.773, -0.515, 0, 0, 0, 68 [SEP] 26, SoapBottle, -1.635, 0.701, -0.983, 0, 0, 0, 81 [SEP] 27, Apple, 0.149, 0.954, 0.758, 0, 270, 0, 71 [SEP] 28, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 49 [SEP] 29, Egg, -1.599, 0.736, -3.782, 0, 0, 0, 72 [SEP] 30, Spatula, 0.623, 0.774, -0.252, 0, 90, 0, 44 [SEP] 31, Potato, 0.901, 0.697, 0.448, 0, 0, 0, 50 [SEP] 32, Cup, 0.672, 0.771, -0.680, 0, 270, 0, 68 [SEP] 33, SaltShaker, 0.903, 1.460, 0.039, 0, 0, 0, 56 [SEP] 34, PepperShaker, -0.252, 0.896, 1.015, 0, 270, 0, 71 [SEP] 35, ButterKnife, -1.719, 0.701, -1.307, 0, 0, 0, 81 [SEP] 36, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 37, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 71 [SEP] 38, Lettuce, -1.970, 0.788, -1.307, 0, 0, 0, 81 [SEP] 39, Tomato, 0.824, 1.423, -2.113, 0, 270, 0, 65 [SEP] 40, Spoon, 0.950, 0.884, -0.245, 0, 0, 0, 45 [SEP] 41, Knife, 0.720, 0.783, -0.252, 0, 90, 0, 44 [SEP] 42, Mug, 0.655, 0.878, -0.314, 0, 0, 0, 45 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: go to counter to left of sink near tomato | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the fridge | STEP 4: put the knife in the fridge and take it back out | STEP 5: take the knife to the stove | STEP 6: put the knife in the bowl on the back left burner | STEP 7: walk back over to the fridge | STEP 8: take the apple out of the fridge | STEP 9: take the apple to the stove | STEP 10: put the apple in the bowl with the knife on the stove | STEP 11: pick up the bowl with the apple and knife | STEP 12: take the bowl the fridge | STEP 13: put the bowl with the apple and the knife in fridge | END


Input: Put an egg in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0,  [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Go right, and then right again and turn to face the counter with the egg on it. | STEP 2: Pick the egg up from the counter. | STEP 3: Turn around and go left to face the fridge. | STEP 4: Open the fridge and put the egg on the shelf and shut the door. | END


Input: Put the egg in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0,  [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk back all the way till you get to the counter and then turn right. | STEP 2: Pick up the egg. | STEP 3: Turn around and head towards the fridge. | STEP 4: Open the fridge door, put the egg inside, and close the door. | END