Input: Put a frying pan with a slice of potato and a knife 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, 0.75, 0.900, 1.75, 0, 180, 0,  [SEP] 1, Potato, 1.687, 0.221, 0.651, 0, 0, 0, 82 [SEP] 2, Potato, -2.635, 1.051, 2.278, 0, 90, 0, 83 [SEP] 3, Potato, 1.426, 0.947, 0.346, 0, 0, 0, 52 [SEP] 4, ButterKnife, 1.684, 0.911, 0.494, 0, 0, 0, 52 [SEP] 5, Fork, -2.538, 0.911, 0.631, 0, 0, 0, 71 [SEP] 6, Fork, 0.048, 0.911, 0.423, 0, 0, 0, 43 [SEP] 7, Spoon, -0.341, 0.912, 1.094, 0, 0, 0, 43 [SEP] 8, Spatula, -2.227, 0.788, 1.274, 0, 90, 0, 74 [SEP] 9, Spatula, -2.348, 0.788, 0.809, 0, 90, 0, 48 [SEP] 10, Cup, -2.704, 0.908, 0.031, 0, 0, 0, 71 [SEP] 11, SoapBottle, 1.318, 0.922, -1.204, 0, 135, 0, 57 [SEP] 12, SoapBottle, 1.769, 0.913, 0.435, 0, 0, 0, 52 [SEP] 13, Bowl, 1.772, 1.660, -0.550, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.081, 0.905, 1.317, 0, 0, 0, 43 [SEP] 15, PepperShaker, -2.564, 1.532, 0.125, 0, 0, 0, 66 [SEP] 16, SaltShaker, 1.855, 0.905, -0.810, 0, 0, 0, 53 [SEP] 17, SaltShaker, -2.685, 1.532, 2.477, 0, 0, 0, 47 [SEP] 18, Lettuce, -0.471, 0.994, 1.764, 0, 0, 0, 43 [SEP] 19, Lettuce, -0.211, 0.994, 1.540, 0, 0, 0, 43 [SEP] 20, Pan, 1.412, 0.929, -0.335, 0, 0, 0, 44 [SEP] 21, Knife, -0.211, 0.936, 0.423, 0, 0, 0, 43 [SEP] 22, Apple, 1.855, 0.972, -0.642, 0, 0, 0, 53 [SEP] 23, Bowl, -2.289, 0.908, 0.631, 0, 0, 0, 71 [SEP] 24, Fork, 1.418, 0.919, -1.034, 0, 225, 0, 57 [SEP] 25, Bread, -2.466, 0.680, -0.962, 0, 90, 0, 75 [SEP] 26, Plate, -2.485, 1.302, -0.602, 0, 90, 0, 75 [SEP] 27, Egg, -2.506, 1.046, 2.431, 0, 90, 0, 83 [SEP] 28, Kettle, -0.601, 0.911, 0.423, 0, 0, 0, 43 [SEP] 29, Potato, -0.471, 0.947, 0.870, 0, 0, 0, 43 [SEP] 30, SaltShaker, -2.704, 0.905, 0.631, 0, 0, 0, 71 [SEP] 31, Lettuce, -2.485, 1.172, -0.602, 0, 90, 0, 75 [SEP] 32, Cup, -2.635, 1.013, 2.481, 0, 90, 0, 83 [SEP] 33, SoapBottle, 1.598, 0.913, 0.376, 0, 0, 0, 52 [SEP] 34, Spatula, -2.372, 0.925, 0.931, 0, 0, 0, 71 [SEP] 35, PaperTowelRoll, 1.426, 1.015, 0.465, 0, 0, 0, 52 [SEP] 36, ButterKnife, 0.683, 0.910, -1.539, 0, 0, 0, 53 [SEP] 37, PepperShaker, 0.984, 0.905, -1.106, 0, 45, 0, 57 [SEP] 38, DishSponge, -2.241, 0.114, 0.541, 0, 0, 0, 68 [SEP] 39, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 72 [SEP] 40, Spoon, 0.683, 0.912, -1.539, 0, 0, 0, 53 [SEP] 41, Tomato, 0.879, 0.953, -1.874, 0, 0, 0, 53 [SEP] 42, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 53 [SEP] 43, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0,  [SEP] 44, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0,  [SEP] 45, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0,  [SEP] 46, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0,  [SEP] 47, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0,  [SEP] 48, Drawer, -2.276, 0.792, 0.902, 0, 0, 0,  [SEP] 49, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0,  [SEP] 50, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0,  [SEP] 51, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0,  [SEP] 52, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0,  [SEP] 53, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0,  [SEP] 54, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0,  [SEP] 55, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0,  [SEP] 56, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0,  [SEP] 57, Sink, 1.381, 0.810, -1.271, 0, 225, 0,  [SEP] 58, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0,  [SEP] 59, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0,  [SEP] 60, Drawer, -2.276, 0.792, 0.437, 0, 0, 0,  [SEP] 61, Drawer, -2.276, 0.792, -0.027, 0, 0, 0,  [SEP] 62, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0,  [SEP] 63, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0,  [SEP] 64, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0,  [SEP] 65, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0,  [SEP] 66, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0,  [SEP] 67, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0,  [SEP] 68, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0,  [SEP] 69, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0,  [SEP] 70, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0,  [SEP] 71, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0,  [SEP] 72, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0,  [SEP] 73, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0,  [SEP] 74, Drawer, -2.276, 0.792, 1.368, 0, 0, 0,  [SEP] 75, Fridge, -2.475, 0.0, -0.782, 0, 90, 0,  [SEP] 76, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0,  [SEP] 77, Toaster, -2.564, 0.900, 1.876, 0, 90, 0,  [SEP] 78, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0,  [SEP] 79, Window, 1.508, 1.534, -1.496, 90, 135, 0,  [SEP] 80, Window, 1.973, 1.521, 1.121, 90, 90, 0,  [SEP] 81, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0,  [SEP] 82, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0,  [SEP] 83, Microwave, -2.580, 0.900, 2.440, 0, 90, 0,  [SEP] 84, Stool, 0.439, 0.010, 0.747, 0, 0, 0,  [SEP] 85, Stool, -2.303, 0.010, 1.839, 0, 0, 0,  [SEP] 86, Faucet, 1.235, 1.138, -1.473, 0, 225, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Walk forward until your past the island on your right then turn right and take a step then turn right so you are facing the isle. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn left and walk over to the microwave and stand facing it. | STEP 4: Cut the potato in the microwave into slices then close the microwave. | STEP 5: Turn left and walk across the room and then move to stand in front of the stove. | STEP 6: Put the knife in the frying pan on the bottom right burner. | STEP 7: Walk across the room back to the microwave. | STEP 8: Take a slice of potato out of the microwave then close the microwave. | STEP 9: Walk back over to the stove. | STEP 10: Put the slice of potato in the pan with the knife. | STEP 11: Now pick all of it up. | STEP 12: Turn to your right and walk over to the fridge and stand in front of it facing it. | STEP 13: Put the pan in the top section of the fridge to the left of the lettuce. | END


Input: Put a pot with a knife in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 1.25, 0, 180, 0,  [SEP] 1, Potato, -0.473, 1.142, -0.759, 0, 0, 0, 61 [SEP] 2, CreditCard, -1.694, 0.475, -0.148, 0, 90, 0, 76 [SEP] 3, Plate, -0.335, 1.108, -0.506, 0, 0, 0, 61 [SEP] 4, Plate, -0.912, 0.133, -2.402, 0, 0, 0, 79 [SEP] 5, Egg, -1.999, 0.261, 1.168, 0, 90, 0, 94 [SEP] 6, Tomato, -2.070, 1.345, 0.841, 0, 90, 0, 94 [SEP] 7, SaltShaker, 0.779, 0.311, -2.479, 0, 0, 0, 65 [SEP] 8, SaltShaker, 1.478, 0.549, -2.562, 0, 180, 0, 91 [SEP] 9, PepperShaker, -2.100, 0.907, -2.366, 0, 0, 0, 86 [SEP] 10, PepperShaker, 0.324, 0.907, -2.330, 0, 0, 0, 63 [SEP] 11, Bread, -0.197, 1.184, 0.251, 0, 0, 0, 61 [SEP] 12, Bread, 0.079, 1.184, -0.506, 0, 0, 0, 61 [SEP] 13, Lettuce, -0.059, 1.191, -0.001, 0, 0, 0, 61 [SEP] 14, Lettuce, -2.080, 0.620, 1.168, 0, 90, 0, 94 [SEP] 15, Apple, -2.081, 1.553, 1.343, 0, 90, 0, 94 [SEP] 16, Knife, -1.856, 0.936, -0.513, 0, 0, 0, 86 [SEP] 17, Knife, 0.355, 1.136, -0.506, 0, 90, 0, 61 [SEP] 18, Knife, -0.473, 1.136, -0.253, 0, 180, 0, 61 [SEP] 19, Fork, 1.007, 0.646, -2.333, 0, 0, 0, 66 [SEP] 20, Fork, -1.739, 0.794, 0.331, 0, 180, 0, 58 [SEP] 21, Mug, -0.173, 1.785, -2.578, 0, 180, 0, 87 [SEP] 22, Pot, -0.335, 1.115, 0.757, 0, 0, 0, 61 [SEP] 23, ButterKnife, 0.840, 0.910, -2.637, 0, 0, 0, 63 [SEP] 24, WineBottle, 0.505, 1.660, -2.560, 0, 0, 0, 85 [SEP] 25, DishSponge, -1.907, 0.047, 2.076, 0, 270, 0, 92 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -1.962, 0.048, 1.981, 0, 270, 0, 92 [SEP] 28, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 86 [SEP] 29, Bread, -1.856, 0.983, -0.698, 0, 0, 0, 86 [SEP] 30, Fork, 0.969, 0.911, -2.330, 0, 0, 0, 63 [SEP] 31, Potato, 0.582, 0.941, -2.714, 0, 0, 0, 63 [SEP] 32, SoapBottle, -1.655, 0.137, -1.156, 0, 90, 0, 62 [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, -2.081, 1.499, 1.176, 0, 90, 0, 94 [SEP] 36, Tomato, -2.100, 0.950, -0.698, 0, 0, 0, 86 [SEP] 37, Vase, 0.079, 1.113, -0.253, 0, 0, 0, 61 [SEP] 38, Egg, 0.453, 0.945, -2.637, 0, 0, 0, 63 [SEP] 39, CreditCard, -1.651, 0.475, -0.342, 0, 90, 0, 76 [SEP] 40, Statue, -1.290, 0.910, -2.406, 0, 0, 0, 86 [SEP] 41, WineBottle, 0.453, 0.911, -2.253, 0, 0, 0, 63 [SEP] 42, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 56 [SEP] 43, Spatula, -1.654, 0.808, -0.104, 0, 0, 0, 60 [SEP] 44, PaperTowelRoll, 1.893, 0.657, -2.666, 0, 180, 0, 91 [SEP] 45, Cup, -2.026, 1.307, 1.008, 0, 90, 0, 94 [SEP] 46, Vase, 0.450, 0.138, -2.436, 0, 0, 0, 78 [SEP] 47, Bowl, 0.324, 0.907, -2.484, 0, 0, 0, 63 [SEP] 48, SaltShaker, -1.608, 0.474, -0.148, 0, 90, 0, 76 [SEP] 49, PepperShaker, 0.779, 0.311, -2.383, 0, 0, 0, 65 [SEP] 50, Lettuce, -0.059, 1.191, -0.759, 0, 0, 0, 61 [SEP] 51, ButterKnife, 0.217, 1.111, -0.001, 0, 0, 0, 61 [SEP] 52, Apple, -2.037, 0.849, 1.168, 0, 90, 0, 94 [SEP] 53, DishSponge, -1.586, 0.910, -2.406, 0, 0, 0, 86 [SEP] 54, Spoon, -1.693, 0.912, -2.366, 0, 0, 0, 86 [SEP] 55, Mug, -0.277, 1.785, -2.482, 0, 0, 0, 87 [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: Move forward, then turn right, move forward, then turn right to face the kitchen island. | STEP 2: Pick up the knife on the counter, to the right of the bread. | STEP 3: Turn around, to face the stove. | STEP 4: Put the knife in the pot on the stove. | STEP 5: Pick up the pot with a knife in it from the stove. | STEP 6: Turn around, move forward, then go left to approach the sink. | STEP 7: Put the pot in the center of the sink. | END


Input: Place a chilled section of apple in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.899, 5.0, 0, 180, 0,  [SEP] 1, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 69 [SEP] 2, Pencil, -1.777, 0.923, 1.951, 0, 0, 0, 70 [SEP] 3, DishSponge, -4.121, 0.790, 3.285, 0, 270, 0, 104 [SEP] 4, DishSponge, -0.237, 2.134, 6.143, 0, 180, 0, 71 [SEP] 5, WineBottle, -0.104, 0.926, 5.603, 0, 0, 0, 57 [SEP] 6, Pot, -4.184, 0.924, 4.640, 0, 90, 0, 72 [SEP] 7, Spoon, -1.943, 0.924, 1.8, 0, 0, 0, 54 [SEP] 8, Egg, -3.733, 0.959, 5.182, 0, 90, 0, 72 [SEP] 9, Egg, -0.242, 1.106, 3.850, 0, 270, 0, 105 [SEP] 10, Plate, -3.494, 0.924, 5.259, 0, 90, 0, 72 [SEP] 11, Plate, -4.086, 0.085, 2.625, 0, 0, 0, 64 [SEP] 12, Knife, -0.411, 0.954, 5.603, 0, 0, 0, 57 [SEP] 13, SoapBottle, -3.807, 0.079, 5.310, 0, 180, 0, 86 [SEP] 14, SoapBottle, -1.610, 0.923, 1.875, 0, 90, 0, 54 [SEP] 15, Tomato, -3.712, 0.125, 6.457, 0, 270, 0, 98 [SEP] 16, Bowl, -0.342, 1.577, 3.289, 0, 270, 0, 105 [SEP] 17, SaltShaker, -4.486, 0.919, 4.122, 0, 90, 0, 72 [SEP] 18, SaltShaker, -1.626, 0.743, 2.015, 0, 0, 0, 70 [SEP] 19, Mug, -2.688, 1.541, 1.601, 0, 90, 0, 102 [SEP] 20, Mug, -2.530, 1.541, 1.666, 0, 0, 0, 102 [SEP] 21, Apple, -4.159, 0.844, 3.472, 0, 270, 0, 104 [SEP] 22, Egg, -3.852, 0.959, 5.412, 0, 90, 0, 72 [SEP] 23, Apple, -3.712, 0.122, 6.292, 0, 270, 0, 98 [SEP] 24, Knife, -4.312, 0.953, 2.533, 0, 0, 0, 72 [SEP] 25, Potato, -4.242, 0.956, 2.300, 0, 0, 0, 72 [SEP] 26, Fork, -0.334, 0.925, 5.273, 0, 0, 0, 57 [SEP] 27, Bowl, -0.342, 1.682, 3.854, 0, 270, 0, 105 [SEP] 28, Plate, -0.295, 1.071, 3.602, 0, 270, 0, 105 [SEP] 29, Lettuce, -1.777, 1.018, 1.648, 0, 0, 0, 54 [SEP] 30, Bread, -0.411, 1.004, 4.615, 0, 0, 0, 57 [SEP] 31, Tomato, -1.777, 0.980, 1.8, 0, 0, 0, 54 [SEP] 32, WineBottle, -2.109, 0.924, 2.026, 0, 0, 0, 54 [SEP] 33, Spatula, -4.26, 0.938, 3.863, 0, 270, 0, 72 [SEP] 34, PaperTowelRoll, -1.943, 1.027, 1.724, 0, 0, 0, 54 [SEP] 35, Cup, -0.259, 1.579, 3.470, 0, 270, 0, 105 [SEP] 36, Pencil, -3.675, 0.068, 6.375, 0, 270, 0, 98 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -0.562, 0.742, 5.500, 0, 270, 0, 51 [SEP] 40, SoapBottle, -0.488, 0.924, 4.944, 0, 0, 0, 57 [SEP] 41, PepperShaker, -4.240, 0.081, 2.525, 0, 0, 0, 64 [SEP] 42, ButterKnife, -3.255, 0.923, 5.182, 0, 90, 0, 72 [SEP] 43, DishSponge, -2.026, 0.923, 1.648, 0, 0, 0, 54 [SEP] 44, Spoon, -4.196, 0.792, 3.159, 0, 270, 0, 104 [SEP] 45, Mug, -4.233, 0.785, 3.285, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Turn right, move to the counter that is left of the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right, move to in front of the sink. | STEP 4: Slice the apple in the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a apple section from the sink. | STEP 7: Turn left, move to in front of the refrigerator. | STEP 8: Put the apple section in the refrigerator, chill it, pick it back up. | STEP 9: Turn right, move to in front of the microwave. | STEP 10: Put the apple section in the microwave. | END


Input: Put a chilled slice of apple in a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.899, 5.0, 0, 180, 0,  [SEP] 1, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 69 [SEP] 2, Pencil, -1.777, 0.923, 1.951, 0, 0, 0, 70 [SEP] 3, DishSponge, -4.121, 0.790, 3.285, 0, 270, 0, 104 [SEP] 4, DishSponge, -0.237, 2.134, 6.143, 0, 180, 0, 71 [SEP] 5, WineBottle, -0.104, 0.926, 5.603, 0, 0, 0, 57 [SEP] 6, Pot, -4.184, 0.924, 4.640, 0, 90, 0, 72 [SEP] 7, Spoon, -1.943, 0.924, 1.8, 0, 0, 0, 54 [SEP] 8, Egg, -3.733, 0.959, 5.182, 0, 90, 0, 72 [SEP] 9, Egg, -0.242, 1.106, 3.850, 0, 270, 0, 105 [SEP] 10, Plate, -3.494, 0.924, 5.259, 0, 90, 0, 72 [SEP] 11, Plate, -4.086, 0.085, 2.625, 0, 0, 0, 64 [SEP] 12, Knife, -0.411, 0.954, 5.603, 0, 0, 0, 57 [SEP] 13, SoapBottle, -3.807, 0.079, 5.310, 0, 180, 0, 86 [SEP] 14, SoapBottle, -1.610, 0.923, 1.875, 0, 90, 0, 54 [SEP] 15, Tomato, -3.712, 0.125, 6.457, 0, 270, 0, 98 [SEP] 16, Bowl, -0.342, 1.577, 3.289, 0, 270, 0, 105 [SEP] 17, SaltShaker, -4.486, 0.919, 4.122, 0, 90, 0, 72 [SEP] 18, SaltShaker, -1.626, 0.743, 2.015, 0, 0, 0, 70 [SEP] 19, Mug, -2.688, 1.541, 1.601, 0, 90, 0, 102 [SEP] 20, Mug, -2.530, 1.541, 1.666, 0, 0, 0, 102 [SEP] 21, Apple, -4.159, 0.844, 3.472, 0, 270, 0, 104 [SEP] 22, Egg, -3.852, 0.959, 5.412, 0, 90, 0, 72 [SEP] 23, Apple, -3.712, 0.122, 6.292, 0, 270, 0, 98 [SEP] 24, Knife, -4.312, 0.953, 2.533, 0, 0, 0, 72 [SEP] 25, Potato, -4.242, 0.956, 2.300, 0, 0, 0, 72 [SEP] 26, Fork, -0.334, 0.925, 5.273, 0, 0, 0, 57 [SEP] 27, Bowl, -0.342, 1.682, 3.854, 0, 270, 0, 105 [SEP] 28, Plate, -0.295, 1.071, 3.602, 0, 270, 0, 105 [SEP] 29, Lettuce, -1.777, 1.018, 1.648, 0, 0, 0, 54 [SEP] 30, Bread, -0.411, 1.004, 4.615, 0, 0, 0, 57 [SEP] 31, Tomato, -1.777, 0.980, 1.8, 0, 0, 0, 54 [SEP] 32, WineBottle, -2.109, 0.924, 2.026, 0, 0, 0, 54 [SEP] 33, Spatula, -4.26, 0.938, 3.863, 0, 270, 0, 72 [SEP] 34, PaperTowelRoll, -1.943, 1.027, 1.724, 0, 0, 0, 54 [SEP] 35, Cup, -0.259, 1.579, 3.470, 0, 270, 0, 105 [SEP] 36, Pencil, -3.675, 0.068, 6.375, 0, 270, 0, 98 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -0.562, 0.742, 5.500, 0, 270, 0, 51 [SEP] 40, SoapBottle, -0.488, 0.924, 4.944, 0, 0, 0, 57 [SEP] 41, PepperShaker, -4.240, 0.081, 2.525, 0, 0, 0, 64 [SEP] 42, ButterKnife, -3.255, 0.923, 5.182, 0, 90, 0, 72 [SEP] 43, DishSponge, -2.026, 0.923, 1.648, 0, 0, 0, 54 [SEP] 44, Spoon, -4.196, 0.792, 3.159, 0, 270, 0, 104 [SEP] 45, Mug, -4.233, 0.785, 3.285, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0,  [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0,  [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0,  [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0,  [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0,  [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0,  [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0,  [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0,  [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0,  [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0,  [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0,  [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0,  [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0,  [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0,  [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0,  [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0,  [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0,  [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0,  [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0,  [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0,  [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0,  [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0,  [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0,  [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0,  [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0,  [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0,  [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0,  [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0,  [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0,  [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0,  [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0,  [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0,  [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0,  [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0,  [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0,  [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0,  [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0,  [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0,  [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0,  [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0,  [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0,  [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0,  [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0,  [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0,  [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0,  [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0,  [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0,  [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0,  [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180,  [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180,  [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180,  [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180,  [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0,  [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0,  [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0,  [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0,  [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0,  [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0,  [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0,  [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: Go to the counter left of the sink | STEP 2: Pick up the knife | STEP 3: Go to the sink | STEP 4: Cut the apple in the sink | STEP 5: Put the knife in the sink | STEP 6: Pick up an apple slice | STEP 7: Go to the fridge | STEP 8: Chill the apple | STEP 9: Go to the microwave | STEP 10: Put the apple in the microwave | END


Input: Heat a plate to sterilize it and put it in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 2, Potato, -2.018, 0.800, -1.242, 0, 90, 0, 94 [SEP] 3, Potato, -1.852, 0.800, -1.587, 0, 90, 0, 94 [SEP] 4, CreditCard, -1.609, 0.151, -0.293, 0, 90, 0, 82 [SEP] 5, Cup, -1.908, 0.767, -1.242, 0, 90, 0, 94 [SEP] 6, Egg, -0.197, 1.146, 0.504, 0, 0, 0, 59 [SEP] 7, Tomato, 0.324, 0.949, -2.407, 0, 0, 0, 61 [SEP] 8, Tomato, -1.962, 0.087, 2.076, 0, 270, 0, 90 [SEP] 9, SaltShaker, 1.121, 0.138, -2.431, 0, 0, 0, 79 [SEP] 10, PepperShaker, 1.478, 0.549, -2.666, 0, 180, 0, 89 [SEP] 11, PepperShaker, -0.912, 0.133, -2.554, 0, 0, 0, 77 [SEP] 12, Bread, 0.079, 1.184, 0.251, 0, 0, 0, 59 [SEP] 13, Lettuce, -0.059, 1.191, -0.001, 0, 0, 0, 59 [SEP] 14, Knife, -1.937, 0.936, -0.698, 0, 180, 0, 84 [SEP] 15, Fork, 1.006, 0.777, -2.334, 0, 0, 0, 55 [SEP] 16, Spoon, -2.019, 0.912, -0.513, 0, 0, 0, 84 [SEP] 17, Mug, 0.355, 1.106, -0.506, 0, 0, 0, 59 [SEP] 18, Spatula, -1.963, 0.784, -1.414, 0, 180, 0, 94 [SEP] 19, Spatula, 0.969, 0.925, -2.560, 0, 270, 0, 61 [SEP] 20, ButterKnife, 0.969, 0.910, -2.407, 0, 0, 0, 61 [SEP] 21, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 54 [SEP] 22, Kettle, 0.582, 0.911, -2.637, 0, 0, 0, 61 [SEP] 23, DishSponge, 2.096, 0.880, -2.590, 0, 180, 0, 89 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, 1.891, 0.881, -2.590, 0, 180, 0, 86 [SEP] 26, Knife, -0.848, 0.936, -2.329, 0, 0, 0, 84 [SEP] 27, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 59 [SEP] 28, Fork, 1.007, 0.646, -2.417, 0, 0, 0, 64 [SEP] 29, Potato, -1.733, 0.941, -2.253, 0, 0, 0, 84 [SEP] 30, SoapBottle, 0.393, 0.141, -2.239, 0, 180, 0, 76 [SEP] 31, Kettle, -0.335, 1.112, -0.253, 0, 0, 0, 59 [SEP] 32, Pan, -2.081, 1.502, 0.925, 0, 180, 0, 92 [SEP] 33, Plate, -2.078, 0.795, 1.003, 0, 90, 0, 92 [SEP] 34, Tomato, -1.935, 0.087, 1.933, 0, 270, 0, 90 [SEP] 35, Vase, 1.098, 0.912, -2.560, 0, 0, 0, 61 [SEP] 36, Egg, -1.143, 0.946, -2.560, 0, 0, 0, 84 [SEP] 37, CreditCard, 0.453, 0.907, -2.407, 0, 0, 0, 61 [SEP] 38, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 91 [SEP] 39, WineBottle, 1.007, 1.661, -2.600, 0, 0, 0, 81 [SEP] 40, Pot, 0.217, 1.115, -0.253, 0, 0, 0, 59 [SEP] 41, Spatula, -2.018, 0.784, -1.760, 0, 180, 0, 94 [SEP] 42, PaperTowelRoll, -0.197, 1.215, -0.253, 0, 90, 0, 59 [SEP] 43, Cup, 0.324, 0.908, -2.714, 0, 0, 0, 61 [SEP] 44, Vase, 2.100, 0.550, -2.562, 0, 180, 0, 89 [SEP] 45, Bowl, 1.478, 0.549, -2.511, 0, 180, 0, 89 [SEP] 46, SaltShaker, 1.996, 0.549, -2.718, 0, 180, 0, 89 [SEP] 47, PepperShaker, -1.574, 0.907, -1.122, 0, 0, 0, 84 [SEP] 48, Lettuce, -0.197, 1.191, -0.506, 0, 0, 0, 59 [SEP] 49, ButterKnife, 0.582, 0.910, -2.330, 0, 0, 0, 61 [SEP] 50, Apple, -0.335, 1.162, 0.251, 0, 0, 0, 59 [SEP] 51, DishSponge, -1.852, 0.769, -1.328, 0, 90, 0, 94 [SEP] 52, Spoon, -0.473, 1.112, 0.757, 0, 0, 0, 59 [SEP] 53, Mug, -1.982, 1.301, 0.841, 0, 90, 0, 92 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Walk around the room to the fridge, and open it. | STEP 2: Grab the plate from the top shelf of the fridge. | STEP 3: Walk around the island to the microwave. | STEP 4: Place the plate in the microwave. | STEP 5: Grab the plate out of the microwave and go to the cabinet next to it. | STEP 6: Place the plate in the cabinet. | END


Input: Move a phone from the drawer to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.902, 0.0, 0, 90, 0,  [SEP] 1, Mug, 0.318, 0.186, -2.598, 0, 90, 0, 55 [SEP] 2, Mug, 1.781, 0.798, -2.219, 0, 0, 0, 45 [SEP] 3, CellPhone, 1.633, 0.500, -1.726, 0, 0, 0, 39 [SEP] 4, Pen, 1.586, 0.020, -1.464, 0, 0, 0, 42 [SEP] 5, CreditCard, 1.493, 0.500, -1.949, 0, 0, 0, 47 [SEP] 6, CreditCard, 1.680, 0.656, -1.376, 0, 0, 0, 38 [SEP] 7, KeyChain, 1.680, 0.656, -1.638, 0, 0, 0, 38 [SEP] 8, Book, -0.574, 0.694, -0.36, 0, 0, 0, 25 [SEP] 9, Book, -1.061, 0.694, -0.36, 0, 0, 0, 25 [SEP] 10, Book, -1.061, 0.694, -1.001, 0, 180, 0, 25 [SEP] 11, KeyChain, 1.536, 0.801, -1.655, 0, 90, 0, 45 [SEP] 12, AlarmClock, 0.069, 0.665, -2.578, 0, 0, 0, 50 [SEP] 13, CreditCard, 1.474, 0.799, -2.219, 0, 0, 0, 45 [SEP] 14, Laptop, -0.574, 0.693, -0.787, 0, 0, 0, 25 [SEP] 15, Pen, 1.658, 0.807, -2.407, 0, 0, 0, 45 [SEP] 16, Pencil, 1.536, 0.804, -1.279, 0, 0, 0, 45 [SEP] 17, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 18, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 25 [SEP] 19, Pillow, -0.088, 0.755, 0.067, 0, 0, 0, 25 [SEP] 20, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 21, CellPhone, 1.536, 0.800, -1.467, 0, 0, 0, 45 [SEP] 22, CD, 1.781, 0.801, -1.843, 0, 0, 0, 45 [SEP] 23, Mug, 0.427, 0.671, -2.570, 0, 0, 0, 50 [SEP] 24, Mirror, 3.534, 1.661, -0.277, 0, 90, 0,  [SEP] 25, Bed, -0.842, -0.000, -0.361, 0, 270, 0,  [SEP] 26, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0,  [SEP] 27, Painting, 0.246, 1.564, -2.665, 90, 0, 0,  [SEP] 28, Painting, 1.894, 1.549, -2.424, 90, 270, 0,  [SEP] 29, Painting, 1.894, 1.549, -1.289, 90, 270, 0,  [SEP] 30, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0,  [SEP] 31, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0,  [SEP] 32, Window, -0.486, 1.409, -2.691, 90, 0, 0,  [SEP] 33, Window, 0.987, 1.409, -2.691, 90, 0, 0,  [SEP] 34, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0,  [SEP] 35, Blinds, -0.490, 2.130, -2.638, 0, 0, 0,  [SEP] 36, Blinds, 1.011, 2.130, -2.638, 0, 0, 0,  [SEP] 37, Drawer, 1.596, 0.411, -1.459, 0, 270, 0,  [SEP] 38, Drawer, 1.597, 0.732, -1.459, 0, 270, 0,  [SEP] 39, Drawer, 1.597, 0.574, -1.459, 0, 270, 0,  [SEP] 40, Drawer, 1.597, 0.732, -2.202, 0, 270, 0,  [SEP] 41, Drawer, 1.596, 0.247, -1.459, 0, 270, 0,  [SEP] 42, Drawer, 1.596, 0.090, -1.459, 0, 270, 0,  [SEP] 43, Drawer, 1.596, 0.247, -2.202, 0, 270, 0,  [SEP] 44, Drawer, 1.596, 0.411, -2.202, 0, 270, 0,  [SEP] 45, Dresser, 1.634, 0.003, -1.830, 0, 270, 0,  [SEP] 46, Drawer, 1.596, 0.090, -2.202, 0, 270, 0,  [SEP] 47, Drawer, 1.597, 0.574, -2.202, 0, 270, 0,  [SEP] 48, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0,  [SEP] 49, Shelf, 0.017, 0.178, -2.511, 0, 0, 0,  [SEP] 50, Shelf, 0.249, 0.665, -2.519, 0, 0, 0,  [SEP] 51, Shelf, 0.243, 0.344, -2.511, 0, 0, 0,  [SEP] 52, Shelf, 0.474, 0.344, -2.511, 0, 0, 0,  [SEP] 53, Shelf, 0.355, 0.011, -2.511, 0, 0, 0,  [SEP] 54, Shelf, 0.016, 0.011, -2.511, 0, 0, 0,  [SEP] 55, Shelf, 0.357, 0.178, -2.511, 0, 0, 0,  [SEP] 56, NorthWall, , , , , , ,  [SEP] 57, EastWall, , , , , , ,  [SEP] 58, SouthWall, , , , , , ,  [SEP] 59, WestWall, , , , , , ,

Output: STEP 1: Walk to the drawers on your right. | STEP 2: Open a drawer and take the phone out of the drawer. | STEP 3: Move to the front of your bed. | STEP 4: Place the phone on the bed. | END


Input: Grab the remote control and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, -0.25, 0, 0, 0,  [SEP] 1, TissueBox, -0.290, 0.459, -0.653, 0, 0, 0, 40 [SEP] 2, TissueBox, 3.838, 0.068, -0.495, 0, 0, 0, 26 [SEP] 3, Pencil, 1.183, 0.476, 0.512, 0, 180, 0, 34 [SEP] 4, Pencil, 1.592, 0.456, -0.691, 0, 0, 0, 35 [SEP] 5, Pen, 3.926, 0.770, 1.151, 0, 90, 0, 44 [SEP] 6, Pen, 1.466, 0.483, 0.594, 0, 180, 0, 34 [SEP] 7, KeyChain, 4.007, 0.877, 1.181, 0, 90, 0, 43 [SEP] 8, KeyChain, 1.183, 0.478, 0.186, 0, 180, 0, 34 [SEP] 9, RemoteControl, -0.130, 0.324, 1.663, 0, 91.372, 0, 41 [SEP] 10, Box, 2.656, 0.569, 1.798, 0, 0, 0, 33 [SEP] 11, Newspaper, 1.324, 0.476, 0.594, 0, 90, 0, 34 [SEP] 12, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 34 [SEP] 13, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 39 [SEP] 14, TissueBox, -0.067, 0.841, -0.818, 0, 0, 0, 38 [SEP] 15, KeyChain, -0.29, 0.840, -0.672, 0, 0, 0, 38 [SEP] 16, Pen, -0.606, 0.463, -0.653, 0, 0, 0, 40 [SEP] 17, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0,  [SEP] 18, Pencil, 1.904, 0.456, -0.691, 0, 0, 0, 35 [SEP] 19, RemoteControl, 1.800, 0.454, -0.729, 0, 0, 0, 35 [SEP] 20, CreditCard, 4.007, 0.876, 0.760, 0, 0, 0, 43 [SEP] 21, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 24 [SEP] 22, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 40 [SEP] 23, Statue, 1.324, 0.487, 0.349, 0, 180, 0, 34 [SEP] 24, Sofa, 1.174, 0.0, 1.865, 0, 0, 0,  [SEP] 25, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0,  [SEP] 26, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0,  [SEP] 27, Television, 1.897, 1.281, -0.838, 0, 0, 0,  [SEP] 28, Painting, 4.070, 1.950, 0.848, 90, 270, 0,  [SEP] 29, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0,  [SEP] 30, Window, 0.023, 2.072, 2.484, 90, 180, 0,  [SEP] 31, Window, 1.570, 2.072, 2.484, 90, 180, 0,  [SEP] 32, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0,  [SEP] 33, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0,  [SEP] 34, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0,  [SEP] 35, Shelf, 1.905, 0.588, -0.730, 0, 0, 0,  [SEP] 36, TVStand, 1.904, -0.000, -0.770, 0, 0, 0,  [SEP] 37, Shelf, -0.289, 0.200, -0.732, 0, 0, 0,  [SEP] 38, TVStand, -0.290, -0.000, -0.772, 0, 0, 0,  [SEP] 39, Shelf, 1.905, 0.200, -0.730, 0, 0, 0,  [SEP] 40, Shelf, -0.289, 0.588, -0.732, 0, 0, 0,  [SEP] 41, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0,  [SEP] 42, Sofa, 1.193, 0.008, 1.865, 0, 180, 0,  [SEP] 43, SideTable, 3.946, 0.000, 0.865, 0, 270, 0,  [SEP] 44, Drawer, 3.882, 0.774, 0.864, 0, 270, 0,  [SEP] 45, NorthWall, , , , , , ,  [SEP] 46, EastWall, , , , , , ,  [SEP] 47, SouthWall, , , , , , ,  [SEP] 48, WestWall, , , , , , ,

Output: STEP 1: Turn around and face the television and television stand. | STEP 2: Grab the remote control between the pencils sitting in the television stand shelf. | STEP 3: Look up, turn left and walk to the lamp in the corner of the room to your left. | STEP 4: Turn on the lamp. | END


Input: Place a slice of cooked tomato onto the island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Pen, -2.210, 0.926, -1.423, 0, 0, 0, 73 [SEP] 2, Potato, -0.246, 1.422, -0.770, 0, 270, 0, 65 [SEP] 3, Potato, -2.552, 0.954, -1.884, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.666, 0.923, -2.115, 0, 0, 0, 73 [SEP] 5, DishSponge, -0.528, 0.915, -3.839, 0, 0, 0, 48 [SEP] 6, ButterKnife, -0.600, 0.915, -3.485, 0, 0, 0, 48 [SEP] 7, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 73 [SEP] 8, Knife, -2.552, 0.946, -2.345, 0, 0, 0, 73 [SEP] 9, Plate, -2.780, 0.925, -1.193, 0, 0, 0, 73 [SEP] 10, SoapBottle, -0.815, 0.914, -3.555, 0, 0, 0, 48 [SEP] 11, Tomato, -2.552, 0.987, -1.423, 0, 0, 0, 73 [SEP] 12, Tomato, -0.600, 0.979, -3.697, 0, 0, 0, 48 [SEP] 13, Bowl, -0.363, 1.529, -3.706, 0, 45, 0, 56 [SEP] 14, Bread, -0.295, 1.151, -0.560, 0, 270, 0, 65 [SEP] 15, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 59 [SEP] 16, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 62 [SEP] 17, Mug, -0.499, 0.076, -1.758, 0, 0, 0, 43 [SEP] 18, Apple, -2.666, 0.996, -1.654, 0, 0, 0, 73 [SEP] 19, Lettuce, -0.308, 1.783, -0.874, 0, 270, 0, 65 [SEP] 20, Glassbottle, -2.324, 0.924, -2.115, 0, 0, 0, 73 [SEP] 21, Egg, -0.743, 0.948, -3.697, 0, 0, 0, 48 [SEP] 22, Pen, -0.457, 0.918, -3.555, 0, 0, 0, 48 [SEP] 23, Fork, -2.780, 0.924, -0.963, 0, 90, 0, 73 [SEP] 24, SoapBottle, -1.912, 0.025, -3.763, 0, 0, 0, 64 [SEP] 25, Pencil, -2.438, 0.923, -2.345, 0, 0, 0, 73 [SEP] 26, WineBottle, -0.499, 0.082, -2.201, 0, 0, 0, 53 [SEP] 27, Spatula, -2.096, 0.938, -1.884, 0, 0, 0, 73 [SEP] 28, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 65 [SEP] 29, Tomato, -0.671, 0.979, -3.555, 0, 0, 0, 48 [SEP] 30, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 73 [SEP] 31, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 73 [SEP] 32, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 45 [SEP] 33, SaltShaker, -0.205, 1.966, -1.663, 0, 0, 0, 50 [SEP] 34, Potato, -2.210, 0.954, -2.115, 0, 0, 0, 73 [SEP] 35, PepperShaker, -0.171, 1.527, -3.624, 0, 45, 0, 56 [SEP] 36, ButterKnife, -2.438, 0.923, -0.963, 0, 0, 0, 73 [SEP] 37, DishSponge, -1.496, 1.969, -3.890, 0, 0, 0, 57 [SEP] 38, Spoon, -2.324, 0.924, -1.884, 0, 0, 0, 73 [SEP] 39, Plate, -0.382, 0.083, -3.267, 0, 0, 0, 54 [SEP] 40, Knife, -2.666, 0.946, -1.193, 0, 180, 0, 73 [SEP] 41, Mug, -0.302, 0.792, -2.008, 0, 270, 0, 66 [SEP] 42, Bowl, -0.295, 1.389, -0.979, 0, 270, 0, 65 [SEP] 43, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 44, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 45, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 46, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 47, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 48, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 49, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 50, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 51, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 52, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 53, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 54, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 55, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 56, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 57, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 58, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 59, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 60, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 61, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 62, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 63, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 64, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 65, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 66, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 67, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 68, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 71, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 72, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 73, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 74, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 75, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 76, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 77, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 78, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 79, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Move to the island, near the left most chair. | STEP 2: Pick up the knife that is on the plate. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Slice the tomato on the left, far from the edge. | STEP 5: Turn right, move to the island opposite the chairs. | STEP 6: Place the knife onto the island, left of the pan. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, move to in front of the stove. | STEP 10: Place the tomato slice in to the microwave, cook it, pick it back up. | STEP 11: Turn right, move to the island opposite the chairs. | STEP 12: Place the tomato slice on to the island. | END


Input: place a cooked tomato slice on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Pen, -2.210, 0.926, -1.423, 0, 0, 0, 73 [SEP] 2, Potato, -0.246, 1.422, -0.770, 0, 270, 0, 65 [SEP] 3, Potato, -2.552, 0.954, -1.884, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.666, 0.923, -2.115, 0, 0, 0, 73 [SEP] 5, DishSponge, -0.528, 0.915, -3.839, 0, 0, 0, 48 [SEP] 6, ButterKnife, -0.600, 0.915, -3.485, 0, 0, 0, 48 [SEP] 7, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 73 [SEP] 8, Knife, -2.552, 0.946, -2.345, 0, 0, 0, 73 [SEP] 9, Plate, -2.780, 0.925, -1.193, 0, 0, 0, 73 [SEP] 10, SoapBottle, -0.815, 0.914, -3.555, 0, 0, 0, 48 [SEP] 11, Tomato, -2.552, 0.987, -1.423, 0, 0, 0, 73 [SEP] 12, Tomato, -0.600, 0.979, -3.697, 0, 0, 0, 48 [SEP] 13, Bowl, -0.363, 1.529, -3.706, 0, 45, 0, 56 [SEP] 14, Bread, -0.295, 1.151, -0.560, 0, 270, 0, 65 [SEP] 15, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 59 [SEP] 16, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 62 [SEP] 17, Mug, -0.499, 0.076, -1.758, 0, 0, 0, 43 [SEP] 18, Apple, -2.666, 0.996, -1.654, 0, 0, 0, 73 [SEP] 19, Lettuce, -0.308, 1.783, -0.874, 0, 270, 0, 65 [SEP] 20, Glassbottle, -2.324, 0.924, -2.115, 0, 0, 0, 73 [SEP] 21, Egg, -0.743, 0.948, -3.697, 0, 0, 0, 48 [SEP] 22, Pen, -0.457, 0.918, -3.555, 0, 0, 0, 48 [SEP] 23, Fork, -2.780, 0.924, -0.963, 0, 90, 0, 73 [SEP] 24, SoapBottle, -1.912, 0.025, -3.763, 0, 0, 0, 64 [SEP] 25, Pencil, -2.438, 0.923, -2.345, 0, 0, 0, 73 [SEP] 26, WineBottle, -0.499, 0.082, -2.201, 0, 0, 0, 53 [SEP] 27, Spatula, -2.096, 0.938, -1.884, 0, 0, 0, 73 [SEP] 28, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 65 [SEP] 29, Tomato, -0.671, 0.979, -3.555, 0, 0, 0, 48 [SEP] 30, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 73 [SEP] 31, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 73 [SEP] 32, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 45 [SEP] 33, SaltShaker, -0.205, 1.966, -1.663, 0, 0, 0, 50 [SEP] 34, Potato, -2.210, 0.954, -2.115, 0, 0, 0, 73 [SEP] 35, PepperShaker, -0.171, 1.527, -3.624, 0, 45, 0, 56 [SEP] 36, ButterKnife, -2.438, 0.923, -0.963, 0, 0, 0, 73 [SEP] 37, DishSponge, -1.496, 1.969, -3.890, 0, 0, 0, 57 [SEP] 38, Spoon, -2.324, 0.924, -1.884, 0, 0, 0, 73 [SEP] 39, Plate, -0.382, 0.083, -3.267, 0, 0, 0, 54 [SEP] 40, Knife, -2.666, 0.946, -1.193, 0, 180, 0, 73 [SEP] 41, Mug, -0.302, 0.792, -2.008, 0, 270, 0, 66 [SEP] 42, Bowl, -0.295, 1.389, -0.979, 0, 270, 0, 65 [SEP] 43, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 44, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 45, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 46, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 47, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 48, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 49, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 50, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 51, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 52, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 53, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 54, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 55, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 56, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 57, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 58, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 59, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 60, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 61, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 62, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 63, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 64, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 65, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 66, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 67, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 68, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 71, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 72, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 73, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 74, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 75, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 76, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 77, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 78, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 79, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: move right towards the table  | STEP 2: pick up the knife | STEP 3: head for the sink | STEP 4: slice the tomato by the sink | STEP 5: turn right and head for the table | STEP 6: drop the knife on the table | STEP 7: turn left and head for the sink | STEP 8: pick up the tomato slice | STEP 9: head left to the oven | STEP 10: place the tomato to cook in the oven | STEP 11: turn around and head towards the table | STEP 12: place the cooked slice on the table | END


Input: Place microwaved tomato slice on green counter to the right of spatula SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -1.75, 0, 0, 0,  [SEP] 1, Pen, -2.210, 0.926, -1.423, 0, 0, 0, 73 [SEP] 2, Potato, -0.246, 1.422, -0.770, 0, 270, 0, 65 [SEP] 3, Potato, -2.552, 0.954, -1.884, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.666, 0.923, -2.115, 0, 0, 0, 73 [SEP] 5, DishSponge, -0.528, 0.915, -3.839, 0, 0, 0, 48 [SEP] 6, ButterKnife, -0.600, 0.915, -3.485, 0, 0, 0, 48 [SEP] 7, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 73 [SEP] 8, Knife, -2.552, 0.946, -2.345, 0, 0, 0, 73 [SEP] 9, Plate, -2.780, 0.925, -1.193, 0, 0, 0, 73 [SEP] 10, SoapBottle, -0.815, 0.914, -3.555, 0, 0, 0, 48 [SEP] 11, Tomato, -2.552, 0.987, -1.423, 0, 0, 0, 73 [SEP] 12, Tomato, -0.600, 0.979, -3.697, 0, 0, 0, 48 [SEP] 13, Bowl, -0.363, 1.529, -3.706, 0, 45, 0, 56 [SEP] 14, Bread, -0.295, 1.151, -0.560, 0, 270, 0, 65 [SEP] 15, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 59 [SEP] 16, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 62 [SEP] 17, Mug, -0.499, 0.076, -1.758, 0, 0, 0, 43 [SEP] 18, Apple, -2.666, 0.996, -1.654, 0, 0, 0, 73 [SEP] 19, Lettuce, -0.308, 1.783, -0.874, 0, 270, 0, 65 [SEP] 20, Glassbottle, -2.324, 0.924, -2.115, 0, 0, 0, 73 [SEP] 21, Egg, -0.743, 0.948, -3.697, 0, 0, 0, 48 [SEP] 22, Pen, -0.457, 0.918, -3.555, 0, 0, 0, 48 [SEP] 23, Fork, -2.780, 0.924, -0.963, 0, 90, 0, 73 [SEP] 24, SoapBottle, -1.912, 0.025, -3.763, 0, 0, 0, 64 [SEP] 25, Pencil, -2.438, 0.923, -2.345, 0, 0, 0, 73 [SEP] 26, WineBottle, -0.499, 0.082, -2.201, 0, 0, 0, 53 [SEP] 27, Spatula, -2.096, 0.938, -1.884, 0, 0, 0, 73 [SEP] 28, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 65 [SEP] 29, Tomato, -0.671, 0.979, -3.555, 0, 0, 0, 48 [SEP] 30, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 73 [SEP] 31, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 73 [SEP] 32, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 45 [SEP] 33, SaltShaker, -0.205, 1.966, -1.663, 0, 0, 0, 50 [SEP] 34, Potato, -2.210, 0.954, -2.115, 0, 0, 0, 73 [SEP] 35, PepperShaker, -0.171, 1.527, -3.624, 0, 45, 0, 56 [SEP] 36, ButterKnife, -2.438, 0.923, -0.963, 0, 0, 0, 73 [SEP] 37, DishSponge, -1.496, 1.969, -3.890, 0, 0, 0, 57 [SEP] 38, Spoon, -2.324, 0.924, -1.884, 0, 0, 0, 73 [SEP] 39, Plate, -0.382, 0.083, -3.267, 0, 0, 0, 54 [SEP] 40, Knife, -2.666, 0.946, -1.193, 0, 180, 0, 73 [SEP] 41, Mug, -0.302, 0.792, -2.008, 0, 270, 0, 66 [SEP] 42, Bowl, -0.295, 1.389, -0.979, 0, 270, 0, 65 [SEP] 43, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 44, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 45, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 46, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 47, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 48, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 49, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 50, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 51, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 52, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 53, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 54, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 55, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 56, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 57, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 58, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 59, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 60, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 61, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 62, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 63, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 64, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 65, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 66, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 67, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 68, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 69, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 70, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 71, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 72, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 73, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 74, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 75, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 76, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 77, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 78, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 79, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: turn left, go to end of green counter | STEP 2: pick up yellow handled knife from counter | STEP 3: go to counter to the left of stove | STEP 4: slice tomato in the back | STEP 5: turn right, go to green counter to the right | STEP 6: place knife on pencil on the counter next to square pan | STEP 7: turn left, go to counter to the left of stove | STEP 8: pick up tomato slice from counter behind whole tomato | STEP 9: go to microwave above stove to the right | STEP 10: place tomato slice in microwave, turn on microwave, open microwave door, pick up tomato slice from microwave | STEP 11: turn around, go to green counter | STEP 12: place tomato slice on green counter in between spatula and yellow handled knife | END


Input: To move two credit cards to the television stand.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.25, 0, 90, 0,  [SEP] 1, Watch, -4.587, 0.887, 3.470, 0, 0, 0, 30 [SEP] 2, Watch, 0.132, 0.707, 4.578, 0, 0, 0, 40 [SEP] 3, RemoteControl, -4.569, 0.990, 3.447, 0, 0, 0, 32 [SEP] 4, CreditCard, -0.129, 0.707, 4.598, 0, 0, 0, 40 [SEP] 5, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 35 [SEP] 6, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 7, CreditCard, -1.990, 0.520, 0.662, 0, 0, 0, 38 [SEP] 8, KeyChain, -4.569, 0.985, 2.879, 0, 0, 0, 32 [SEP] 9, Pillow, -0.417, 0.611, 1.714, 0, 0, 0, 37 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.465, 0.459, 0.662, 0, 0, 0, 38 [SEP] 12, Watch, -4.567, 0.887, 3.318, 0, 0, 0, 30 [SEP] 13, Statue, -2.658, 0.554, 2.359, 0, 0, 0, 35 [SEP] 14, Curtains, -2.535, 2.596, 0.111, 0, 0, 0,  [SEP] 15, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0,  [SEP] 16, Television, -4.883, 1.472, 2.434, 0, 90, 0,  [SEP] 17, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0,  [SEP] 18, Painting, -0.293, 1.820, 0.016, 90, 0, 0,  [SEP] 19, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0,  [SEP] 20, Painting, -5.118, 1.480, 4.396, 90, 270, 0,  [SEP] 21, Painting, -5.118, 1.480, 0.656, 90, 270, 0,  [SEP] 22, Window, -1.715, 1.554, 0.006, 90, 180, 0,  [SEP] 23, Window, -3.244, 1.554, 0.006, 90, 180, 0,  [SEP] 24, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0,  [SEP] 25, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0,  [SEP] 26, Drawer, -4.497, 0.901, 2.854, 0, 90, 0,  [SEP] 27, Drawer, -4.497, 0.901, 2.339, 0, 90, 0,  [SEP] 28, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0,  [SEP] 29, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0,  [SEP] 30, Drawer, -4.497, 0.901, 3.372, 0, 90, 0,  [SEP] 31, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0,  [SEP] 32, Dresser, -4.744, 4.321, 2.595, 0, 90, 0,  [SEP] 33, Drawer, -4.497, 0.901, 1.818, 0, 90, 0,  [SEP] 34, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0,  [SEP] 35, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0,  [SEP] 36, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0,  [SEP] 37, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0,  [SEP] 38, Sofa, -2.464, -0.002, 0.700, 0, 0, 0,  [SEP] 39, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0,  [SEP] 40, SideTable, -0.041, 0.002, 4.619, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Walk over to the left side of the couch.  | STEP 2: Pick up the credit card from the couch.  | STEP 3: Walk over to the TV stand.  | STEP 4: Put the credit card down in front of the television.  | STEP 5: Walk over to the side table to the left of the tan chair.  | STEP 6: Pick up the credit card next to the lamp.  | STEP 7: Walk back over to the television stand.  | STEP 8: Put the credit card down on the TV stand to the left of the first credit card.  | END


Input: Retrieve two credit cards and put them on the cabinet with keys on it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.25, 0, 90, 0,  [SEP] 1, Watch, -4.587, 0.887, 3.470, 0, 0, 0, 30 [SEP] 2, Watch, 0.132, 0.707, 4.578, 0, 0, 0, 40 [SEP] 3, RemoteControl, -4.569, 0.990, 3.447, 0, 0, 0, 32 [SEP] 4, CreditCard, -0.129, 0.707, 4.598, 0, 0, 0, 40 [SEP] 5, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 35 [SEP] 6, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 7, CreditCard, -1.990, 0.520, 0.662, 0, 0, 0, 38 [SEP] 8, KeyChain, -4.569, 0.985, 2.879, 0, 0, 0, 32 [SEP] 9, Pillow, -0.417, 0.611, 1.714, 0, 0, 0, 37 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.465, 0.459, 0.662, 0, 0, 0, 38 [SEP] 12, Watch, -4.567, 0.887, 3.318, 0, 0, 0, 30 [SEP] 13, Statue, -2.658, 0.554, 2.359, 0, 0, 0, 35 [SEP] 14, Curtains, -2.535, 2.596, 0.111, 0, 0, 0,  [SEP] 15, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0,  [SEP] 16, Television, -4.883, 1.472, 2.434, 0, 90, 0,  [SEP] 17, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0,  [SEP] 18, Painting, -0.293, 1.820, 0.016, 90, 0, 0,  [SEP] 19, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0,  [SEP] 20, Painting, -5.118, 1.480, 4.396, 90, 270, 0,  [SEP] 21, Painting, -5.118, 1.480, 0.656, 90, 270, 0,  [SEP] 22, Window, -1.715, 1.554, 0.006, 90, 180, 0,  [SEP] 23, Window, -3.244, 1.554, 0.006, 90, 180, 0,  [SEP] 24, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0,  [SEP] 25, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0,  [SEP] 26, Drawer, -4.497, 0.901, 2.854, 0, 90, 0,  [SEP] 27, Drawer, -4.497, 0.901, 2.339, 0, 90, 0,  [SEP] 28, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0,  [SEP] 29, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0,  [SEP] 30, Drawer, -4.497, 0.901, 3.372, 0, 90, 0,  [SEP] 31, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0,  [SEP] 32, Dresser, -4.744, 4.321, 2.595, 0, 90, 0,  [SEP] 33, Drawer, -4.497, 0.901, 1.818, 0, 90, 0,  [SEP] 34, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0,  [SEP] 35, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0,  [SEP] 36, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0,  [SEP] 37, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0,  [SEP] 38, Sofa, -2.464, -0.002, 0.700, 0, 0, 0,  [SEP] 39, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0,  [SEP] 40, SideTable, -0.041, 0.002, 4.619, 0, 0, 0,  [SEP] 41, NorthWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to couch | STEP 2: Pick up credit card from couch | STEP 3: Turn around, walk to cabinet | STEP 4: Put credit on cabinet to the left of the keys | STEP 5: Turn around, walk to table to the left of the couch | STEP 6: Pick up credit card from the table | STEP 7: Turn around, walk to the cabinet | STEP 8: Place credit card to the left of the card on the cabinet | END


Input: Put a dispenser in a bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 3.25, 0, 0, 0,  [SEP] 1, Cloth, -0.358, 0.206, 3.012, 0, 0, 0, 19 [SEP] 2, Cloth, -0.246, 0.206, 2.439, 0, 0, 0, 27 [SEP] 3, SoapBar, -0.302, 0.512, 2.090, 0, 0, 0, 21 [SEP] 4, SoapBottle, -0.417, 0.813, 2.350, 0, 0, 0, 20 [SEP] 5, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 34 [SEP] 6, SoapBar, -0.215, 0.953, 3.846, 0, 0, 0, 35 [SEP] 7, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 35 [SEP] 8, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 9, Candle, -0.190, 0.510, 1.630, 0, 0, 0, 21 [SEP] 10, SoapBottle, -0.289, 0.813, 1.345, 0, 0, 0, 20 [SEP] 11, ToiletPaper, -0.482, 0.809, 3.143, 0, 0, 0, 20 [SEP] 12, SprayBottle, -0.353, 0.813, 2.083, 0, 0, 0, 20 [SEP] 13, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 32 [SEP] 14, Cloth, -0.302, 0.205, 1.463, 0, 0, 0, 26 [SEP] 15, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 16, DishSponge, -0.225, 0.813, 2.243, 0, 0, 0, 20 [SEP] 17, Sink, -0.299, 0.807, 2.754, 0, 270, 0,  [SEP] 18, Drawer, -0.319, 0.615, 3.012, 0, 0, 0,  [SEP] 19, Drawer, -0.319, 0.316, 3.012, 0, 0, 0,  [SEP] 20, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0,  [SEP] 21, Drawer, -0.319, 0.615, 1.978, 0, 0, 0,  [SEP] 22, Drawer, -0.319, 0.316, 1.978, 0, 0, 0,  [SEP] 23, Drawer, -0.319, 0.316, 1.463, 0, 0, 0,  [SEP] 24, Drawer, -0.319, 0.615, 2.495, 0, 0, 0,  [SEP] 25, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0,  [SEP] 26, Drawer, -0.319, 0.615, 1.463, 0, 0, 0,  [SEP] 27, Drawer, -0.319, 0.316, 2.495, 0, 0, 0,  [SEP] 28, Faucet, -0.076, 0.805, 2.757, 0, 0, 0,  [SEP] 29, Mirror, -0.228, 0.465, 1.453, 0, 0, 0,  [SEP] 30, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0,  [SEP] 31, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0,  [SEP] 32, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0,  [SEP] 33, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0,  [SEP] 34, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0,  [SEP] 35, Toilet, -0.600, -0.000, 3.671, 0, 270, 0,  [SEP] 36, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0,  [SEP] 37, Faucet, -0.076, 0.805, 1.733, 0, 0, 0,  [SEP] 38, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0,  [SEP] 39, Sink, -0.298, 0.807, 1.725, 0, 270, 0,  [SEP] 40, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0,  [SEP] 41, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,

Output: STEP 1: move to the sink to the left of the shower | STEP 2: pick up a dispenser from the counter | STEP 3: move to the bin behind you | STEP 4: put the dispenser in the bin | END


Input: Wash the tomato 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, 0.5, 0.900, 2.25, 0, 90, 0,  [SEP] 1, Egg, 0.008, 0.818, -1.936, 0, 0, 0, 70 [SEP] 2, Egg, 0.522, 0.980, 1.220, 0, 0, 0, 75 [SEP] 3, Cup, 0.180, 0.930, 0.076, 0, 0, 0, 75 [SEP] 4, Cup, -0.283, 0.764, -2.116, 0, 0, 0, 70 [SEP] 5, Plate, -1.316, 1.663, -1.667, 0, 90, 0, 41 [SEP] 6, Plate, 0.180, 0.934, 1.220, 0, 0, 0, 75 [SEP] 7, SoapBottle, 1.464, 0.879, 2.510, 0, 0, 0, 79 [SEP] 8, SoapBottle, 1.829, 0.085, 0.006, 0, 0, 0, 59 [SEP] 9, Bowl, -1.495, 1.180, -0.599, 0, 90, 0, 66 [SEP] 10, Lettuce, -0.047, 1.008, 0.305, 0, 0, 0, 75 [SEP] 11, Lettuce, -0.160, 1.011, 0.762, 0, 0, 0, 75 [SEP] 12, SaltShaker, 1.669, 0.877, 2.456, 0, 0, 0, 84 [SEP] 13, PepperShaker, 1.514, 0.116, -1.135, 0, 270, 0, 50 [SEP] 14, Mug, -1.284, 1.010, -1.846, 0, 90, 0, 64 [SEP] 15, Apple, -1.495, 1.575, -0.910, 0, 90, 0, 66 [SEP] 16, Apple, -1.553, 1.254, -0.806, 0, 90, 0, 66 [SEP] 17, Potato, 0.066, 0.956, 0.534, 0, 0, 0, 75 [SEP] 18, Bowl, 0.180, 0.927, 0.305, 0, 90, 0, 75 [SEP] 19, SoapBottle, 1.850, 0.912, -2.252, 0, 0, 0, 58 [SEP] 20, Fork, 1.919, 0.914, -1.446, 0, 0, 0, 58 [SEP] 21, Ladle, 1.738, 0.957, -1.563, 0, 0, 0, 58 [SEP] 22, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 75 [SEP] 23, Lettuce, 1.850, 0.994, -1.834, 0, 0, 0, 58 [SEP] 24, WineBottle, 1.631, 0.121, -1.463, 0, 270, 0, 52 [SEP] 25, Spatula, 0.408, 0.945, 1.448, 0, 0, 0, 75 [SEP] 26, Plate, 1.566, 0.556, 2.534, 0, 0, 0, 78 [SEP] 27, SaltShaker, 1.738, 0.909, -1.212, 0, 0, 0, 58 [SEP] 28, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 40 [SEP] 29, Cup, -0.047, 0.930, 0.991, 0, 0, 0, 75 [SEP] 30, PepperShaker, 1.566, 0.877, 2.429, 0, 0, 0, 79 [SEP] 31, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 39 [SEP] 32, ButterKnife, 1.647, 0.913, -1.797, 0, 0, 0, 58 [SEP] 33, Tomato, -0.160, 0.982, 1.220, 0, 0, 0, 75 [SEP] 34, DishSponge, 1.828, 0.913, -1.329, 0, 0, 0, 58 [SEP] 35, Egg, 0.180, 0.984, 1.448, 0, 0, 0, 75 [SEP] 36, Spoon, -0.064, 0.765, -1.981, 0, 0, 0, 70 [SEP] 37, Knife, 1.605, 0.906, -1.582, 270, 225, 0, 58 [SEP] 38, Mug, -0.720, 0.908, -2.167, 0, 0, 0, 58 [SEP] 39, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 40, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 41, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 42, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 43, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 44, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 45, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 46, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 49, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 50, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 51, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 52, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 53, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 54, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 55, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 56, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 57, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 58, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 59, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 60, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 61, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 62, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 63, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 64, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 65, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 66, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 67, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 68, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 69, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 70, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 71, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 72, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 73, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 74, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 75, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 76, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 77, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 78, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 79, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 80, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 81, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 82, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 83, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 84, , , , , , , ,  [SEP] 85, NorthWall, , , , , , ,  [SEP] 86, EastWall, , , , , , ,  [SEP] 87, SouthWall, , , , , , ,  [SEP] 88, WestWall, , , , , , ,

Output: STEP 1: Walk over to the table. | STEP 2: Grab the tomato | STEP 3: Walk over to the sink | STEP 4: Wash the tomato | STEP 5: Grab the tomato and walk over to the fridge | STEP 6: Place the tomato in the fridge | END


Input: place a cold bread slice in the oven SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.0, 0, 270, 0,  [SEP] 1, Potato, 2.893, 0.806, 4.307, 0, 225, 0, 60 [SEP] 2, Potato, 1.895, 1.903, -1.843, 0, 0, 0, 105 [SEP] 3, Ladle, 2.650, 0.074, 0.119, 0, 90, 0, 86 [SEP] 4, Ladle, 2.222, 2.318, -1.871, 0, 0, 0, 87 [SEP] 5, ButterKnife, -0.661, 0.802, 0.454, 0, 0, 0, 61 [SEP] 6, ButterKnife, 2.370, 1.026, 1.550, 0, 136.999, 0, 59 [SEP] 7, WineBottle, 2.231, 1.027, 1.699, 0, 136.999, 0, 59 [SEP] 8, Glassbottle, 2.194, 1.027, 1.107, 0, 136.999, 0, 59 [SEP] 9, Glassbottle, 1.170, 1.027, -1.774, 0, 90, 0, 59 [SEP] 10, Spatula, 2.626, 0.779, 3.821, 0, 0, 0, 60 [SEP] 11, Spoon, -0.669, 1.028, 1.943, 0, 0, 0, 62 [SEP] 12, Fork, 2.801, 0.765, 3.970, 0, 270, 0, 60 [SEP] 13, Egg, 2.414, 0.808, 3.736, 0, 329.999, 0, 60 [SEP] 14, Cup, 1.774, 2.279, -1.795, 0, 0, 0, 75 [SEP] 15, Cup, 1.409, 1.025, -1.987, 0, 90, 0, 59 [SEP] 16, Knife, -0.794, 1.052, 2.556, 0, 0, 0, 62 [SEP] 17, Tomato, -0.858, 0.388, -0.738, 0, 90, 0, 103 [SEP] 18, Tomato, -0.877, 1.495, -0.073, 0, 90, 0, 103 [SEP] 19, SoapBottle, 2.726, 0.763, 3.492, 0, 329.999, 0, 60 [SEP] 20, SoapBottle, 1.350, 1.025, -1.454, 0, 90, 0, 59 [SEP] 21, Bowl, 1.926, 0.762, 3.821, 0, 270, 0, 60 [SEP] 22, Bowl, 2.959, 1.025, -1.151, 0, 0, 0, 59 [SEP] 23, SaltShaker, -0.661, 0.797, 2.325, 0, 0, 0, 65 [SEP] 24, SaltShaker, 1.230, 1.023, -1.454, 0, 90, 0, 59 [SEP] 25, PepperShaker, 2.815, 0.028, -0.169, 0, 0, 0, 85 [SEP] 26, PepperShaker, 2.478, 0.760, 3.682, 0, 225, 0, 60 [SEP] 27, Lettuce, -0.782, 0.874, 1.492, 0, 90, 0, 116 [SEP] 28, Lettuce, -0.782, 0.874, 1.181, 0, 90, 0, 116 [SEP] 29, Mug, -0.715, 0.044, 0.444, 0, 0, 0, 92 [SEP] 30, Apple, -0.997, 0.127, 2.842, 0, 0, 0, 114 [SEP] 31, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 57 [SEP] 32, Glassbottle, -1.013, 1.442, -0.073, 0, 90, 0, 103 [SEP] 33, Knife, 2.451, 0.789, 4.145, 0, 0, 0, 60 [SEP] 34, SoapBottle, 2.626, 0.763, 3.970, 0, 270, 0, 60 [SEP] 35, Egg, -0.360, 1.071, 1.540, 0, 0, 0, 62 [SEP] 36, Fork, -0.661, 0.800, 0.777, 0, 0, 0, 61 [SEP] 37, Potato, -0.418, 1.069, 2.556, 0, 0, 0, 62 [SEP] 38, Ladle, 1.350, 1.066, -1.667, 0, 90, 0, 59 [SEP] 39, Tomato, 2.570, 0.818, 3.614, 0, 329.999, 0, 60 [SEP] 40, Pot, 2.578, 1.029, 0.907, 0, 136.999, 0, 59 [SEP] 41, WineBottle, 2.790, 1.027, -0.236, 0, 0, 0, 59 [SEP] 42, Plate, -1.028, 0.786, -0.406, 0, 90, 0, 103 [SEP] 43, Spatula, 2.605, 0.779, 4.334, 0, 225, 0, 60 [SEP] 44, PaperTowelRoll, -0.347, 1.131, 1.263, 0, 0, 0, 62 [SEP] 45, Lettuce, 2.998, 1.085, 1.298, 0, 136.999, 0, 59 [SEP] 46, Apple, 2.302, 0.814, 4.145, 0, 0, 0, 60 [SEP] 47, SaltShaker, 2.451, 0.760, 3.97, 0, 329.999, 0, 60 [SEP] 48, PepperShaker, -0.803, 0.797, 2.556, 0, 0, 0, 65 [SEP] 49, ButterKnife, 2.580, 0.764, 4.099, 0, 225, 0, 60 [SEP] 50, Bread, -0.418, 1.095, 0.416, 0, 0, 0, 62 [SEP] 51, Cup, 2.175, 0.763, 4.447, 0, 329.999, 0, 60 [SEP] 52, DishSponge, 2.788, 0.764, 4.412, 0, 225, 0, 60 [SEP] 53, Bowl, 2.815, 0.762, 4.124, 0, 225, 0, 60 [SEP] 54, Spoon, 2.302, 0.765, 4.32, 0, 0, 0, 60 [SEP] 55, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 112 [SEP] 56, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 57, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 58, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 59, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 60, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 61, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 62, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 63, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 64, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 65, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 66, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 67, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 68, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 69, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 70, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 71, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 72, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 73, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 74, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 75, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 76, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 77, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 78, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 79, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 80, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 81, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 82, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 83, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 84, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 85, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 86, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 87, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 88, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 89, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 90, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 91, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 92, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 93, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 94, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 95, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 96, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 97, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 98, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 99, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 100, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 101, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 102, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 103, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 104, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 105, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 106, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 107, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 108, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 109, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 110, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 111, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 112, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 113, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 114, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 115, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 116, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 117, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 118, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 119, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 120, , , , , , , ,  [SEP] 121, NorthWall, , , , , , ,  [SEP] 122, EastWall, , , , , , ,  [SEP] 123, SouthWall, , , , , , ,  [SEP] 124, WestWall, , , , , , ,

Output: STEP 1: turn around and head for the table | STEP 2: pick up the knife on the table | STEP 3: head straight for the coffee maker | STEP 4: slice the bread by the maker | STEP 5: move left to the fridge | STEP 6: place the knife in the fridge | STEP 7: move right to the bread | STEP 8: pick up a slice from the bread | STEP 9: head left to the fridge | STEP 10: place the bread to cool and then take it out | STEP 11: turn around and head for the oven  | STEP 12: place the bread in the oven | END


Input: Wash the plate 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, 1.5, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Potato, -1.404, 0.941, -1.891, 0, 0, 0, 82 [SEP] 2, Potato, 2.000, 1.129, -0.830, 0, 270, 0, 89 [SEP] 3, Ladle, -1.045, 1.168, 0.662, 0, 0, 0, 78 [SEP] 4, DishSponge, -1.259, 0.910, -1.845, 0, 0, 0, 82 [SEP] 5, DishSponge, 1.746, 0.116, -1.266, 0, 0, 0, 56 [SEP] 6, Kettle, -0.634, 0.914, 0.294, 0, 180, 0, 75 [SEP] 7, Spatula, -1.330, 0.928, -0.353, 0, 90, 0, 75 [SEP] 8, Spatula, -1.247, 0.907, -0.109, 358.832, 0, 0, 75 [SEP] 9, Fork, -0.252, 0.697, 0.139, 0, 90, 0, 81 [SEP] 10, Fork, -0.375, 1.132, 0.485, 0, 0, 0, 78 [SEP] 11, Spoon, -0.611, 0.693, 0.190, 0, 180, 0, 76 [SEP] 12, Egg, 0.071, 1.165, 0.706, 0, 0, 0, 78 [SEP] 13, Egg, -0.822, 1.165, 0.485, 0, 0, 0, 78 [SEP] 14, Plate, -1.028, 0.134, -0.296, 0, 0, 0, 69 [SEP] 15, Plate, 0.504, 1.659, -2.161, 0, 0, 0, 62 [SEP] 16, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 66 [SEP] 17, Bowl, 1.836, 1.424, -0.737, 0, 270, 0, 89 [SEP] 18, Bowl, -0.420, 0.910, 0.294, 0, 0, 0, 75 [SEP] 19, SaltShaker, -1.200, 1.654, -1.726, 0, 0, 0, 64 [SEP] 20, Lettuce, -0.152, 1.208, 0.529, 0, 0, 0, 78 [SEP] 21, Lettuce, 1.891, 1.175, -0.644, 0, 270, 0, 89 [SEP] 22, Mug, 1.781, 1.010, -1.297, 0, 270, 0, 87 [SEP] 23, Apple, 2.055, 1.147, -0.458, 0, 270, 0, 89 [SEP] 24, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 79 [SEP] 25, Knife, -0.691, 0.717, -1.846, 0, 270, 0, 52 [SEP] 26, Bowl, 1.891, 0.814, -0.644, 0, 270, 0, 89 [SEP] 27, Fork, -0.598, 1.132, 0.441, 0, 0, 0, 78 [SEP] 28, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 92 [SEP] 29, Ladle, -1.322, 0.948, -1.638, 0, 0, 0, 82 [SEP] 30, Apple, 1.924, 0.111, 0.166, 0, 0, 0, 85 [SEP] 31, Kettle, 1.000, 1.658, -2.126, 0, 0, 0, 61 [SEP] 32, Vase, 1.950, 1.654, -1.802, 0, 0, 0, 60 [SEP] 33, Potato, 1.836, 1.129, -0.830, 0, 270, 0, 89 [SEP] 34, Pot, 1.945, 1.429, -0.365, 0, 270, 0, 89 [SEP] 35, Bread, -1.147, 0.982, -0.190, 0, 0, 0, 75 [SEP] 36, Plate, 1.911, 1.658, -1.197, 0, 0, 0, 59 [SEP] 37, Spatula, -0.623, 0.709, -1.802, 0, 270, 0, 52 [SEP] 38, PaperTowelRoll, 2.591, 0.656, 0.090, 0, 180, 0, 88 [SEP] 39, Vase, -0.697, 0.118, -1.832, 0, 0, 0, 67 [SEP] 40, Egg, 1.813, 1.049, -1.402, 0, 270, 0, 87 [SEP] 41, SoapBottle, 3.002, 0.879, 0.195, 0, 180, 0, 86 [SEP] 42, SaltShaker, 2.694, 0.548, -0.013, 0, 180, 0, 88 [SEP] 43, Lettuce, -1.157, 0.987, -1.384, 0, 90, 0, 82 [SEP] 44, PepperShaker, -1.160, 0.125, -1.465, 0, 0, 0, 68 [SEP] 45, ButterKnife, -0.993, 0.911, -1.553, 0, 0, 0, 82 [SEP] 46, DishSponge, -0.997, 0.913, -0.353, 0, 0, 0, 75 [SEP] 47, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 88 [SEP] 48, Spoon, -0.777, 0.912, -1.929, 0, 90, 0, 82 [SEP] 49, Tomato, 1.836, 1.148, -0.458, 0, 270, 0, 89 [SEP] 50, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 98 [SEP] 51, Statue, -0.598, 1.138, 0.573, 0, 0, 0, 78 [SEP] 52, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 53, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 54, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 55, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 57, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 58, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 59, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 60, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 63, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 64, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 65, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 66, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 67, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 68, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 69, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 70, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 71, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 72, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 73, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 74, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 75, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 76, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 77, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 78, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 79, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 80, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 81, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 82, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 83, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 84, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 85, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 86, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 87, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 88, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 89, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 90, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 91, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 92, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 93, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 94, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 95, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 96, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 97, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 98, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 99, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 100, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 101, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Walk over to the microwave | STEP 2: Grab the plate out of the cabinet | STEP 3: Walk over to the sink | STEP 4: Clean the plate | STEP 5: Walk over to the fridge | STEP 6: Put the plate in the fridge | END


Input: Put a cleaned plate 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, 1.5, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Potato, -1.404, 0.941, -1.891, 0, 0, 0, 82 [SEP] 2, Potato, 2.000, 1.129, -0.830, 0, 270, 0, 89 [SEP] 3, Ladle, -1.045, 1.168, 0.662, 0, 0, 0, 78 [SEP] 4, DishSponge, -1.259, 0.910, -1.845, 0, 0, 0, 82 [SEP] 5, DishSponge, 1.746, 0.116, -1.266, 0, 0, 0, 56 [SEP] 6, Kettle, -0.634, 0.914, 0.294, 0, 180, 0, 75 [SEP] 7, Spatula, -1.330, 0.928, -0.353, 0, 90, 0, 75 [SEP] 8, Spatula, -1.247, 0.907, -0.109, 358.832, 0, 0, 75 [SEP] 9, Fork, -0.252, 0.697, 0.139, 0, 90, 0, 81 [SEP] 10, Fork, -0.375, 1.132, 0.485, 0, 0, 0, 78 [SEP] 11, Spoon, -0.611, 0.693, 0.190, 0, 180, 0, 76 [SEP] 12, Egg, 0.071, 1.165, 0.706, 0, 0, 0, 78 [SEP] 13, Egg, -0.822, 1.165, 0.485, 0, 0, 0, 78 [SEP] 14, Plate, -1.028, 0.134, -0.296, 0, 0, 0, 69 [SEP] 15, Plate, 0.504, 1.659, -2.161, 0, 0, 0, 62 [SEP] 16, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 66 [SEP] 17, Bowl, 1.836, 1.424, -0.737, 0, 270, 0, 89 [SEP] 18, Bowl, -0.420, 0.910, 0.294, 0, 0, 0, 75 [SEP] 19, SaltShaker, -1.200, 1.654, -1.726, 0, 0, 0, 64 [SEP] 20, Lettuce, -0.152, 1.208, 0.529, 0, 0, 0, 78 [SEP] 21, Lettuce, 1.891, 1.175, -0.644, 0, 270, 0, 89 [SEP] 22, Mug, 1.781, 1.010, -1.297, 0, 270, 0, 87 [SEP] 23, Apple, 2.055, 1.147, -0.458, 0, 270, 0, 89 [SEP] 24, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 79 [SEP] 25, Knife, -0.691, 0.717, -1.846, 0, 270, 0, 52 [SEP] 26, Bowl, 1.891, 0.814, -0.644, 0, 270, 0, 89 [SEP] 27, Fork, -0.598, 1.132, 0.441, 0, 0, 0, 78 [SEP] 28, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 92 [SEP] 29, Ladle, -1.322, 0.948, -1.638, 0, 0, 0, 82 [SEP] 30, Apple, 1.924, 0.111, 0.166, 0, 0, 0, 85 [SEP] 31, Kettle, 1.000, 1.658, -2.126, 0, 0, 0, 61 [SEP] 32, Vase, 1.950, 1.654, -1.802, 0, 0, 0, 60 [SEP] 33, Potato, 1.836, 1.129, -0.830, 0, 270, 0, 89 [SEP] 34, Pot, 1.945, 1.429, -0.365, 0, 270, 0, 89 [SEP] 35, Bread, -1.147, 0.982, -0.190, 0, 0, 0, 75 [SEP] 36, Plate, 1.911, 1.658, -1.197, 0, 0, 0, 59 [SEP] 37, Spatula, -0.623, 0.709, -1.802, 0, 270, 0, 52 [SEP] 38, PaperTowelRoll, 2.591, 0.656, 0.090, 0, 180, 0, 88 [SEP] 39, Vase, -0.697, 0.118, -1.832, 0, 0, 0, 67 [SEP] 40, Egg, 1.813, 1.049, -1.402, 0, 270, 0, 87 [SEP] 41, SoapBottle, 3.002, 0.879, 0.195, 0, 180, 0, 86 [SEP] 42, SaltShaker, 2.694, 0.548, -0.013, 0, 180, 0, 88 [SEP] 43, Lettuce, -1.157, 0.987, -1.384, 0, 90, 0, 82 [SEP] 44, PepperShaker, -1.160, 0.125, -1.465, 0, 0, 0, 68 [SEP] 45, ButterKnife, -0.993, 0.911, -1.553, 0, 0, 0, 82 [SEP] 46, DishSponge, -0.997, 0.913, -0.353, 0, 0, 0, 75 [SEP] 47, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 88 [SEP] 48, Spoon, -0.777, 0.912, -1.929, 0, 90, 0, 82 [SEP] 49, Tomato, 1.836, 1.148, -0.458, 0, 270, 0, 89 [SEP] 50, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 98 [SEP] 51, Statue, -0.598, 1.138, 0.573, 0, 0, 0, 78 [SEP] 52, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 53, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 54, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 55, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 57, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 58, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 59, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 60, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 63, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 64, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 65, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 66, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 67, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 68, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 69, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 70, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 71, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 72, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 73, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 74, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 75, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 76, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 77, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 78, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 79, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 80, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 81, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 82, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 83, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 84, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 85, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 86, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 87, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 88, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 89, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 90, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 91, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 92, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 93, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 94, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 95, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 96, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 97, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 98, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 99, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 100, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 101, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Head past the fridge, turn left to face the microwave. | STEP 2: Take the dirty plate out of the cabinet above the microwave.  | STEP 3: Turn around, bring the dirty plate to the sink on the left. | STEP 4: Wash the plate in the sink.  | STEP 5: Bring the cleaned plate to the fridge on the left. | STEP 6: Put the cleaned plate in the fridge. | END


Input: To put a cell phone on a plate and put the plate on the coffee table.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0,  [SEP] 1, Plate, -3.216, 0.554, 1.822, 0, 0, 0, 32 [SEP] 2, Newspaper, 0.636, 0.548, 6.469, 0, 0, 0, 33 [SEP] 3, Newspaper, 0.909, 0.981, 3.921, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.847, 0.986, 3.506, 0, 0, 0, 48 [SEP] 5, CellPhone, -1.127, 0.316, 2.685, 0, 39.022, 0, 35 [SEP] 6, CellPhone, 0.753, 0.102, 4.096, 0, 0, 0, 47 [SEP] 7, RemoteControl, -5.885, 0.788, 5.353, 0, 0, 0, 36 [SEP] 8, RemoteControl, -5.269, 0.788, 5.575, 0, 0, 0, 36 [SEP] 9, Box, -5.639, 0.977, 4.689, 0, 0, 0, 36 [SEP] 10, Box, -1.591, 0.498, 2.277, 0, 26.831, 0, 35 [SEP] 11, CellPhone, 0.446, 0.552, 6.731, 0, 0, 0, 33 [SEP] 12, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 13, Newspaper, -1.885, 0.308, 2.308, 0, 39.022, 0, 35 [SEP] 14, KeyChain, 0.784, 0.983, 3.506, 0, 0, 0, 48 [SEP] 15, Plate, -5.807, 0.781, 4.222, 0, 0, 0, 36 [SEP] 16, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 44 [SEP] 17, RemoteControl, -5.639, 0.788, 4.910, 0, 0, 0, 36 [SEP] 18, CreditCard, 0.718, 0.099, 4.345, 0, 0, 0, 47 [SEP] 19, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 36 [SEP] 20, Statue, -3.216, 0.560, 1.473, 0, 0, 0, 32 [SEP] 21, Curtains, -1.046, 3.500, 2.880, 0, 0, 0,  [SEP] 22, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0,  [SEP] 23, Television, 0.852, 1.460, 3.726, 357.954, 270, 0,  [SEP] 24, Painting, -3.813, 1.809, 1.008, 90, 90, 0,  [SEP] 25, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0,  [SEP] 26, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0,  [SEP] 27, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0,  [SEP] 28, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0,  [SEP] 29, Window, -1.985, 1.646, -0.009, 90, 180, 0,  [SEP] 30, Window, -4.909, 0.990, 2.015, 90, 180, 0,  [SEP] 31, Window, -5.796, 1.072, 1.871, 90, 180, 0,  [SEP] 32, SideTable, -3.407, 0.005, 1.656, 0, 270, 0,  [SEP] 33, SideTable, 0.732, 0.005, 6.634, 0, 270, 0,  [SEP] 34, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0,  [SEP] 35, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0,  [SEP] 36, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0,  [SEP] 37, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0,  [SEP] 38, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0,  [SEP] 39, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0,  [SEP] 40, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0,  [SEP] 41, Chair, -5.624, 0.002, 5.750, 0, 180, 0,  [SEP] 42, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0,  [SEP] 43, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0,  [SEP] 44, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0,  [SEP] 45, Drawer, 0.748, 0.237, 3.330, 0, 270, 0,  [SEP] 46, Drawer, 0.748, 0.668, 3.330, 0, 270, 0,  [SEP] 47, Drawer, 0.748, 0.235, 4.097, 0, 270, 0,  [SEP] 48, Dresser, 0.846, 0.002, 3.713, 0, 270, 0,  [SEP] 49, Drawer, 0.748, 0.665, 4.097, 0, 270, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Walk over to the table in the corner or the room.  | STEP 2: Pick up the cell phone from the table.  | STEP 3: Turn and walk to the dining table.  | STEP 4: Put the cell phone down on the black plate.  | STEP 5: Pick up the plate from the table.  | STEP 6: Turn and walk to the coffee table.  | STEP 7: Put the plate down on the table to the left of the cell phone.  | END


Input: Put a smartphone on a plate to set on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0,  [SEP] 1, Plate, -3.216, 0.554, 1.822, 0, 0, 0, 32 [SEP] 2, Newspaper, 0.636, 0.548, 6.469, 0, 0, 0, 33 [SEP] 3, Newspaper, 0.909, 0.981, 3.921, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.847, 0.986, 3.506, 0, 0, 0, 48 [SEP] 5, CellPhone, -1.127, 0.316, 2.685, 0, 39.022, 0, 35 [SEP] 6, CellPhone, 0.753, 0.102, 4.096, 0, 0, 0, 47 [SEP] 7, RemoteControl, -5.885, 0.788, 5.353, 0, 0, 0, 36 [SEP] 8, RemoteControl, -5.269, 0.788, 5.575, 0, 0, 0, 36 [SEP] 9, Box, -5.639, 0.977, 4.689, 0, 0, 0, 36 [SEP] 10, Box, -1.591, 0.498, 2.277, 0, 26.831, 0, 35 [SEP] 11, CellPhone, 0.446, 0.552, 6.731, 0, 0, 0, 33 [SEP] 12, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 13, Newspaper, -1.885, 0.308, 2.308, 0, 39.022, 0, 35 [SEP] 14, KeyChain, 0.784, 0.983, 3.506, 0, 0, 0, 48 [SEP] 15, Plate, -5.807, 0.781, 4.222, 0, 0, 0, 36 [SEP] 16, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 44 [SEP] 17, RemoteControl, -5.639, 0.788, 4.910, 0, 0, 0, 36 [SEP] 18, CreditCard, 0.718, 0.099, 4.345, 0, 0, 0, 47 [SEP] 19, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 36 [SEP] 20, Statue, -3.216, 0.560, 1.473, 0, 0, 0, 32 [SEP] 21, Curtains, -1.046, 3.500, 2.880, 0, 0, 0,  [SEP] 22, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0,  [SEP] 23, Television, 0.852, 1.460, 3.726, 357.954, 270, 0,  [SEP] 24, Painting, -3.813, 1.809, 1.008, 90, 90, 0,  [SEP] 25, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0,  [SEP] 26, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0,  [SEP] 27, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0,  [SEP] 28, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0,  [SEP] 29, Window, -1.985, 1.646, -0.009, 90, 180, 0,  [SEP] 30, Window, -4.909, 0.990, 2.015, 90, 180, 0,  [SEP] 31, Window, -5.796, 1.072, 1.871, 90, 180, 0,  [SEP] 32, SideTable, -3.407, 0.005, 1.656, 0, 270, 0,  [SEP] 33, SideTable, 0.732, 0.005, 6.634, 0, 270, 0,  [SEP] 34, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0,  [SEP] 35, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0,  [SEP] 36, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0,  [SEP] 37, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0,  [SEP] 38, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0,  [SEP] 39, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0,  [SEP] 40, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0,  [SEP] 41, Chair, -5.624, 0.002, 5.750, 0, 180, 0,  [SEP] 42, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0,  [SEP] 43, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0,  [SEP] 44, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0,  [SEP] 45, Drawer, 0.748, 0.237, 3.330, 0, 270, 0,  [SEP] 46, Drawer, 0.748, 0.668, 3.330, 0, 270, 0,  [SEP] 47, Drawer, 0.748, 0.235, 4.097, 0, 270, 0,  [SEP] 48, Dresser, 0.846, 0.002, 3.713, 0, 270, 0,  [SEP] 49, Drawer, 0.748, 0.665, 4.097, 0, 270, 0,  [SEP] 50, NorthWall, , , , , , ,  [SEP] 51, EastWall, , , , , , ,  [SEP] 52, SouthWall, , , , , , ,  [SEP] 53, WestWall, , , , , , ,

Output: STEP 1: Turn left to walk to the far corner with the small wooden table. | STEP 2: Pick up the smartphone on the small wooden table. | STEP 3: Turn around, walking across the room to reach the wooden table with chairs around it. | STEP 4: Set the smartphone down on the plate on the wooden table with chairs around it. | STEP 5: Pick up the plate with the smartphone on it. | STEP 6: Turn right, then hang another right around the couches to reach the coffee table. | STEP 7: Set the plate with the smartphone on it down next to the other smartphone on the coffee table. | END


Input: Put a microwaved 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, -1.25, 0.901, -2.0, 0, 90, 0,  [SEP] 1, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 71 [SEP] 2, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 75 [SEP] 3, Potato, -0.095, 0.959, -1.616, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.821, 0.716, -0.540, 0, 225, 0, 90 [SEP] 5, DishSponge, -1.845, 0.790, -3.747, 0, 0, 0, 88 [SEP] 6, Spoon, -1.058, 0.914, -3.581, 0, 0, 0, 46 [SEP] 7, Spoon, -0.176, 0.917, -0.472, 0, 0, 0, 73 [SEP] 8, Fork, -2.439, 0.717, -0.496, 0, 90, 0, 90 [SEP] 9, Fork, -2.922, 0.717, -0.640, 0, 225, 0, 90 [SEP] 10, Egg, -3.199, 0.752, -0.427, 0, 135, 0, 90 [SEP] 11, Egg, -2.608, 0.752, -0.150, 0, 225, 0, 90 [SEP] 12, Plate, -0.452, 0.078, -1.414, 0, 0, 0, 51 [SEP] 13, Knife, -0.530, 0.778, -1.563, 0, 90, 0, 69 [SEP] 14, Knife, -2.009, 0.946, -3.526, 0, 0, 0, 46 [SEP] 15, Tomato, -0.338, 0.965, -1.616, 0, 0, 0, 73 [SEP] 16, Tomato, -2.740, 0.763, -0.069, 0, 0, 0, 90 [SEP] 17, SoapBottle, -0.334, 0.080, -2.853, 0, 0, 0, 57 [SEP] 18, SoapBottle, -3.292, 0.716, -0.495, 0, 270, 0, 90 [SEP] 19, Bowl, -0.813, 0.079, -3.675, 0, 0, 0, 48 [SEP] 20, SaltShaker, -2.740, 0.710, -0.638, 0, 0, 0, 90 [SEP] 21, PepperShaker, -0.441, 0.743, -1.331, 0, 0, 0, 69 [SEP] 22, Bread, -3.155, 0.754, -0.608, 0, 225, 0, 90 [SEP] 23, Mug, -2.053, 0.076, -3.596, 0, 0, 0, 67 [SEP] 24, Apple, -0.500, 0.958, -0.490, 0, 0, 0, 73 [SEP] 25, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 46 [SEP] 26, Egg, -0.223, 0.115, 0.097, 0, 270, 0, 85 [SEP] 27, Cup, -3.182, 0.641, -2.002, 0, 90, 0, 87 [SEP] 28, Bread, -2.676, 0.757, -0.508, 0, 135, 0, 90 [SEP] 29, Fork, -0.039, 0.914, -3.878, 0, 0, 0, 46 [SEP] 30, Pan, -3.167, 0.912, -3.804, 0, 90, 0, 46 [SEP] 31, Potato, -1.707, 0.834, -3.790, 0, 0, 0, 88 [SEP] 32, Lettuce, -0.160, 1.001, -3.112, 0, 0, 0, 46 [SEP] 33, Tomato, -2.865, 0.763, -0.922, 0, 0, 0, 90 [SEP] 34, Apple, -3.286, 1.056, -2.064, 0, 90, 0, 87 [SEP] 35, SoapBottle, -2.439, 0.716, -0.558, 0, 270, 0, 90 [SEP] 36, Spatula, -3.393, 0.928, -3.428, 0, 0, 0, 46 [SEP] 37, SaltShaker, -1.821, 0.078, -3.558, 0, 0, 0, 67 [SEP] 38, Knife, -0.650, 0.946, -3.581, 0, 0, 0, 46 [SEP] 39, PepperShaker, -1.477, 0.079, -3.555, 0, 0, 0, 62 [SEP] 40, ButterKnife, -0.419, 0.916, -0.524, 0, 0, 0, 73 [SEP] 41, Plate, -3.226, 1.866, -1.974, 0, 0, 0, 56 [SEP] 42, DishSponge, -0.328, 0.913, -2.911, 0, 0, 0, 46 [SEP] 43, Spoon, -0.338, 0.917, -1.370, 0, 0, 0, 73 [SEP] 44, Mug, -0.447, 0.908, -4.026, 0, 0, 0, 46 [SEP] 45, Bowl, -0.411, 0.079, -3.348, 0, 0, 0, 47 [SEP] 46, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 47, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 48, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 49, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 51, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 52, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 53, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 54, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 55, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 56, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 57, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 58, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 59, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 60, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 61, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 62, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 63, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 64, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 65, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 66, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 67, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 68, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 69, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 70, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 71, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 72, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 73, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 74, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 75, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 76, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 77, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 78, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 79, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 80, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 81, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 82, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 83, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 84, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 85, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 86, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 87, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 88, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 89, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 90, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 91, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 92, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 93, NorthWall, , , , , , ,  [SEP] 94, EastWall, , , , , , ,  [SEP] 95, SouthWall, , , , , , ,  [SEP] 96, WestWall, , , , , , ,

Output: STEP 1: Take a step to your left. | STEP 2: Pick up the potato that's above the tomato. | STEP 3: Take another step to your left. | STEP 4: Cook the potato in the microwave and then get it back out and close the door. | STEP 5: Turn right and walk to the stove then turn left and walk to the fridge. | STEP 6: Put the potato in the fridge by the tomato and close the door. | END