Input: Put a container with a spoon in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, 0.75, 0, 0, 0,  [SEP] 1, Pan, 3.173, 1.464, -1.284, 0, 90, 0, 78 [SEP] 2, Potato, 3.044, 0.939, -0.897, 0, 0, 0, 63 [SEP] 3, Potato, -1.018, 1.036, 1.523, 0, 90, 0, 112 [SEP] 4, Ladle, 0.101, 0.937, -1.731, 0, 90, 0, 85 [SEP] 5, Ladle, -0.285, 0.937, -1.450, 0, 135, 0, 85 [SEP] 6, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 95 [SEP] 7, ButterKnife, -0.048, 0.900, -1.584, 0, 45, 0, 85 [SEP] 8, Glassbottle, -0.253, 1.264, -1.531, 0, 45, 0, 81 [SEP] 9, Glassbottle, 3.208, 0.101, 1.573, 0, 225, 0, 105 [SEP] 10, Pot, 1.491, 0.908, 0.605, 0, 0, 0, 95 [SEP] 11, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 109 [SEP] 12, Spoon, -0.827, 0.707, 1.343, 0, 0, 0, 57 [SEP] 13, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 107 [SEP] 14, Bread, -0.935, 0.979, 0.846, 0, 0, 0, 64 [SEP] 15, SaltShaker, -1.043, 0.896, -0.691, 0, 45, 0, 64 [SEP] 16, Bowl, 2.976, 1.461, -1.648, 0, 0, 0, 62 [SEP] 17, Bowl, 3.044, 0.897, -0.698, 0, 0, 0, 63 [SEP] 18, Bowl, -0.675, 0.897, -0.753, 0, 45, 0, 64 [SEP] 19, SoapBottle, -0.131, 0.909, -1.296, 0, 45, 0, 85 [SEP] 20, SoapBottle, 0.856, 1.683, -1.619, 0, 0, 0, 79 [SEP] 21, Egg, -1.052, 1.050, 1.364, 0, 90, 0, 112 [SEP] 22, Egg, 3.277, 0.953, -0.798, 0, 0, 0, 63 [SEP] 23, Plate, -1.008, 0.913, 0.399, 0, 0, 0, 64 [SEP] 24, Knife, 0.781, 0.933, 0.452, 0, 36.810, 0, 95 [SEP] 25, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.152, 0.748, -0.034, 0, 90, 0, 109 [SEP] 27, SoapBottle, 3.279, 1.273, -0.917, 0, 0, 0, 77 [SEP] 28, Potato, 1.086, 1.111, -1.448, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.408, 0, 270, 0, 60 [SEP] 30, Ladle, -0.932, 0.937, -0.801, 0, 135, 0, 64 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.151, 0.915, -1.476, 0, 45, 0, 85 [SEP] 34, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 110 [SEP] 36, Cup, 3.197, 0.175, 0.489, 0, 0, 0, 73 [SEP] 37, SaltShaker, -0.745, 0.322, 0.401, 0, 0, 0, 65 [SEP] 38, Egg, 3.200, 0.953, -0.698, 0, 0, 0, 63 [SEP] 39, PepperShaker, 3.279, 1.260, -0.822, 0, 0, 0, 77 [SEP] 40, ButterKnife, -0.868, 0.326, -0.011, 0, 0, 0, 69 [SEP] 41, Apple, 0.887, 0.984, 0.627, 0, 0, 0, 95 [SEP] 42, Pan, 1.098, 0.907, 0.322, 0, 270, 0, 95 [SEP] 43, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 95 [SEP] 44, CellPhone, -0.868, 0.515, 0.163, 0, 0, 0, 69 [SEP] 45, DishSponge, 1.160, 1.674, -1.410, 0, 0, 0, 55 [SEP] 46, Tomato, 1.164, 0.748, -1.433, 0, 0, 0, 110 [SEP] 47, Spoon, 1.229, 0.909, 0.889, 0, 0, 0, 95 [SEP] 48, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 55 [SEP] 49, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 80 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 114, NorthWall, , , , , , ,  [SEP] 115, EastWall, , , , , , ,  [SEP] 116, SouthWall, , , , , , ,  [SEP] 117, WestWall, , , , , , ,

Output: STEP 1: Turn around, hang a right at the white door and cross the room towards the stove. | STEP 2: Pick up the spoon to the right of the stove on the counter top. | STEP 3: Put the spoon inside the clear container on the counter. | STEP 4: Pick up the container with the spoon from the counter. | STEP 5: Turn around and cross the room to reach the counter to the right of the sink. | STEP 6: Place the container with the spoon inside the sink. | END


Input: Rinse a tomato and place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 1.124, 1.25, 0, 270, 0,  [SEP] 1, Pan, 1.053, 0.344, -1.854, 0, 90, 0, 49 [SEP] 2, Potato, 1.246, 1.350, 0.965, 0, 270, 0, 75 [SEP] 3, DishSponge, -1.614, 0.343, 1.007, 0, 0, 0, 51 [SEP] 4, Kettle, -1.886, 0.344, 1.420, 0, 0, 0, 51 [SEP] 5, Kettle, -1.681, 0.344, 0.211, 0, 90, 0, 48 [SEP] 6, Fork, -1.603, 0.420, -1.152, 0, 0, 0, 56 [SEP] 7, Spatula, -2.049, 1.337, 1.744, 0, 0, 0, 50 [SEP] 8, Spatula, -1.165, 1.337, -3.314, 0, 0, 0, 50 [SEP] 9, Pot, 0.896, 1.329, -2.053, 0, 0, 0, 50 [SEP] 10, Egg, 1.110, 1.248, 1.238, 0, 0, 0, 75 [SEP] 11, SoapBottle, -1.602, 0.344, -1.763, 0, 0, 0, 46 [SEP] 12, Tomato, 1.056, 1.791, 2.112, 0, 270, 0, 63 [SEP] 13, Tomato, -1.381, 1.356, -1.035, 0, 0, 0, 50 [SEP] 14, Bowl, 0.824, 0.343, -2.267, 0, 180, 0, 49 [SEP] 15, SaltShaker, -1.920, 1.318, -2.981, 0, 0, 0, 50 [SEP] 16, PepperShaker, 1.193, 1.202, 1.254, 0, 0, 0, 75 [SEP] 17, PepperShaker, -1.530, 1.318, 1.744, 0, 0, 0, 50 [SEP] 18, Lettuce, -1.826, 1.409, -1.255, 0, 0, 0, 57 [SEP] 19, Mug, -1.817, 0.338, 0.613, 0, 0, 0, 48 [SEP] 20, Apple, -1.634, 0.329, 2.193, 0, 270, 0, 65 [SEP] 21, Apple, 1.181, 1.359, 0.810, 0, 270, 0, 75 [SEP] 22, Bread, -1.790, 1.397, 0.445, 0, 0, 0, 50 [SEP] 23, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 47 [SEP] 24, Knife, -1.920, 1.352, 1.744, 0, 0, 0, 50 [SEP] 25, Bowl, -1.660, 1.321, 1.744, 0, 0, 0, 50 [SEP] 26, Potato, -2.179, 1.362, 0.770, 0, 0, 0, 50 [SEP] 27, SoapBottle, -1.826, 1.333, -0.980, 0, 0, 0, 57 [SEP] 28, Fork, -1.915, 1.336, -0.911, 0, 0, 0, 57 [SEP] 29, Cup, -2.004, 1.334, -1.049, 0, 0, 0, 57 [SEP] 30, Kettle, -1.884, 0.344, 0.311, 0, 0, 0, 48 [SEP] 31, Egg, -2.093, 1.375, -1.255, 0, 0, 0, 57 [SEP] 32, Pan, -1.165, 1.322, -2.870, 0, 90, 0, 50 [SEP] 33, SaltShaker, 1.027, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, -2.049, 1.323, 2.069, 0, 0, 0, 50 [SEP] 35, Lettuce, 1.017, 1.751, 1.722, 0, 270, 0, 63 [SEP] 36, Spatula, 1.155, 1.337, -2.424, 0, 0, 0, 50 [SEP] 37, PaperTowelRoll, -1.660, 1.427, 1.094, 0, 0, 0, 50 [SEP] 38, Tomato, 0.911, 2.062, 2.111, 0, 270, 0, 63 [SEP] 39, Plate, -1.789, 0.344, -1.963, 0, 0, 0, 46 [SEP] 40, PepperShaker, 1.053, 0.339, -2.267, 0, 180, 0, 49 [SEP] 41, DishSponge, -1.730, 0.422, -1.283, 0, 0, 0, 56 [SEP] 42, Spoon, -2.018, 1.053, -0.542, 0, 90, 0, 68 [SEP] 43, Apple, 0.492, 1.371, -3.232, 0, 0, 0, 50 [SEP] 44, Mug, 0.920, 1.519, 1.539, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn to the left and then face the sink on the right. | STEP 2: Pick up the tomato from the edge of the counter. | STEP 3: Hold the tomato and move a step to the right. | STEP 4: Place the tomato in the sink and turn on the water. Turn off the water and pick up the tomato. | STEP 5: Carry the tomato and turn around to the microwave cart. | STEP 6: Place the tomato on the left side of the microwave cart. | END


Input: Put a clean tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 1.124, 1.25, 0, 270, 0,  [SEP] 1, Pan, 1.053, 0.344, -1.854, 0, 90, 0, 49 [SEP] 2, Potato, 1.246, 1.350, 0.965, 0, 270, 0, 75 [SEP] 3, DishSponge, -1.614, 0.343, 1.007, 0, 0, 0, 51 [SEP] 4, Kettle, -1.886, 0.344, 1.420, 0, 0, 0, 51 [SEP] 5, Kettle, -1.681, 0.344, 0.211, 0, 90, 0, 48 [SEP] 6, Fork, -1.603, 0.420, -1.152, 0, 0, 0, 56 [SEP] 7, Spatula, -2.049, 1.337, 1.744, 0, 0, 0, 50 [SEP] 8, Spatula, -1.165, 1.337, -3.314, 0, 0, 0, 50 [SEP] 9, Pot, 0.896, 1.329, -2.053, 0, 0, 0, 50 [SEP] 10, Egg, 1.110, 1.248, 1.238, 0, 0, 0, 75 [SEP] 11, SoapBottle, -1.602, 0.344, -1.763, 0, 0, 0, 46 [SEP] 12, Tomato, 1.056, 1.791, 2.112, 0, 270, 0, 63 [SEP] 13, Tomato, -1.381, 1.356, -1.035, 0, 0, 0, 50 [SEP] 14, Bowl, 0.824, 0.343, -2.267, 0, 180, 0, 49 [SEP] 15, SaltShaker, -1.920, 1.318, -2.981, 0, 0, 0, 50 [SEP] 16, PepperShaker, 1.193, 1.202, 1.254, 0, 0, 0, 75 [SEP] 17, PepperShaker, -1.530, 1.318, 1.744, 0, 0, 0, 50 [SEP] 18, Lettuce, -1.826, 1.409, -1.255, 0, 0, 0, 57 [SEP] 19, Mug, -1.817, 0.338, 0.613, 0, 0, 0, 48 [SEP] 20, Apple, -1.634, 0.329, 2.193, 0, 270, 0, 65 [SEP] 21, Apple, 1.181, 1.359, 0.810, 0, 270, 0, 75 [SEP] 22, Bread, -1.790, 1.397, 0.445, 0, 0, 0, 50 [SEP] 23, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 47 [SEP] 24, Knife, -1.920, 1.352, 1.744, 0, 0, 0, 50 [SEP] 25, Bowl, -1.660, 1.321, 1.744, 0, 0, 0, 50 [SEP] 26, Potato, -2.179, 1.362, 0.770, 0, 0, 0, 50 [SEP] 27, SoapBottle, -1.826, 1.333, -0.980, 0, 0, 0, 57 [SEP] 28, Fork, -1.915, 1.336, -0.911, 0, 0, 0, 57 [SEP] 29, Cup, -2.004, 1.334, -1.049, 0, 0, 0, 57 [SEP] 30, Kettle, -1.884, 0.344, 0.311, 0, 0, 0, 48 [SEP] 31, Egg, -2.093, 1.375, -1.255, 0, 0, 0, 57 [SEP] 32, Pan, -1.165, 1.322, -2.870, 0, 90, 0, 50 [SEP] 33, SaltShaker, 1.027, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, -2.049, 1.323, 2.069, 0, 0, 0, 50 [SEP] 35, Lettuce, 1.017, 1.751, 1.722, 0, 270, 0, 63 [SEP] 36, Spatula, 1.155, 1.337, -2.424, 0, 0, 0, 50 [SEP] 37, PaperTowelRoll, -1.660, 1.427, 1.094, 0, 0, 0, 50 [SEP] 38, Tomato, 0.911, 2.062, 2.111, 0, 270, 0, 63 [SEP] 39, Plate, -1.789, 0.344, -1.963, 0, 0, 0, 46 [SEP] 40, PepperShaker, 1.053, 0.339, -2.267, 0, 180, 0, 49 [SEP] 41, DishSponge, -1.730, 0.422, -1.283, 0, 0, 0, 56 [SEP] 42, Spoon, -2.018, 1.053, -0.542, 0, 90, 0, 68 [SEP] 43, Apple, 0.492, 1.371, -3.232, 0, 0, 0, 50 [SEP] 44, Mug, 0.920, 1.519, 1.539, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 80, NorthWall, , , , , , ,  [SEP] 81, EastWall, , , , , , ,  [SEP] 82, SouthWall, , , , , , ,  [SEP] 83, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk towards the oven, then hang a right and walk up to the counter. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Turn right and walk towards the wall, then turn left to face the sink. | STEP 4: Put the tomato in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean tomato. | STEP 5: Turn right and walk towards the wall, then hang a right and walk up to the microwave. | STEP 6: Put the clean tomato on the front left corner of the counter in front of you. | END


Input: Put the clean ladle in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.75, 0, 270, 0,  [SEP] 1, WineBottle, 2.002, 0.083, 2.199, 0, 0, 0, 51 [SEP] 2, WineBottle, 1.917, 0.939, 0.361, 0, 0, 0, 66 [SEP] 3, DishSponge, 1.906, 0.745, 0.446, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.033, 0.790, 1.049, 0, 0, 0, 82 [SEP] 5, Spoon, -0.272, 0.792, 1.386, 0, 0, 0, 82 [SEP] 6, Egg, 1.118, 0.837, 2.750, 0, 0, 0, 79 [SEP] 7, Egg, 0.033, 0.833, 0.545, 0, 0, 0, 82 [SEP] 8, Cup, 0.576, 0.793, 2.64, 0, 0, 0, 79 [SEP] 9, Plate, 0.637, 0.085, 2.523, 0, 0, 0, 62 [SEP] 10, Knife, -0.119, 0.816, 1.217, 0, 0, 0, 82 [SEP] 11, Knife, 1.815, 0.771, 1.922, 0, 90, 0, 70 [SEP] 12, Tomato, -0.042, 0.837, 0.377, 0, 0, 0, 82 [SEP] 13, Tomato, 0.033, 0.837, 1.386, 0, 0, 0, 82 [SEP] 14, Bowl, 2.231, 1.515, -0.460, 0, 270, 0, 76 [SEP] 15, Bowl, 2.000, 1.320, -0.369, 0, 270, 0, 76 [SEP] 16, SaltShaker, 1.849, 0.077, 1.915, 0, 0, 0, 51 [SEP] 17, SaltShaker, 2.165, 1.498, 0.448, 0, 270, 0, 53 [SEP] 18, PepperShaker, -0.118, 0.932, 2.451, 0, 0, 0, 55 [SEP] 19, PepperShaker, 2.241, 1.498, 0.478, 0, 0, 0, 53 [SEP] 20, Lettuce, 2.059, 0.400, -0.097, 0, 270, 0, 76 [SEP] 21, Mug, 2.158, 0.855, -0.460, 0, 270, 0, 76 [SEP] 22, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 23, Apple, 2.164, 0.652, -0.278, 0, 270, 0, 76 [SEP] 24, Egg, -0.349, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 55 [SEP] 26, Fork, 2.011, 0.747, 0.652, 0, 90, 0, 64 [SEP] 27, SoapBottle, 1.156, 0.082, 2.484, 0, 0, 0, 61 [SEP] 28, Ladle, 1.941, 0.790, 0.652, 0, 90, 0, 64 [SEP] 29, Ladle, 2.206, 1.545, 2.010, 0, 0, 0, 58 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.282, 0.932, 2.548, 0, 0, 0, 55 [SEP] 32, Potato, -0.425, 0.831, 0.713, 0, 0, 0, 82 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 66 [SEP] 35, Spatula, 2.118, 0.949, 1.993, 0, 341.649, 0, 55 [SEP] 36, Knife, 2.301, 0.963, 0.583, 0, 90, 0, 66 [SEP] 37, Tomato, 2.137, 0.907, -0.278, 0, 270, 0, 76 [SEP] 38, Apple, -0.395, 1.085, 2.014, 0, 90, 0, 80 [SEP] 39, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.217, 0, 0, 0, 82 [SEP] 42, Cup, 1.369, 0.079, 2.562, 0, 0, 0, 61 [SEP] 43, DishSponge, 2.281, 1.948, 1.515, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 46, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 47, Bowl, -0.272, 0.787, 1.217, 0, 0, 0, 82 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Turn right then head to the cabinet above the counter | STEP 2: Open the cabinet and pick up the ladle then close the cabinet  | STEP 3: Turn left then head to the right side of the  sink | STEP 4: Put the ladle in the sink and rinse it | STEP 5: Turn right and move little further from the sink | STEP 6: Open the cabinet under the sink then put the ladle in and close the cabinet | END


Input: Put a clean measuring spoon in the sink cabinet 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, 0.75, 0, 270, 0,  [SEP] 1, WineBottle, 2.002, 0.083, 2.199, 0, 0, 0, 51 [SEP] 2, WineBottle, 1.917, 0.939, 0.361, 0, 0, 0, 66 [SEP] 3, DishSponge, 1.906, 0.745, 0.446, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.033, 0.790, 1.049, 0, 0, 0, 82 [SEP] 5, Spoon, -0.272, 0.792, 1.386, 0, 0, 0, 82 [SEP] 6, Egg, 1.118, 0.837, 2.750, 0, 0, 0, 79 [SEP] 7, Egg, 0.033, 0.833, 0.545, 0, 0, 0, 82 [SEP] 8, Cup, 0.576, 0.793, 2.64, 0, 0, 0, 79 [SEP] 9, Plate, 0.637, 0.085, 2.523, 0, 0, 0, 62 [SEP] 10, Knife, -0.119, 0.816, 1.217, 0, 0, 0, 82 [SEP] 11, Knife, 1.815, 0.771, 1.922, 0, 90, 0, 70 [SEP] 12, Tomato, -0.042, 0.837, 0.377, 0, 0, 0, 82 [SEP] 13, Tomato, 0.033, 0.837, 1.386, 0, 0, 0, 82 [SEP] 14, Bowl, 2.231, 1.515, -0.460, 0, 270, 0, 76 [SEP] 15, Bowl, 2.000, 1.320, -0.369, 0, 270, 0, 76 [SEP] 16, SaltShaker, 1.849, 0.077, 1.915, 0, 0, 0, 51 [SEP] 17, SaltShaker, 2.165, 1.498, 0.448, 0, 270, 0, 53 [SEP] 18, PepperShaker, -0.118, 0.932, 2.451, 0, 0, 0, 55 [SEP] 19, PepperShaker, 2.241, 1.498, 0.478, 0, 0, 0, 53 [SEP] 20, Lettuce, 2.059, 0.400, -0.097, 0, 270, 0, 76 [SEP] 21, Mug, 2.158, 0.855, -0.460, 0, 270, 0, 76 [SEP] 22, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 23, Apple, 2.164, 0.652, -0.278, 0, 270, 0, 76 [SEP] 24, Egg, -0.349, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 55 [SEP] 26, Fork, 2.011, 0.747, 0.652, 0, 90, 0, 64 [SEP] 27, SoapBottle, 1.156, 0.082, 2.484, 0, 0, 0, 61 [SEP] 28, Ladle, 1.941, 0.790, 0.652, 0, 90, 0, 64 [SEP] 29, Ladle, 2.206, 1.545, 2.010, 0, 0, 0, 58 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.282, 0.932, 2.548, 0, 0, 0, 55 [SEP] 32, Potato, -0.425, 0.831, 0.713, 0, 0, 0, 82 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 66 [SEP] 35, Spatula, 2.118, 0.949, 1.993, 0, 341.649, 0, 55 [SEP] 36, Knife, 2.301, 0.963, 0.583, 0, 90, 0, 66 [SEP] 37, Tomato, 2.137, 0.907, -0.278, 0, 270, 0, 76 [SEP] 38, Apple, -0.395, 1.085, 2.014, 0, 90, 0, 80 [SEP] 39, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.217, 0, 0, 0, 82 [SEP] 42, Cup, 1.369, 0.079, 2.562, 0, 0, 0, 61 [SEP] 43, DishSponge, 2.281, 1.948, 1.515, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 46, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 47, Bowl, -0.272, 0.787, 1.217, 0, 0, 0, 82 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 86, NorthWall, , , , , , ,  [SEP] 87, EastWall, , , , , , ,  [SEP] 88, SouthWall, , , , , , ,  [SEP] 89, WestWall, , , , , , ,

Output: STEP 1: Go to the cupboard | STEP 2: Take a measuring spoon out of the cupboard | STEP 3: Go to the sink | STEP 4: Wash the measuring spoon | STEP 5: Go to the sink cabinet | STEP 6: Put the measuring spoon in the cabinet | END


Input: Chill a tomato and put it in the trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.5, 0, 90, 0,  [SEP] 1, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 77 [SEP] 2, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 52 [SEP] 3, Statue, -0.420, 0.920, 0.241, 0, 180, 0, 73 [SEP] 4, Potato, 1.194, 0.941, -2.014, 0, 0, 0, 80 [SEP] 5, Ladle, -1.045, 1.168, 0.441, 0, 0, 0, 76 [SEP] 6, Ladle, -1.138, 0.948, -1.929, 0, 0, 0, 80 [SEP] 7, DishSponge, -0.375, 1.131, 0.662, 0, 0, 0, 76 [SEP] 8, DishSponge, 3.105, 0.879, 0.114, 0, 180, 0, 86 [SEP] 9, Kettle, -1.289, 0.957, -0.756, 0, 180, 0, 55 [SEP] 10, Pot, 1.688, 0.118, -1.397, 0, 0, 0, 54 [SEP] 11, Spatula, -0.376, 0.778, -2.008, 0, 180, 0, 90 [SEP] 12, Spoon, -0.117, 0.764, -2.063, 0, 0, 0, 90 [SEP] 13, SoapBottle, 2.798, 0.552, 0.142, 0, 180, 0, 86 [SEP] 14, SoapBottle, 2.491, 0.879, 0.195, 0, 180, 0, 84 [SEP] 15, Tomato, -0.993, 0.960, -1.891, 0, 0, 0, 80 [SEP] 16, Tomato, -0.152, 1.181, 0.618, 0, 0, 0, 76 [SEP] 17, Bowl, 1.877, 1.649, -1.802, 0, 0, 0, 58 [SEP] 18, Bread, 1.945, 1.509, -0.737, 0, 270, 0, 87 [SEP] 19, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 96 [SEP] 20, Apple, 1.924, 0.111, 0.109, 0, 0, 0, 83 [SEP] 21, Apple, 2.000, 1.147, -0.271, 0, 270, 0, 87 [SEP] 22, Pan, -1.063, 0.913, 0.241, 0, 90, 0, 73 [SEP] 23, Knife, -0.623, 0.717, -1.846, 0, 270, 0, 50 [SEP] 24, Bowl, -1.379, 0.908, -2.014, 0, 0, 0, 80 [SEP] 25, Fork, 0.071, 1.132, 0.529, 0, 0, 0, 76 [SEP] 26, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 90 [SEP] 27, Ladle, -1.330, 0.950, -0.109, 0, 0, 0, 73 [SEP] 28, Apple, 1.945, 1.147, -0.551, 0, 270, 0, 87 [SEP] 29, Kettle, -1.313, 1.663, -0.043, 0, 0, 0, 64 [SEP] 30, Vase, 1.914, 1.654, -1.606, 0, 0, 0, 58 [SEP] 31, Potato, 1.813, 1.045, -1.297, 0, 270, 0, 85 [SEP] 32, Pot, -1.163, 0.915, -0.170, 0, 0, 0, 73 [SEP] 33, Bread, 1.945, 0.899, -0.365, 0, 270, 0, 87 [SEP] 34, Plate, 0.008, 0.911, 0.135, 0, 0, 0, 73 [SEP] 35, Spatula, -0.634, 0.928, 0.083, 0, 0, 0, 73 [SEP] 36, PaperTowelRoll, 2.798, 0.984, 0.087, 0, 180, 0, 84 [SEP] 37, Vase, -1.276, 1.668, 0.163, 0, 0, 0, 64 [SEP] 38, Egg, 2.055, 1.132, -0.830, 0, 270, 0, 87 [SEP] 39, SoapBottle, 2.900, 0.879, 0.114, 0, 180, 0, 84 [SEP] 40, SaltShaker, -1.312, 1.657, -0.285, 0, 0, 0, 63 [SEP] 41, Lettuce, 1.945, 1.175, -0.737, 0, 0, 0, 87 [SEP] 42, PepperShaker, -0.420, 0.909, 0.030, 0, 0, 0, 73 [SEP] 43, ButterKnife, -0.205, 0.913, 0.083, 0, 0, 0, 73 [SEP] 44, DishSponge, 2.798, 0.551, 0.038, 0, 180, 0, 86 [SEP] 45, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 86 [SEP] 46, Spoon, -1.322, 0.912, -1.553, 0, 0, 0, 80 [SEP] 47, Tomato, -0.205, 0.963, 0.294, 0, 0, 0, 73 [SEP] 48, Mug, 1.945, 1.422, -0.271, 0, 270, 0, 87 [SEP] 49, Statue, 2.657, 0.167, 0.191, 0, 0, 0, 89 [SEP] 50, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 51, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 52, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 53, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 55, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 56, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 57, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 58, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 59, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 60, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 61, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 62, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 63, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 64, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 65, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 66, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 67, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 68, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 69, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 70, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 71, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 72, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 73, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 74, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 75, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 76, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 77, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 78, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 79, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 80, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 81, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 82, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 83, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 84, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 85, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 86, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 87, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 88, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 89, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 90, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 91, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 92, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 93, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 94, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 95, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 96, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 97, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 98, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 99, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Walk over to the counter. | STEP 2: Grab the tomato. | STEP 3: Head over to the fridge. | STEP 4: Chill the tomato in the fridge. | STEP 5: Grab the tomato back and head over to the trash bin. | STEP 6: Place the tomato in the trash bin. | END


Input: Grab the pencil from the desk and turn the light on over it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.906, 1.25, 0, 0, 0,  [SEP] 1, Mug, -1.603, 0.980, -1.443, 0, 0, 0, 43 [SEP] 2, Mug, -1.198, 0.980, -1.606, 0, 0, 0, 43 [SEP] 3, Statue, -1.603, 0.989, -1.606, 0, 0, 0, 43 [SEP] 4, KeyChain, -0.995, 0.981, -1.281, 0, 90, 0, 43 [SEP] 5, KeyChain, -1.151, 0.739, -1.255, 0, 0, 0, 42 [SEP] 6, CD, -0.058, 0.089, -1.492, 0, 270, 0, 34 [SEP] 7, CellPhone, -1.435, 0.896, 1.453, 0, 0, 0, 37 [SEP] 8, CellPhone, -1.163, 0.896, 2.332, 0, 0, 0, 37 [SEP] 9, Pen, -0.621, 1.542, -1.514, 0, 0, 0, 45 [SEP] 10, Pen, -1.587, 0.744, -1.300, 0, 0, 0, 42 [SEP] 11, Pencil, -1.151, 0.742, -1.390, 0, 0, 0, 42 [SEP] 12, CreditCard, -0.590, 0.982, -1.200, 0, 0, 0, 43 [SEP] 13, Pillow, -1.299, 0.952, 1.746, 0, 0, 0, 37 [SEP] 14, AlarmClock, -0.995, 0.982, -1.362, 0, 0, 0, 43 [SEP] 15, AlarmClock, -1.400, 0.982, -1.524, 0, 0, 0, 43 [SEP] 16, Book, -0.890, 0.897, 1.453, 0, 0, 0, 37 [SEP] 17, Box, 1.563, 0.286, -1.069, 0, 347.500, 0,  [SEP] 18, BasketBall, -1.657, 0.126, -0.090, 0, 0, 0,  [SEP] 19, Pen, -0.792, 0.987, -1.524, 0, 0, 0, 43 [SEP] 20, Pencil, -1.400, 0.985, -1.281, 0, 0, 0, 43 [SEP] 21, Laptop, -1.435, 0.894, 2.332, 0, 0, 0, 37 [SEP] 22, Pillow, -1.571, 0.952, 1.160, 0, 0, 0, 37 [SEP] 23, KeyChain, -0.621, 1.536, -1.671, 0, 0, 0, 45 [SEP] 24, Bowl, -1.183, 1.528, -1.590, 0, 0, 0, 45 [SEP] 25, CreditCard, -0.811, 1.536, -1.632, 0, 0, 0, 45 [SEP] 26, CellPhone, -1.326, 0.740, -1.345, 0, 0, 0, 42 [SEP] 27, CD, -1.001, 1.536, -1.593, 0, 0, 0, 45 [SEP] 28, AlarmClock, -0.387, 0.982, -1.281, 0, 0, 0, 43 [SEP] 29, Mug, -0.995, 0.980, -1.524, 0, 0, 0, 43 [SEP] 30, Statue, -1.503, 1.528, -1.590, 0, 0, 0, 45 [SEP] 31, Mirror, 1.907, 1.387, 0.973, 0, 90, 0,  [SEP] 32, LaundryHamper, -0.351, 0.007, 2.368, 0, 164.999, 0,  [SEP] 33, DeskLamp, -0.343, 1.545, -1.564, 0, 0, 0,  [SEP] 34, GarbageCan, -0.035, 0.007, -1.530, 0, 270, 0,  [SEP] 35, Window, 1.009, 1.514, -2.089, 90, 0, 0,  [SEP] 36, LightSwitch, 0.397, 1.197, 2.729, 0, 180, 0,  [SEP] 37, Bed, -1.299, 1.937, 1.441, 0, 0, 0,  [SEP] 38, Blinds, 1.064, 2.382, -2.094, 0, 0, 0,  [SEP] 39, Chair, 0.884, 0.012, -1.433, 0, 29.871, 0,  [SEP] 40, Chair, -0.646, 0.007, -1.206, 0, 195.000, 0,  [SEP] 41, Drawer, -1.409, 0.233, -1.303, 0, 0, 0,  [SEP] 42, Drawer, -1.407, 0.847, -1.302, 0, 0, 0,  [SEP] 43, Desk, -0.993, 0.006, -1.410, 0, 0, 0,  [SEP] 44, Drawer, -1.408, 0.558, -1.302, 0, 0, 0,  [SEP] 45, Shelf, 0.003, 0.013, 0.035, 0, 0, 0,  [SEP] 46, NorthWall, , , , , , ,  [SEP] 47, EastWall, , , , , , ,  [SEP] 48, SouthWall, , , , , , ,  [SEP] 49, WestWall, , , , , , ,

Output: STEP 1: Turn around and move to the front of the desk with the clocks. | STEP 2: Pick up the pencil on the desk. | STEP 3: Turn left and move to the left of the desk. | STEP 4: Turn on the light above the desk. | END


Input: Put the heated potato on the black shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.869, -3.5, 0, 270, 0,  [SEP] 1, Potato, -1.620, 0.729, -3.361, 0, 0, 0, 76 [SEP] 2, Potato, -2.137, 0.734, -1.091, 0, 0, 0, 85 [SEP] 3, Potato, 0.950, 0.916, 0.098, 0, 0, 0, 49 [SEP] 4, DishSponge, -1.535, 0.699, -3.698, 0, 0, 0, 76 [SEP] 5, ButterKnife, 0.655, 0.883, 0.098, 0, 0, 0, 49 [SEP] 6, Spatula, 0.623, 0.774, -0.061, 0, 180, 0, 48 [SEP] 7, Spatula, 0.817, 0.774, 0.002, 0, 270, 0, 48 [SEP] 8, Fork, -0.252, 0.901, 0.843, 0, 0, 0, 75 [SEP] 9, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 72 [SEP] 10, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 51 [SEP] 11, Egg, 0.863, 1.411, -1.958, 0, 270, 0, 69 [SEP] 12, Tomato, 0.669, 0.713, -1.802, 0, 270, 0, 69 [SEP] 13, Tomato, 1.024, 0.931, -0.108, 0, 0, 0, 49 [SEP] 14, SoapBottle, -1.719, 0.701, -1.524, 0, 0, 0, 85 [SEP] 15, SoapBottle, -1.886, 0.701, -1.199, 0, 0, 0, 85 [SEP] 16, Bowl, 0.149, 0.899, 1.187, 0, 270, 0, 75 [SEP] 17, Bowl, 0.799, 0.770, -0.735, 0, 270, 0, 72 [SEP] 18, PepperShaker, 0.781, 0.660, 0.265, 0, 0, 0, 54 [SEP] 19, PepperShaker, -1.535, 0.696, -3.614, 0, 0, 0, 76 [SEP] 20, SaltShaker, 0.841, 0.660, 0.508, 0, 0, 0, 54 [SEP] 21, SaltShaker, 0.566, 0.012, -0.898, 0, 0, 0, 52 [SEP] 22, Lettuce, 0.708, 0.751, -1.958, 0, 270, 0, 69 [SEP] 23, Lettuce, -1.719, 0.788, -1.199, 0, 0, 0, 85 [SEP] 24, Mug, 0.858, 1.458, 0.596, 0, 270, 0, 61 [SEP] 25, Apple, 0.824, 1.428, -2.113, 0, 270, 0, 69 [SEP] 26, Apple, -1.260, 0.105, -3.647, 0, 270, 0, 64 [SEP] 27, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 53 [SEP] 28, Plate, 0.676, 0.019, -0.053, 0, 0, 0, 59 [SEP] 29, Fork, 0.781, 0.665, 0.508, 0, 0, 0, 54 [SEP] 30, SoapBottle, -1.056, 0.899, 1.101, 0, 270, 0, 75 [SEP] 31, Apple, -1.578, 0.750, -3.445, 0, 0, 0, 76 [SEP] 32, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 52 [SEP] 33, Egg, -1.261, 0.088, -3.537, 0, 270, 0, 64 [SEP] 34, Spatula, -1.635, 0.716, -0.875, 0, 0, 0, 85 [SEP] 35, Potato, 0.961, 0.697, 0.387, 0, 0, 0, 54 [SEP] 36, Cup, 0.708, 1.373, -1.880, 0, 270, 0, 69 [SEP] 37, SaltShaker, 0.877, 0.879, -0.245, 0, 0, 0, 49 [SEP] 38, PepperShaker, 0.858, 1.460, 0.411, 0, 0, 0, 61 [SEP] 39, ButterKnife, 0.729, 0.883, -0.108, 0, 0, 0, 49 [SEP] 40, DishSponge, 0.601, 0.664, 0.569, 0, 0, 0, 54 [SEP] 41, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 75 [SEP] 42, Lettuce, 0.661, 0.752, 0.448, 0, 0, 0, 54 [SEP] 43, Tomato, -0.252, 0.949, 0.929, 0, 270, 0, 75 [SEP] 44, Spoon, -1.803, 0.702, -1.416, 0, 0, 0, 85 [SEP] 45, Knife, 0.901, 0.687, 0.448, 0, 90, 0, 54 [SEP] 46, Mug, 0.903, 1.458, 0.039, 0, 270, 0, 60 [SEP] 47, Bowl, -0.051, 0.899, 0.843, 0, 270, 0, 75 [SEP] 48, Drawer, 0.706, 0.766, -0.125, 0, 0, 0,  [SEP] 49, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0,  [SEP] 50, Mirror, 1.093, 1.602, -0.643, 0, 0, 0,  [SEP] 51, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0,  [SEP] 52, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0,  [SEP] 53, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0,  [SEP] 54, SideTable, 0.770, -0.030, 0.443, 0, 0, 0,  [SEP] 55, Sink, 0.753, 0.882, -0.680, 0, 0, 0,  [SEP] 56, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0,  [SEP] 57, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489,  [SEP] 58, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0,  [SEP] 59, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0,  [SEP] 60, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0,  [SEP] 61, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0,  [SEP] 62, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0,  [SEP] 63, Toaster, -0.522, 0.886, 1.081, 0, 180, 0,  [SEP] 64, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0,  [SEP] 65, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180,  [SEP] 66, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180,  [SEP] 67, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180,  [SEP] 68, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180,  [SEP] 69, Fridge, 0.680, -0.031, -1.957, 0, 0, 0,  [SEP] 70, Window, -2.424, 1.639, -2.453, 90, 270, 0,  [SEP] 71, Microwave, -1.994, 0.690, -3.651, 0, 0, 0,  [SEP] 72, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0,  [SEP] 73, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0,  [SEP] 74, Shelf, -0.350, 0.124, 0.857, 0, 0, 0,  [SEP] 75, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0,  [SEP] 76, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0,  [SEP] 77, Blinds, -2.343, 2.151, -2.437, 0, 270, 0,  [SEP] 78, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0,  [SEP] 79, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0,  [SEP] 80, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0,  [SEP] 81, Shelf, 0.771, 0.226, 0.445, 0, 0, 0,  [SEP] 82, Shelf, 0.771, 0.456, 0.446, 0, 0, 0,  [SEP] 83, Faucet, 1.025, 0.873, -0.678, 270, 180, 0,  [SEP] 84, Shelf, -0.350, 0.497, 0.857, 0, 0, 0,  [SEP] 85, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0,  [SEP] 86, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Turn right and head to the black shelf on your right  | STEP 2: Pick up the potato on the shelf | STEP 3: Turn around walk across the room and head to the microwave | STEP 4: Open the microwave and put in and out the potato then close the microwave | STEP 5: Turn around to your left then head to the black shelf | STEP 6: Put the potato on the edge of the black shelf | END


Input: Put a cleaned kettle 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, -1.75, 0.914, 2.25, 0, 90, 0,  [SEP] 1, ButterKnife, -3.463, 0.915, 1.189, 0, 0, 0, 53 [SEP] 2, ButterKnife, -3.176, 0.915, 1.524, 0, 0, 0, 53 [SEP] 3, WineBottle, -3.272, 0.916, 1.524, 0, 0, 0, 53 [SEP] 4, WineBottle, -3.540, 1.460, 2.771, 0, 0, 0, 51 [SEP] 5, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 47 [SEP] 6, Kettle, -3.272, 0.916, 3.008, 0, 0, 0, 44 [SEP] 7, Spatula, -3.654, 0.930, 1.440, 0, 90, 0, 53 [SEP] 8, Spatula, -3.097, 0.761, 2.861, 0, 90, 0, 46 [SEP] 9, Spoon, -2.302, 0.916, 4.214, 0, 0, 0, 44 [SEP] 10, Spoon, -3.463, 0.916, 1.524, 0, 0, 0, 53 [SEP] 11, Fork, -3.272, 0.916, 1.273, 0, 0, 0, 53 [SEP] 12, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 52 [SEP] 13, Cup, -2.022, 0.915, 4.062, 0, 0, 0, 44 [SEP] 14, Cup, -0.089, 1.273, 4.133, 0, 180, 0, 70 [SEP] 15, Knife, -3.097, 0.768, 1.202, 0, 90, 0, 45 [SEP] 16, SoapBottle, -1.192, 0.086, 3.788, 0, 270, 0, 76 [SEP] 17, Bowl, -3.471, 1.453, 3.805, 0, 0, 0, 61 [SEP] 18, PepperShaker, -3.113, 0.079, 1.513, 0, 0, 0, 63 [SEP] 19, PepperShaker, -3.098, 0.743, 3.326, 0, 0, 0, 54 [SEP] 20, Apple, -3.505, 1.606, 2.172, 0, 90, 0, 75 [SEP] 21, Egg, -1.161, 0.121, 3.692, 0, 270, 0, 76 [SEP] 22, Knife, -3.368, 0.939, 1.440, 0, 270, 0, 53 [SEP] 23, Fork, -3.214, 0.746, 1.510, 0, 90, 0, 45 [SEP] 24, Bread, -1.522, 0.963, 0.276, 0, 280.313, 0, 80 [SEP] 25, Potato, -3.442, 1.578, 2.016, 0, 90, 0, 75 [SEP] 26, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 44 [SEP] 27, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 50 [SEP] 28, Kettle, -3.145, 0.069, 2.920, 0, 270, 0, 57 [SEP] 29, WineBottle, -2.905, 0.916, 3.998, 0, 0, 0, 44 [SEP] 30, Bowl, -0.790, 0.985, 3.926, 0, 180, 0, 70 [SEP] 31, Tomato, -3.272, 0.984, 1.106, 0, 0, 0, 53 [SEP] 32, Cup, -0.673, 0.986, 4.051, 0, 180, 0, 70 [SEP] 33, Spatula, -3.081, 0.930, 1.189, 0, 90, 0, 53 [SEP] 34, SoapBottle, -1.815, 0.915, 4.146, 0, 0, 0, 44 [SEP] 35, Lettuce, -3.463, 1.001, 3.663, 0, 0, 0, 44 [SEP] 36, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 44 [SEP] 37, Apple, -3.559, 0.975, 1.440, 0, 0, 0, 53 [SEP] 38, SaltShaker, -3.463, 0.912, 1.273, 0, 0, 0, 53 [SEP] 39, PepperShaker, -2.678, 0.076, 3.701, 0, 0, 0, 56 [SEP] 40, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 74 [SEP] 41, DishSponge, -3.540, 1.458, 1.152, 0, 0, 0, 62 [SEP] 42, Spoon, -3.215, 0.748, 2.972, 0, 90, 0, 46 [SEP] 43, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 44 [SEP] 44, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0,  [SEP] 45, Drawer, -3.121, 0.775, 1.357, 0, 0, 0,  [SEP] 46, Drawer, -3.121, 0.777, 2.916, 0, 0, 0,  [SEP] 47, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0,  [SEP] 48, Sink, -1.797, 0.917, 3.660, 0, 0, 0,  [SEP] 49, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0,  [SEP] 50, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0,  [SEP] 51, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0,  [SEP] 52, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0,  [SEP] 53, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0,  [SEP] 54, Drawer, -3.121, 0.781, 3.295, 0, 0, 0,  [SEP] 55, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0,  [SEP] 56, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0,  [SEP] 57, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0,  [SEP] 58, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0,  [SEP] 59, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0,  [SEP] 60, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0,  [SEP] 61, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0,  [SEP] 62, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0,  [SEP] 63, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0,  [SEP] 64, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0,  [SEP] 65, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000,  [SEP] 66, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000,  [SEP] 67, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000,  [SEP] 68, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000,  [SEP] 69, Toaster, -2.654, 0.902, 4.064, 0, 180, 0,  [SEP] 70, Fridge, -0.439, 0.014, 3.996, 0, 0, 0,  [SEP] 71, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0,  [SEP] 72, Window, -1.430, 1.338, -0.347, 90, 0, 0,  [SEP] 73, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0,  [SEP] 74, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0,  [SEP] 75, Microwave, -3.484, 1.430, 2.182, 0, 90, 0,  [SEP] 76, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0,  [SEP] 77, Blinds, -1.404, 2.092, -0.296, 0, 0, 0,  [SEP] 78, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0,  [SEP] 79, Faucet, -1.788, 0.903, 3.931, 270, 90, 0,  [SEP] 80, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0,  [SEP] 81, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: Turn around, move to the counter right of the stove. | STEP 2: Pick up the kettle on the counter.  | STEP 3: Turn around, bring the kettle to the sink on the left.  | STEP 4: Wash the kettle in the sink with water. | STEP 5: Turn around, bring the kettle to the table with the bread on it. | STEP 6: Put the kettle on the table. | END


Input: Get the pink sponge on the toilet, wash it, put the sponge in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.904, 0.0, 0, 270, 0,  [SEP] 1, Cloth, -0.690, 0.033, 0.811, 0, 0, 0, 26 [SEP] 2, Cloth, -3.113, 1.002, -0.287, 0, 0, 0, 28 [SEP] 3, Candle, -3.230, 0.110, -0.387, 0, 0, 0, 18 [SEP] 4, SoapBar, -3.285, 1.048, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 32 [SEP] 7, SoapBar, -3.184, 1.869, 1.524, 0, 0, 0, 19 [SEP] 8, ToiletPaper, -3.246, 1.039, 1.143, 0, 0, 0, 35 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -2.852, 1.003, -0.115, 0, 49.326, 0, 28 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -3.096, 1.871, 1.574, 0, 0, 0, 19 [SEP] 14, Cloth, -2.969, 0.109, -0.122, 0, 0, 0, 23 [SEP] 15, SprayBottle, -3.165, 0.109, -0.494, 0, 0, 0, 18 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0,  [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0,  [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0,  [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0,  [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0,  [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0,  [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0,  [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0,  [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0,  [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0,  [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0,  [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0,  [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0,  [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0,  [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0,  [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0,  [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0,  [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0,  [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0,  [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0,  [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn right, walk to the toilet | STEP 2: Grab the pink sponge on the toilet | STEP 3: Turn left and walk to the sink | STEP 4: Put the pink sponge in the sink, turn on the faucet and wash the sponge, take the sponge | STEP 5: Turn around and walk to the bath tub | STEP 6: Put the pink sponge in the tub | END


Input: Put two credit cards on the TV 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, 3.5, 0, 180, 0,  [SEP] 1, Watch, -5.007, 0.988, 2.026, 0, 270, 0, 32 [SEP] 2, Watch, -5.094, 0.988, 2.310, 0, 90, 0, 32 [SEP] 3, RemoteControl, -2.702, 0.459, 0.662, 0, 0, 0, 38 [SEP] 4, CreditCard, 0.132, 0.707, 4.659, 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, -0.129, 0.707, 4.659, 0, 0, 0, 40 [SEP] 8, KeyChain, -2.702, 0.527, 0.662, 0, 0, 0, 38 [SEP] 9, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 38 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.227, 0.535, 0.934, 0, 0, 0, 38 [SEP] 12, Watch, 0.219, 0.707, 4.639, 0, 0, 0, 40 [SEP] 13, Statue, -5.007, 1.086, 2.879, 0, 0, 0, 32 [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 to the left then turn right and go to the side table.  | STEP 2: Pick up the credit card from the side table.  | STEP 3: Turn to the left and walk forward to the TV stand | STEP 4: Set the credit card on the TV stand. | STEP 5: Turn to the right then make another right and go back to the side table.  | STEP 6: Pick up the other credit card from the side table.  | STEP 7: Turn to the left and walk forward to the TV stand | STEP 8: Set the credit card on the TV stand. | END


Input: place two red credit cards on cabinet with television 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, 3.5, 0, 180, 0,  [SEP] 1, Watch, -5.007, 0.988, 2.026, 0, 270, 0, 32 [SEP] 2, Watch, -5.094, 0.988, 2.310, 0, 90, 0, 32 [SEP] 3, RemoteControl, -2.702, 0.459, 0.662, 0, 0, 0, 38 [SEP] 4, CreditCard, 0.132, 0.707, 4.659, 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, -0.129, 0.707, 4.659, 0, 0, 0, 40 [SEP] 8, KeyChain, -2.702, 0.527, 0.662, 0, 0, 0, 38 [SEP] 9, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 38 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.227, 0.535, 0.934, 0, 0, 0, 38 [SEP] 12, Watch, 0.219, 0.707, 4.639, 0, 0, 0, 40 [SEP] 13, Statue, -5.007, 1.086, 2.879, 0, 0, 0, 32 [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 around, go to black table with lamp next to couch | STEP 2: pick up red credit card to the right of lamp on black table | STEP 3: turn around, go to black cabinet with television | STEP 4: place red credit card in front of television on black cabinet  | STEP 5: turn around, go to black table with lamp next to couch | STEP 6: pick up red credit card to the left of lamp on black table | STEP 7: turn around, go to black cabinet with television | STEP 8: place red credit card to the left of credit card in front of television on black cabinet  | END


Input: place a lettuce slice inside of a pot on the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 102 [SEP] 2, DishSponge, -1.135, 0.911, -0.902, 0, 0, 0, 76 [SEP] 3, Glassbottle, -1.015, 1.656, -0.847, 0, 0, 0, 56 [SEP] 4, Glassbottle, 1.284, 0.887, 2.584, 0, 0, 0, 102 [SEP] 5, WineBottle, 1.367, 0.887, 2.800, 0, 0, 0, 102 [SEP] 6, WineBottle, 1.117, 0.887, 2.477, 0, 0, 0, 102 [SEP] 7, Kettle, 1.128, 0.912, -0.144, 0, 0, 0, 70 [SEP] 8, Spoon, -1.383, 0.750, 2.830, 0, 270, 0, 51 [SEP] 9, Fork, -1.105, 0.749, 2.830, 0, 0, 0, 51 [SEP] 10, Pot, 0.802, 0.939, -0.473, 0, 0, 0, 78 [SEP] 11, Cup, -1.149, 1.636, 1.086, 0, 90, 0, 90 [SEP] 12, Plate, 1.128, 0.912, 0.706, 0, 0, 0, 70 [SEP] 13, Plate, 0.127, 0.117, -0.577, 0, 0, 0, 65 [SEP] 14, Knife, 1.286, 0.933, 0.422, 0, 0, 0, 70 [SEP] 15, Knife, 1.450, 0.908, 2.477, 0, 90, 0, 102 [SEP] 16, SoapBottle, -1.294, 1.657, -0.090, 0, 0, 0, 58 [SEP] 17, Bowl, -1.197, 0.748, 2.459, 0, 0, 0, 51 [SEP] 18, Bowl, 1.367, 0.884, 2.261, 0, 0, 0, 102 [SEP] 19, Bread, -1.320, 0.814, 1.092, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.263, 1.492, 1.092, 0, 90, 0, 90 [SEP] 21, Lettuce, -0.919, 0.820, 2.644, 0, 0, 0, 51 [SEP] 22, SaltShaker, 1.174, 0.113, -0.011, 0, 0, 0, 64 [SEP] 23, Mug, 1.356, 1.650, -0.393, 0, 0, 0, 52 [SEP] 24, Mug, -0.919, 0.743, 2.459, 0, 0, 0, 51 [SEP] 25, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 102 [SEP] 26, Glassbottle, -0.919, 0.750, 2.273, 0, 0, 0, 51 [SEP] 27, Fork, -1.105, 0.750, 1.902, 0, 0, 0, 51 [SEP] 28, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 29, Tomato, -1.475, 0.798, 2.459, 0, 0, 0, 51 [SEP] 30, Plate, -1.206, 0.752, 0.778, 0, 90, 0, 90 [SEP] 31, CellPhone, 1.365, 0.909, 0.422, 0, 0, 0, 70 [SEP] 32, Lettuce, -1.012, 0.820, 2.087, 0, 0, 0, 51 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, -1.197, 0.750, 2.644, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.433, 0.913, -0.907, 0, 0, 0, 76 [SEP] 36, Spatula, 1.365, 0.926, 0.706, 0, 0, 0, 70 [SEP] 37, Bowl, 1.444, 0.909, -0.144, 0, 0, 0, 70 [SEP] 38, Apple, -1.378, 1.697, 0.781, 0, 90, 0, 90 [SEP] 39, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 96 [SEP] 40, Knife, 1.200, 0.908, 2.261, 0, 0, 0, 102 [SEP] 41, Egg, -1.099, 0.375, 0.778, 0, 90, 0, 90 [SEP] 42, SaltShaker, -0.919, 0.745, 1.902, 0, 0, 0, 51 [SEP] 43, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 102 [SEP] 44, Potato, -1.130, 0.386, 1.197, 0, 90, 0, 90 [SEP] 45, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 70 [SEP] 46, DishSponge, -1.060, 0.911, -0.477, 0, 0, 0, 76 [SEP] 47, Pan, -1.290, 0.749, 2.273, 0, 0, 0, 51 [SEP] 48, Spoon, -1.290, 0.750, 2.644, 0, 0, 0, 51 [SEP] 49, SprayBottle, 1.356, 2.156, 0.511, 0, 0, 0, 61 [SEP] 50, Mug, -1.427, 1.010, 0.046, 0, 180, 0, 96 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: turn right and walk to the kitchen counter ahead | STEP 2: grab a knife off of the kitchen counter there | STEP 3: turn around and walk over to the end of the room, then hang a left and walk to the white table ahead | STEP 4: slice up the lettuce on the table there | STEP 5: back up a bit and then face the white table ahead of you again | STEP 6: place the knife down on the table there | STEP 7: move forwards a bit to the right side of the table | STEP 8: grab a lettuce slice off of the table | STEP 9: turn around and walk to the table ahead, then take a right and walk over to the stove at the end of the room | STEP 10: place a lettuce slice in the pot on the back right burner | STEP 11: pick up the pot off of the back right burner | STEP 12: turn right and walk over to the kitchen counter on your left to the right of the kitchen sink | STEP 13: place the pot down on the kitchen counter on your right | END


Input: Cut a slice of lettuce plus insert the lettuce into a pot as well as move the pot from the stove to the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 102 [SEP] 2, DishSponge, -1.135, 0.911, -0.902, 0, 0, 0, 76 [SEP] 3, Glassbottle, -1.015, 1.656, -0.847, 0, 0, 0, 56 [SEP] 4, Glassbottle, 1.284, 0.887, 2.584, 0, 0, 0, 102 [SEP] 5, WineBottle, 1.367, 0.887, 2.800, 0, 0, 0, 102 [SEP] 6, WineBottle, 1.117, 0.887, 2.477, 0, 0, 0, 102 [SEP] 7, Kettle, 1.128, 0.912, -0.144, 0, 0, 0, 70 [SEP] 8, Spoon, -1.383, 0.750, 2.830, 0, 270, 0, 51 [SEP] 9, Fork, -1.105, 0.749, 2.830, 0, 0, 0, 51 [SEP] 10, Pot, 0.802, 0.939, -0.473, 0, 0, 0, 78 [SEP] 11, Cup, -1.149, 1.636, 1.086, 0, 90, 0, 90 [SEP] 12, Plate, 1.128, 0.912, 0.706, 0, 0, 0, 70 [SEP] 13, Plate, 0.127, 0.117, -0.577, 0, 0, 0, 65 [SEP] 14, Knife, 1.286, 0.933, 0.422, 0, 0, 0, 70 [SEP] 15, Knife, 1.450, 0.908, 2.477, 0, 90, 0, 102 [SEP] 16, SoapBottle, -1.294, 1.657, -0.090, 0, 0, 0, 58 [SEP] 17, Bowl, -1.197, 0.748, 2.459, 0, 0, 0, 51 [SEP] 18, Bowl, 1.367, 0.884, 2.261, 0, 0, 0, 102 [SEP] 19, Bread, -1.320, 0.814, 1.092, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.263, 1.492, 1.092, 0, 90, 0, 90 [SEP] 21, Lettuce, -0.919, 0.820, 2.644, 0, 0, 0, 51 [SEP] 22, SaltShaker, 1.174, 0.113, -0.011, 0, 0, 0, 64 [SEP] 23, Mug, 1.356, 1.650, -0.393, 0, 0, 0, 52 [SEP] 24, Mug, -0.919, 0.743, 2.459, 0, 0, 0, 51 [SEP] 25, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 102 [SEP] 26, Glassbottle, -0.919, 0.750, 2.273, 0, 0, 0, 51 [SEP] 27, Fork, -1.105, 0.750, 1.902, 0, 0, 0, 51 [SEP] 28, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 29, Tomato, -1.475, 0.798, 2.459, 0, 0, 0, 51 [SEP] 30, Plate, -1.206, 0.752, 0.778, 0, 90, 0, 90 [SEP] 31, CellPhone, 1.365, 0.909, 0.422, 0, 0, 0, 70 [SEP] 32, Lettuce, -1.012, 0.820, 2.087, 0, 0, 0, 51 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, -1.197, 0.750, 2.644, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.433, 0.913, -0.907, 0, 0, 0, 76 [SEP] 36, Spatula, 1.365, 0.926, 0.706, 0, 0, 0, 70 [SEP] 37, Bowl, 1.444, 0.909, -0.144, 0, 0, 0, 70 [SEP] 38, Apple, -1.378, 1.697, 0.781, 0, 90, 0, 90 [SEP] 39, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 96 [SEP] 40, Knife, 1.200, 0.908, 2.261, 0, 0, 0, 102 [SEP] 41, Egg, -1.099, 0.375, 0.778, 0, 90, 0, 90 [SEP] 42, SaltShaker, -0.919, 0.745, 1.902, 0, 0, 0, 51 [SEP] 43, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 102 [SEP] 44, Potato, -1.130, 0.386, 1.197, 0, 90, 0, 90 [SEP] 45, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 70 [SEP] 46, DishSponge, -1.060, 0.911, -0.477, 0, 0, 0, 76 [SEP] 47, Pan, -1.290, 0.749, 2.273, 0, 0, 0, 51 [SEP] 48, Spoon, -1.290, 0.750, 2.644, 0, 0, 0, 51 [SEP] 49, SprayBottle, 1.356, 2.156, 0.511, 0, 0, 0, 61 [SEP] 50, Mug, -1.427, 1.010, 0.046, 0, 180, 0, 96 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn right to face the counter. | STEP 2: Pick up the knife laying on the counter. | STEP 3: Turn around and walk across the room to the right to face the table. | STEP 4: Cut the lettuce on the table into slices. | STEP 5: Step back from the table and face it. | STEP 6: Put the knife on the table. | STEP 7: Step closer to the table and face the lettuce. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Turn to the left and walk across the room to face the stove | STEP 10: Place the lettuce slice into the pot on the back right burner. | STEP 11: Pick up the pot with the lettuce slice in it off of the back right burner. | STEP 12: Step to the right and face the counter to the right of the sink. | STEP 13: Place the pot with lettuce slice in it on the counter to the right of the sink. | END


Input: Bring a cutting knife to a different table to cut and prepare lettuce. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 0.25, 0, 0, 0,  [SEP] 1, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 102 [SEP] 2, DishSponge, -1.135, 0.911, -0.902, 0, 0, 0, 76 [SEP] 3, Glassbottle, -1.015, 1.656, -0.847, 0, 0, 0, 56 [SEP] 4, Glassbottle, 1.284, 0.887, 2.584, 0, 0, 0, 102 [SEP] 5, WineBottle, 1.367, 0.887, 2.800, 0, 0, 0, 102 [SEP] 6, WineBottle, 1.117, 0.887, 2.477, 0, 0, 0, 102 [SEP] 7, Kettle, 1.128, 0.912, -0.144, 0, 0, 0, 70 [SEP] 8, Spoon, -1.383, 0.750, 2.830, 0, 270, 0, 51 [SEP] 9, Fork, -1.105, 0.749, 2.830, 0, 0, 0, 51 [SEP] 10, Pot, 0.802, 0.939, -0.473, 0, 0, 0, 78 [SEP] 11, Cup, -1.149, 1.636, 1.086, 0, 90, 0, 90 [SEP] 12, Plate, 1.128, 0.912, 0.706, 0, 0, 0, 70 [SEP] 13, Plate, 0.127, 0.117, -0.577, 0, 0, 0, 65 [SEP] 14, Knife, 1.286, 0.933, 0.422, 0, 0, 0, 70 [SEP] 15, Knife, 1.450, 0.908, 2.477, 0, 90, 0, 102 [SEP] 16, SoapBottle, -1.294, 1.657, -0.090, 0, 0, 0, 58 [SEP] 17, Bowl, -1.197, 0.748, 2.459, 0, 0, 0, 51 [SEP] 18, Bowl, 1.367, 0.884, 2.261, 0, 0, 0, 102 [SEP] 19, Bread, -1.320, 0.814, 1.092, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.263, 1.492, 1.092, 0, 90, 0, 90 [SEP] 21, Lettuce, -0.919, 0.820, 2.644, 0, 0, 0, 51 [SEP] 22, SaltShaker, 1.174, 0.113, -0.011, 0, 0, 0, 64 [SEP] 23, Mug, 1.356, 1.650, -0.393, 0, 0, 0, 52 [SEP] 24, Mug, -0.919, 0.743, 2.459, 0, 0, 0, 51 [SEP] 25, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 102 [SEP] 26, Glassbottle, -0.919, 0.750, 2.273, 0, 0, 0, 51 [SEP] 27, Fork, -1.105, 0.750, 1.902, 0, 0, 0, 51 [SEP] 28, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 29, Tomato, -1.475, 0.798, 2.459, 0, 0, 0, 51 [SEP] 30, Plate, -1.206, 0.752, 0.778, 0, 90, 0, 90 [SEP] 31, CellPhone, 1.365, 0.909, 0.422, 0, 0, 0, 70 [SEP] 32, Lettuce, -1.012, 0.820, 2.087, 0, 0, 0, 51 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, -1.197, 0.750, 2.644, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.433, 0.913, -0.907, 0, 0, 0, 76 [SEP] 36, Spatula, 1.365, 0.926, 0.706, 0, 0, 0, 70 [SEP] 37, Bowl, 1.444, 0.909, -0.144, 0, 0, 0, 70 [SEP] 38, Apple, -1.378, 1.697, 0.781, 0, 90, 0, 90 [SEP] 39, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 96 [SEP] 40, Knife, 1.200, 0.908, 2.261, 0, 0, 0, 102 [SEP] 41, Egg, -1.099, 0.375, 0.778, 0, 90, 0, 90 [SEP] 42, SaltShaker, -0.919, 0.745, 1.902, 0, 0, 0, 51 [SEP] 43, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 102 [SEP] 44, Potato, -1.130, 0.386, 1.197, 0, 90, 0, 90 [SEP] 45, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 70 [SEP] 46, DishSponge, -1.060, 0.911, -0.477, 0, 0, 0, 76 [SEP] 47, Pan, -1.290, 0.749, 2.273, 0, 0, 0, 51 [SEP] 48, Spoon, -1.290, 0.750, 2.644, 0, 0, 0, 51 [SEP] 49, SprayBottle, 1.356, 2.156, 0.511, 0, 0, 0, 61 [SEP] 50, Mug, -1.427, 1.010, 0.046, 0, 180, 0, 96 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn  to your right and face the kitchen counter. | STEP 2: Pick up the knife the right of the plate. | STEP 3: Turn around and walk to the other side of the room, then make a left until you reach the white table | STEP 4: Slice the lettuce to the right of the mug. | STEP 5: Turn around to face the table on the opposite side of the room, then face the white table again. | STEP 6: Place the knife down on the table, to the right of the lettuce. | STEP 7: Make a right turn and face the door, then return to face the white table. | STEP 8: Pick up one slice of lettuce. | STEP 9: Turn around to face the table on the opposite side of the room, then proceed straight to the stove top. | STEP 10: Place the lettuce in the pot to the right of the tea kettle. | STEP 11: Pick up the pot with the lettuce. | STEP 12: Turn to the right and face the counter top above the dishwasher. | STEP 13: Place the pot on the counter top above the dishwasher | END


Input: pick up knife, cut tomato, cook in microwave, place in trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.75, 0, 180, 0,  [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 45 [SEP] 2, Potato, -2.671, 0.863, 2.485, 0, 90, 0, 68 [SEP] 3, Potato, -2.840, 0.862, 0.203, 0, 0, 0, 50 [SEP] 4, Ladle, -2.375, 0.867, 0.500, 0, 0, 0, 50 [SEP] 5, DishSponge, -1.967, 0.697, 0.210, 0, 0, 0, 77 [SEP] 6, DishSponge, -2.882, 1.434, 1.372, 0, 0, 0, 58 [SEP] 7, ButterKnife, -1.542, 0.823, 0.528, 0, 0, 0, 50 [SEP] 8, Fork, -2.530, 0.693, 1.547, 0, 270, 0, 55 [SEP] 9, Spoon, -1.217, 0.699, 0.444, 0, 270, 0, 54 [SEP] 10, Egg, -1.709, 0.847, 0.073, 0, 0, 0, 50 [SEP] 11, Egg, -2.726, 1.469, 2.133, 0, 90, 0, 68 [SEP] 12, Bowl, -2.057, 0.121, 0.401, 0, 0, 0, 62 [SEP] 13, SaltShaker, -2.882, 1.429, 1.588, 0, 0, 0, 58 [SEP] 14, SaltShaker, -0.147, 0.818, 0.500, 0, 0, 0, 50 [SEP] 15, PepperShaker, -2.729, 1.430, 0.348, 0, 45, 0, 56 [SEP] 16, PepperShaker, -1.542, 0.818, 0.046, 0, 0, 0, 50 [SEP] 17, Lettuce, -2.837, 1.529, 2.309, 0, 90, 0, 68 [SEP] 18, Mug, -0.169, 0.818, 1.214, 0, 180, 0, 50 [SEP] 19, Mug, -2.840, 0.818, 0.426, 0, 0, 0, 50 [SEP] 20, Apple, -2.504, 0.896, 0.544, 0, 0, 0, 50 [SEP] 21, Apple, -0.295, 0.129, 2.674, 0, 90, 0, 70 [SEP] 22, Apple, -2.782, 1.216, 2.485, 0, 90, 0, 68 [SEP] 23, Fork, -2.044, 0.824, 0.539, 0, 0, 0, 50 [SEP] 24, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 52 [SEP] 25, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 49 [SEP] 26, SoapBottle, -0.147, 0.821, 0.352, 0, 0, 0, 50 [SEP] 27, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 47 [SEP] 28, Tomato, -2.658, 0.873, 0.707, 0, 0, 0, 50 [SEP] 29, Potato, -2.837, 1.484, 2.133, 0, 90, 0, 68 [SEP] 30, SaltShaker, -2.957, 0.818, 0.352, 0, 0, 0, 50 [SEP] 31, Plate, -2.586, 0.813, 0.309, 0, 0, 0, 50 [SEP] 32, Spatula, -1.857, 0.712, 0.295, 0, 0, 0, 77 [SEP] 33, Knife, -1.207, 0.849, 0.539, 0, 0, 0, 50 [SEP] 34, Egg, -2.726, 1.167, 1.957, 0, 90, 0, 68 [SEP] 35, Cup, -2.648, 0.121, 1.431, 0, 0, 0, 61 [SEP] 36, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 50 [SEP] 37, Lettuce, -2.837, 0.908, 2.397, 0, 90, 0, 68 [SEP] 38, PepperShaker, -2.569, 0.116, 1.589, 0, 0, 0, 61 [SEP] 39, DishSponge, -2.258, 0.823, 0.055, 0, 0, 0, 50 [SEP] 40, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 50 [SEP] 41, Spoon, -1.077, 0.699, 0.444, 0, 270, 0, 54 [SEP] 42, Mug, -2.724, 0.818, 0.129, 0, 0, 0, 50 [SEP] 43, Bowl, -2.726, 0.821, 2.133, 0, 90, 0, 68 [SEP] 44, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 45, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 46, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 47, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 48, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 49, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 50, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 51, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 52, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 53, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 54, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 55, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 56, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 57, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 58, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 59, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 60, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 61, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 62, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 63, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 64, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 65, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 66, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 67, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 68, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 69, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 70, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 71, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 72, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 73, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 74, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 75, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 76, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 77, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 78, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 79, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 80, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 81, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 82, NorthWall, , , , , , ,  [SEP] 83, EastWall, , , , , , ,  [SEP] 84, SouthWall, , , , , , ,  [SEP] 85, WestWall, , , , , , ,

Output: STEP 1: turn right, turn left, walk straight to the sink | STEP 2: pick up knife from the counter | STEP 3: turn right to the counter | STEP 4: cut tomato with the knife | STEP 5: turn right, turn left to the microwave | STEP 6: open door, put knife on shelf, close door | STEP 7: turn left, turn right to the counter | STEP 8: pick tomato off of the counter | STEP 9: turn right, turn left to the microwave | STEP 10: open door, place tomato on shelf, close door, cook, open door, remove tomato, close door | STEP 11: turn right, turn right, walk straight to the trash can | STEP 12: place tomato in the trash can | END


Input: put a bowl in the fridge then the cabinet above it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.25, 0, 90, 0,  [SEP] 1, Pan, 0.642, 0.850, 1.375, 0, 0, 0, 59 [SEP] 2, Potato, -1.362, 0.740, 3.857, 0, 0, 0, 77 [SEP] 3, ButterKnife, -1.457, 0.823, 3.556, 0, 0, 0, 65 [SEP] 4, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 63 [SEP] 5, Fork, -0.921, 0.901, 1.349, 0, 0, 0, 83 [SEP] 6, Fork, 0.800, 0.823, 0.939, 0, 0, 0, 42 [SEP] 7, Egg, -2.711, 1.643, 2.165, 0, 90, 0, 74 [SEP] 8, Plate, -1.767, 0.131, 3.675, 0, 0, 0, 64 [SEP] 9, Cup, -1.185, 0.900, 1.452, 0, 90, 0, 83 [SEP] 10, Knife, 0.950, 0.846, 2.631, 0, 180, 0, 47 [SEP] 11, SoapBottle, -1.317, 0.900, 1.452, 0, 90, 0, 83 [SEP] 12, Tomato, -0.657, 0.969, 1.555, 0, 90, 0, 83 [SEP] 13, Bowl, -2.580, 1.632, 3.025, 0, 0, 0, 61 [SEP] 14, Plate, -2.463, 1.402, 3.897, 0, 0, 0, 40 [SEP] 15, Fork, -0.789, 0.901, 1.246, 0, 90, 0, 83 [SEP] 16, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 42 [SEP] 17, Spatula, 1.024, 0.838, 2.198, 0, 90, 0, 47 [SEP] 18, PaperTowelRoll, -0.789, 1.004, 1.555, 0, 90, 0, 83 [SEP] 19, Potato, -2.612, 1.650, 2.333, 0, 90, 0, 74 [SEP] 20, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 83 [SEP] 21, Egg, 0.873, 0.060, 2.889, 0, 0, 0, 76 [SEP] 22, Cup, -2.752, 0.766, 2.389, 0, 90, 0, 74 [SEP] 23, Pot, -2.577, 0.994, 2.277, 0, 90, 0, 74 [SEP] 24, SaltShaker, 1.024, 0.819, 2.458, 0, 0, 0, 47 [SEP] 25, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 65 [SEP] 26, PepperShaker, -0.524, 0.896, 1.555, 0, 90, 0, 83 [SEP] 27, ButterKnife, -2.779, 0.823, 3.331, 0, 0, 0, 65 [SEP] 28, Tomato, -1.317, 0.969, 1.143, 0, 90, 0, 83 [SEP] 29, DishSponge, -2.250, 0.822, 3.575, 0, 0, 0, 54 [SEP] 30, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 83 [SEP] 31, Spoon, 0.635, 0.693, 2.532, 0, 90, 0, 39 [SEP] 32, Apple, -2.752, 0.828, 2.277, 0, 90, 0, 74 [SEP] 33, Knife, -1.148, 0.846, 3.902, 0, 270, 0, 65 [SEP] 34, Mug, -1.486, 1.354, 3.967, 0, 270, 0, 71 [SEP] 35, Bowl, 0.703, 0.123, 0.981, 0, 0, 0, 44 [SEP] 36, Drawer, 0.729, 0.703, 2.199, 0, 0, 0,  [SEP] 37, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0,  [SEP] 38, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0,  [SEP] 39, Drawer, 0.729, 0.703, 2.532, 0, 0, 0,  [SEP] 40, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0,  [SEP] 41, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0,  [SEP] 42, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0,  [SEP] 43, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0,  [SEP] 44, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0,  [SEP] 45, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0,  [SEP] 46, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0,  [SEP] 47, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0,  [SEP] 48, Sink, -1.702, 0.726, 3.828, 0, 180, 0,  [SEP] 49, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0,  [SEP] 50, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0,  [SEP] 51, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0,  [SEP] 52, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0,  [SEP] 53, Drawer, 0.729, 0.703, 0.980, 0, 0, 0,  [SEP] 54, Drawer, -2.114, 0.706, 3.657, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0,  [SEP] 56, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0,  [SEP] 57, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0,  [SEP] 58, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0,  [SEP] 59, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0,  [SEP] 60, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0,  [SEP] 61, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0,  [SEP] 62, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0,  [SEP] 63, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0,  [SEP] 64, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0,  [SEP] 65, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0,  [SEP] 66, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0,  [SEP] 67, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0,  [SEP] 68, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0,  [SEP] 69, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0,  [SEP] 70, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0,  [SEP] 71, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0,  [SEP] 72, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0,  [SEP] 73, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0,  [SEP] 74, Fridge, -2.642, 0.0, 2.134, 0, 180, 0,  [SEP] 75, Window, -1.131, 1.673, 0.808, 90, 0, 0,  [SEP] 76, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0,  [SEP] 77, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0,  [SEP] 78, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346,  [SEP] 79, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346,  [SEP] 80, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346,  [SEP] 81, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346,  [SEP] 82, Toaster, -2.247, 0.812, 3.862, 0, 180, 0,  [SEP] 83, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0,  [SEP] 84, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0,  [SEP] 85, Faucet, -1.842, 0.809, 3.984, 0, 180, 0,  [SEP] 86, Faucet, -1.371, 0.809, 3.985, 0, 180, 0,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: go to the right side of the stove | STEP 2: take the glass bowl from the cabinet on the bottom right of the stove | STEP 3: take the bowl to the fridge | STEP 4: chill the bowl in the fridge then remove | STEP 5: approach the cabinet above the fridge to the right | STEP 6: put the bowl in the cabinet | END


Input: Put a plate in the refrigerator with a tomato on top of it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 2.0, 0, 90, 0,  [SEP] 1, SprayBottle, 1.034, 0.885, 2.369, 0, 0, 0, 99 [SEP] 2, Potato, -1.194, 0.386, 1.197, 0, 90, 0, 87 [SEP] 3, DishSponge, 0.168, 0.116, -0.490, 0, 0, 0, 62 [SEP] 4, DishSponge, 1.099, 0.776, 0.701, 0, 0, 0, 79 [SEP] 5, ButterKnife, -0.813, 0.912, -0.589, 0, 0, 0, 73 [SEP] 6, WineBottle, 1.174, 0.117, -0.011, 0, 0, 0, 59 [SEP] 7, Kettle, 1.325, 1.656, -0.274, 0, 0, 0, 49 [SEP] 8, Spoon, 1.365, 0.912, 0.139, 0, 0, 0, 67 [SEP] 9, Spatula, -1.012, 0.763, 2.644, 0, 90, 0, 48 [SEP] 10, Spatula, 1.117, 0.901, 2.584, 0, 270, 0, 99 [SEP] 11, Egg, -0.020, 0.792, -0.612, 0, 0, 0, 94 [SEP] 12, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 99 [SEP] 13, Cup, 1.286, 0.910, -0.428, 0, 0, 0, 67 [SEP] 14, Cup, 1.294, 2.155, 0.599, 0, 0, 0, 58 [SEP] 15, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 99 [SEP] 16, Tomato, -1.162, 0.391, 0.988, 0, 90, 0, 87 [SEP] 17, SoapBottle, -0.919, 0.750, 2.273, 0, 0, 0, 48 [SEP] 18, SoapBottle, -0.211, 0.117, -0.577, 0, 0, 0, 62 [SEP] 19, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 48 [SEP] 20, Bread, -1.263, 0.814, 1.197, 0, 90, 0, 87 [SEP] 21, Apple, -1.263, 1.697, 0.984, 0, 90, 0, 87 [SEP] 22, Bread, -1.197, 0.812, 2.644, 0, 0, 0, 48 [SEP] 23, Glassbottle, 1.034, 0.887, 2.800, 0, 0, 0, 99 [SEP] 24, Fork, -1.383, 0.749, 2.644, 0, 0, 0, 48 [SEP] 25, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 26, Tomato, -1.320, 1.338, 0.987, 0, 90, 0, 87 [SEP] 27, Plate, 1.444, 0.912, 0.422, 0, 0, 0, 67 [SEP] 28, CellPhone, 1.099, 0.774, -0.014, 0, 0, 0, 68 [SEP] 29, Lettuce, 0.951, 0.957, 2.261, 0, 0, 0, 99 [SEP] 30, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 31, SoapBottle, -1.294, 2.154, 1.037, 0, 0, 0, 66 [SEP] 32, WineBottle, -0.658, 0.913, -0.589, 0, 0, 0, 73 [SEP] 33, Spatula, -0.919, 0.763, 2.087, 0, 270, 0, 48 [SEP] 34, Bowl, 1.219, 0.114, 1.081, 0, 0, 0, 64 [SEP] 35, Apple, -1.320, 1.697, 1.086, 0, 90, 0, 87 [SEP] 36, Cup, 1.444, 0.910, 0.706, 0, 0, 0, 67 [SEP] 37, Knife, 1.367, 0.908, 2.261, 0, 0, 0, 99 [SEP] 38, Egg, 1.301, 0.120, 1.409, 0, 0, 0, 88 [SEP] 39, SaltShaker, 1.218, 0.113, -0.093, 0, 0, 0, 61 [SEP] 40, PepperShaker, -1.383, 0.745, 2.273, 0, 0, 0, 48 [SEP] 41, Potato, 1.207, 0.956, 0.706, 0, 0, 0, 67 [SEP] 42, ButterKnife, -0.130, 0.912, -0.354, 0, 0, 0, 73 [SEP] 43, DishSponge, -1.156, 0.775, -0.136, 0, 180, 0, 71 [SEP] 44, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 73 [SEP] 45, Spoon, 1.444, 0.912, -0.144, 0, 0, 0, 67 [SEP] 46, SprayBottle, -1.290, 0.748, 1.902, 0, 0, 0, 48 [SEP] 47, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 86 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn right and go to the counter on the left | STEP 2: Pick up the gray plate from the counter | STEP 3: Turn right and go to the refrigerator | STEP 4: Open the refrigerator and put the plate on the top shelf | STEP 5: Pick up the tomato from the refrigerator | STEP 6: Put the tomato on top of the gray plate | END


Input: Put a plate in the fridge with a tomato on it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 2.0, 0, 90, 0,  [SEP] 1, SprayBottle, 1.034, 0.885, 2.369, 0, 0, 0, 99 [SEP] 2, Potato, -1.194, 0.386, 1.197, 0, 90, 0, 87 [SEP] 3, DishSponge, 0.168, 0.116, -0.490, 0, 0, 0, 62 [SEP] 4, DishSponge, 1.099, 0.776, 0.701, 0, 0, 0, 79 [SEP] 5, ButterKnife, -0.813, 0.912, -0.589, 0, 0, 0, 73 [SEP] 6, WineBottle, 1.174, 0.117, -0.011, 0, 0, 0, 59 [SEP] 7, Kettle, 1.325, 1.656, -0.274, 0, 0, 0, 49 [SEP] 8, Spoon, 1.365, 0.912, 0.139, 0, 0, 0, 67 [SEP] 9, Spatula, -1.012, 0.763, 2.644, 0, 90, 0, 48 [SEP] 10, Spatula, 1.117, 0.901, 2.584, 0, 270, 0, 99 [SEP] 11, Egg, -0.020, 0.792, -0.612, 0, 0, 0, 94 [SEP] 12, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 99 [SEP] 13, Cup, 1.286, 0.910, -0.428, 0, 0, 0, 67 [SEP] 14, Cup, 1.294, 2.155, 0.599, 0, 0, 0, 58 [SEP] 15, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 99 [SEP] 16, Tomato, -1.162, 0.391, 0.988, 0, 90, 0, 87 [SEP] 17, SoapBottle, -0.919, 0.750, 2.273, 0, 0, 0, 48 [SEP] 18, SoapBottle, -0.211, 0.117, -0.577, 0, 0, 0, 62 [SEP] 19, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 48 [SEP] 20, Bread, -1.263, 0.814, 1.197, 0, 90, 0, 87 [SEP] 21, Apple, -1.263, 1.697, 0.984, 0, 90, 0, 87 [SEP] 22, Bread, -1.197, 0.812, 2.644, 0, 0, 0, 48 [SEP] 23, Glassbottle, 1.034, 0.887, 2.800, 0, 0, 0, 99 [SEP] 24, Fork, -1.383, 0.749, 2.644, 0, 0, 0, 48 [SEP] 25, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 26, Tomato, -1.320, 1.338, 0.987, 0, 90, 0, 87 [SEP] 27, Plate, 1.444, 0.912, 0.422, 0, 0, 0, 67 [SEP] 28, CellPhone, 1.099, 0.774, -0.014, 0, 0, 0, 68 [SEP] 29, Lettuce, 0.951, 0.957, 2.261, 0, 0, 0, 99 [SEP] 30, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 31, SoapBottle, -1.294, 2.154, 1.037, 0, 0, 0, 66 [SEP] 32, WineBottle, -0.658, 0.913, -0.589, 0, 0, 0, 73 [SEP] 33, Spatula, -0.919, 0.763, 2.087, 0, 270, 0, 48 [SEP] 34, Bowl, 1.219, 0.114, 1.081, 0, 0, 0, 64 [SEP] 35, Apple, -1.320, 1.697, 1.086, 0, 90, 0, 87 [SEP] 36, Cup, 1.444, 0.910, 0.706, 0, 0, 0, 67 [SEP] 37, Knife, 1.367, 0.908, 2.261, 0, 0, 0, 99 [SEP] 38, Egg, 1.301, 0.120, 1.409, 0, 0, 0, 88 [SEP] 39, SaltShaker, 1.218, 0.113, -0.093, 0, 0, 0, 61 [SEP] 40, PepperShaker, -1.383, 0.745, 2.273, 0, 0, 0, 48 [SEP] 41, Potato, 1.207, 0.956, 0.706, 0, 0, 0, 67 [SEP] 42, ButterKnife, -0.130, 0.912, -0.354, 0, 0, 0, 73 [SEP] 43, DishSponge, -1.156, 0.775, -0.136, 0, 180, 0, 71 [SEP] 44, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 73 [SEP] 45, Spoon, 1.444, 0.912, -0.144, 0, 0, 0, 67 [SEP] 46, SprayBottle, -1.290, 0.748, 1.902, 0, 0, 0, 48 [SEP] 47, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 86 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 100, NorthWall, , , , , , ,  [SEP] 101, EastWall, , , , , , ,  [SEP] 102, SouthWall, , , , , , ,  [SEP] 103, WestWall, , , , , , ,

Output: STEP 1: Turn right and go forward, turn left at the fridge, then go forward to the counter. | STEP 2: Pick up the plate from the counter. | STEP 3: Turn around and go to the fridge ahead | STEP 4: Open the fridge and put the plate inside. | STEP 5: Pick up the tomato in the fridge. | STEP 6: Put the tomato on the plate in the fridge. | END