Input: To examine a lap top under lamp light. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.998, 0.0, 0, 0, 0,  [SEP] 1, Plate, -3.429, 0.885, -1.090, 0, 0, 0, 28 [SEP] 2, Vase, -3.872, 0.883, -1.287, 0, 0, 0, 28 [SEP] 3, Pen, -0.030, 0.978, -2.415, 0, 0, 0, 37 [SEP] 4, RemoteControl, -3.207, 0.880, -1.385, 0, 0, 0, 28 [SEP] 5, Box, -2.863, 1.03, -0.958, 0, 0, 0, 28 [SEP] 6, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 25 [SEP] 7, CreditCard, -0.941, 0.448, -2.481, 0, 180, 0, 34 [SEP] 8, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 28 [SEP] 9, Laptop, -1.222, 0.452, -0.658, 0, 0, 0, 29 [SEP] 10, RemoteControl, -4.094, 0.882, -1.385, 0, 0, 0, 28 [SEP] 11, Vase, -0.827, 0.459, -0.738, 0, 0, 0, 29 [SEP] 12, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 37 [SEP] 13, KeyChain, -0.383, 0.525, 0.897, 0, 0, 0, 33 [SEP] 14, Pen, -0.135, 0.978, -2.493, 0, 90, 0, 37 [SEP] 15, Curtains, -3.013, 1.557, -3.082, 0, 0, 0,  [SEP] 16, Television, -1.063, 0.939, -2.439, 0, 0, 0,  [SEP] 17, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0,  [SEP] 18, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0,  [SEP] 19, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0,  [SEP] 20, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0,  [SEP] 21, Painting, -4.326, 1.817, -1.223, 90, 270, 0,  [SEP] 22, Window, 0.010, 1.087, 0.001, 90, 270, 0,  [SEP] 23, Window, -2.983, 1.544, -3.220, 90, 180, 0,  [SEP] 24, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0,  [SEP] 25, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0,  [SEP] 26, Stool, 0.765, 0.108, -1.148, 0, 0, 0,  [SEP] 27, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0,  [SEP] 28, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0,  [SEP] 29, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0,  [SEP] 30, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0,  [SEP] 31, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0,  [SEP] 32, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0,  [SEP] 33, Sofa, -0.905, 0.099, 0.959, 0, 180, 0,  [SEP] 34, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0,  [SEP] 35, Chair, -3.068, 0.098, -0.882, 0, 180, 0,  [SEP] 36, Drawer, -0.031, 0.872, -2.487, 0, 0, 0,  [SEP] 37, SideTable, -0.030, 0.097, -2.552, 0, 0, 0,  [SEP] 38, NorthWall, , , , , , ,  [SEP] 39, EastWall, , , , , , ,  [SEP] 40, SouthWall, , , , , , ,  [SEP] 41, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk across the room and then turn right to face a tablet on the white table. | STEP 2: Close the lap top on the white table, then pick it up. | STEP 3: Turn around and face the lamp on the left. | STEP 4: Turn on the light to examine a lap top. | END


Input: Place the toilet plunger in the cabinet below the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 3.0, 0, 270, 0,  [SEP] 1, SoapBar, -0.503, 0.164, 0.375, 0, 0, 0, 28 [SEP] 2, Candle, 0.668, 1.056, 4.539, 0, 270, 0, 31 [SEP] 3, SprayBottle, 0.485, 1.055, 4.116, 0, 0, 0, 22 [SEP] 4, SprayBottle, 0.232, 0.098, 3.167, 0, 0, 0, 18 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.699, 1.056, 4.277, 0, 270, 0, 31 [SEP] 7, Cloth, -2.322, 0.704, 0.717, 0, 0, 0, 19 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0,  [SEP] 10, SoapBar, 0.539, 1.054, 2.108, 0, 0, 0, 22 [SEP] 11, ToiletPaper, -0.944, 0.701, 1.060, 0, 0, 0, 19 [SEP] 12, ToiletPaper, 0.749, 1.045, 4.083, 0, 0, 0, 22 [SEP] 13, SoapBottle, 0.729, 1.051, 4.408, 0, 270, 0, 31 [SEP] 14, SprayBottle, 0.234, 0.098, 2.255, 0, 0, 0, 24 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0,  [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0,  [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0,  [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0,  [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0,  [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0,  [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0,  [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0,  [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0,  [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0,  [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0,  [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0,  [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0,  [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0,  [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0,  [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0,  [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0,  [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0,  [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0,  [SEP] 34, NorthWall, , , , , , ,  [SEP] 35, EastWall, , , , , , ,  [SEP] 36, SouthWall, , , , , , ,  [SEP] 37, WestWall, , , , , , ,

Output: STEP 1: Turn right, head towards the wall, and then turn right to face the toilet. | STEP 2: Pick up the plunger on the floor. | STEP 3: Take a few steps to the right to face the sink. | STEP 4: Open the cabinet below the sink and place the plunger in it. | END


Input: Take the plunger set it inside the dresser drawer  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 3.0, 0, 270, 0,  [SEP] 1, SoapBar, -0.503, 0.164, 0.375, 0, 0, 0, 28 [SEP] 2, Candle, 0.668, 1.056, 4.539, 0, 270, 0, 31 [SEP] 3, SprayBottle, 0.485, 1.055, 4.116, 0, 0, 0, 22 [SEP] 4, SprayBottle, 0.232, 0.098, 3.167, 0, 0, 0, 18 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.699, 1.056, 4.277, 0, 270, 0, 31 [SEP] 7, Cloth, -2.322, 0.704, 0.717, 0, 0, 0, 19 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0,  [SEP] 10, SoapBar, 0.539, 1.054, 2.108, 0, 0, 0, 22 [SEP] 11, ToiletPaper, -0.944, 0.701, 1.060, 0, 0, 0, 19 [SEP] 12, ToiletPaper, 0.749, 1.045, 4.083, 0, 0, 0, 22 [SEP] 13, SoapBottle, 0.729, 1.051, 4.408, 0, 270, 0, 31 [SEP] 14, SprayBottle, 0.234, 0.098, 2.255, 0, 0, 0, 24 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0,  [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0,  [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0,  [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0,  [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0,  [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0,  [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0,  [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0,  [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0,  [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0,  [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0,  [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0,  [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0,  [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0,  [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0,  [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0,  [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0,  [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0,  [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0,  [SEP] 34, NorthWall, , , , , , ,  [SEP] 35, EastWall, , , , , , ,  [SEP] 36, SouthWall, , , , , , ,  [SEP] 37, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk towards the toilet | STEP 2: Take the plunger with your hand | STEP 3: Take the plunger towards the vanity dresser | STEP 4: Set the plunger inside the dresser drawer | END


Input: turn on a lamp while holding a white plate SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.5, 0, 0, 0,  [SEP] 1, TissueBox, -0.175, 0.129, 1.129, 0, 0, 0, 36 [SEP] 2, Newspaper, -1.226, 0.127, 1.202, 0, 0, 0, 36 [SEP] 3, Newspaper, -0.806, 0.127, 1.202, 0, 0, 0, 36 [SEP] 4, Box, -3.780, 1.305, 0.457, 0, 0, 0, 26 [SEP] 5, Vase, -0.971, 0.114, 1.197, 0, 0, 0, 36 [SEP] 6, TissueBox, -4.005, 1.066, 0.589, 0, 0, 0, 26 [SEP] 7, Newspaper, 1.492, 0.649, -1.488, 0, 0, 0, 31 [SEP] 8, KeyChain, 0.817, 0.660, 1.342, 0, 0, 0, 27 [SEP] 9, Vase, 1.492, 0.665, -1.338, 0, 0, 0, 31 [SEP] 10, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 38 [SEP] 11, RemoteControl, 0.747, 0.458, 1.068, 0, 0, 0, 28 [SEP] 12, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 29 [SEP] 13, CreditCard, 1.829, 0.656, -1.338, 0, 0, 0, 31 [SEP] 14, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 35 [SEP] 15, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 36 [SEP] 16, Statue, -4.165, 1.166, 0.192, 0, 270, 0, 26 [SEP] 17, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0,  [SEP] 18, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0,  [SEP] 19, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0,  [SEP] 20, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0,  [SEP] 21, Television, -0.549, 1.516, 1.450, 0, 180, 0,  [SEP] 22, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0,  [SEP] 23, Window, -2.012, 1.501, 1.468, 90, 0, 0,  [SEP] 24, Window, 0.986, 1.501, 1.468, 90, 0, 0,  [SEP] 25, Painting, -0.698, 1.835, -1.911, 90, 0, 0,  [SEP] 26, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0,  [SEP] 27, SideTable, 1.102, -0.000, 1.118, 0, 180, 0,  [SEP] 28, Drawer, 1.103, 0.519, 0.834, 0, 180, 0,  [SEP] 29, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0,  [SEP] 30, Drawer, 1.581, 0.523, -1.199, 0, 0, 0,  [SEP] 31, SideTable, 1.581, 0.003, -1.488, 0, 0, 0,  [SEP] 32, Painting, -4.910, 1.763, -0.098, 90, 270, 0,  [SEP] 33, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0,  [SEP] 34, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0,  [SEP] 35, Sofa, 0.057, -0.002, -1.386, 0, 0, 0,  [SEP] 36, Shelf, -0.552, 0.114, 1.252, 0, 180, 0,  [SEP] 37, Drawer, -1.020, 0.728, 1.032, 0, 180, 0,  [SEP] 38, SideTable, -0.589, 0.000, 1.227, 0, 180, 0,  [SEP] 39, Drawer, -0.157, 0.728, 1.032, 0, 180, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: turn right and walk over to the cabinet underneath the television | STEP 2: grab a white plate from the cabinet | STEP 3: turn around and walk over to the night stand to the left of the couch | STEP 4: turn on the lamp on the night stand | END


Input: Turn on the light that is on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.5, 0, 0, 0,  [SEP] 1, TissueBox, -0.175, 0.129, 1.129, 0, 0, 0, 36 [SEP] 2, Newspaper, -1.226, 0.127, 1.202, 0, 0, 0, 36 [SEP] 3, Newspaper, -0.806, 0.127, 1.202, 0, 0, 0, 36 [SEP] 4, Box, -3.780, 1.305, 0.457, 0, 0, 0, 26 [SEP] 5, Vase, -0.971, 0.114, 1.197, 0, 0, 0, 36 [SEP] 6, TissueBox, -4.005, 1.066, 0.589, 0, 0, 0, 26 [SEP] 7, Newspaper, 1.492, 0.649, -1.488, 0, 0, 0, 31 [SEP] 8, KeyChain, 0.817, 0.660, 1.342, 0, 0, 0, 27 [SEP] 9, Vase, 1.492, 0.665, -1.338, 0, 0, 0, 31 [SEP] 10, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 38 [SEP] 11, RemoteControl, 0.747, 0.458, 1.068, 0, 0, 0, 28 [SEP] 12, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 29 [SEP] 13, CreditCard, 1.829, 0.656, -1.338, 0, 0, 0, 31 [SEP] 14, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 35 [SEP] 15, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 36 [SEP] 16, Statue, -4.165, 1.166, 0.192, 0, 270, 0, 26 [SEP] 17, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0,  [SEP] 18, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0,  [SEP] 19, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0,  [SEP] 20, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0,  [SEP] 21, Television, -0.549, 1.516, 1.450, 0, 180, 0,  [SEP] 22, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0,  [SEP] 23, Window, -2.012, 1.501, 1.468, 90, 0, 0,  [SEP] 24, Window, 0.986, 1.501, 1.468, 90, 0, 0,  [SEP] 25, Painting, -0.698, 1.835, -1.911, 90, 0, 0,  [SEP] 26, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0,  [SEP] 27, SideTable, 1.102, -0.000, 1.118, 0, 180, 0,  [SEP] 28, Drawer, 1.103, 0.519, 0.834, 0, 180, 0,  [SEP] 29, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0,  [SEP] 30, Drawer, 1.581, 0.523, -1.199, 0, 0, 0,  [SEP] 31, SideTable, 1.581, 0.003, -1.488, 0, 0, 0,  [SEP] 32, Painting, -4.910, 1.763, -0.098, 90, 270, 0,  [SEP] 33, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0,  [SEP] 34, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0,  [SEP] 35, Sofa, 0.057, -0.002, -1.386, 0, 0, 0,  [SEP] 36, Shelf, -0.552, 0.114, 1.252, 0, 180, 0,  [SEP] 37, Drawer, -1.020, 0.728, 1.032, 0, 180, 0,  [SEP] 38, SideTable, -0.589, 0.000, 1.227, 0, 180, 0,  [SEP] 39, Drawer, -0.157, 0.728, 1.032, 0, 180, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Walk straight then take a quick right to go around the chair then a left to walk towards the shelf. | STEP 2: Pick up the CD from the shelf. | STEP 3: Turn to the right walk straight to the other table then turn around to walk towards the wall then make a right to go to the end table next to the couch. | STEP 4: Turn on the lamp that is sitting on the end table while still holding the CD. | END


Input: Put the box with gray container 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, -1.0, 0.902, 2.75, 0, 0, 0,  [SEP] 1, CellPhone, -1.913, 0.392, 5.736, 0, 180, 0, 59 [SEP] 2, CellPhone, -4.168, 1.271, 0.322, 0, 0, 0, 26 [SEP] 3, CreditCard, -4.287, 1.268, 0.920, 0, 0, 0, 26 [SEP] 4, CreditCard, -4.327, 1.268, 0.771, 0, 0, 0, 26 [SEP] 5, RemoteControl, -2.238, 0.656, -1.693, 0, 0, 0, 57 [SEP] 6, Box, -2.414, 0.679, 5.826, 0, 180, 0, 59 [SEP] 7, Box, -3.381, 0.684, 4.415, 0, 90, 0, 60 [SEP] 8, Laptop, -1.556, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -0.108, 1.031, 1.495, 0, 90, 0, 36 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -1.663, 0.392, 6.095, 0, 180, 0, 59 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.684, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.700, 0.319, 2.539, 0, 0, 0, 67 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -4.228, 0.789, 0.756, 0, 0, 0, 29 [SEP] 16, Laptop, -1.413, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -1.545, 0.454, 4.048, 0, 0, 0, 70 [SEP] 19, CreditCard, 0.552, 0.329, 1.258, 0, 0, 0, 33 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -2.465, 0.656, -2.202, 0, 0, 0, 57 [SEP] 22, Statue, -0.601, 0.752, 1.593, 0, 0, 0, 36 [SEP] 23, Statue, -0.601, 0.843, 1.398, 0, 0, 0, 36 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0,  [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0,  [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0,  [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0,  [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0,  [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0,  [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0,  [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0,  [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0,  [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0,  [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0,  [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0,  [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0,  [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0,  [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0,  [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0,  [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0,  [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0,  [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0,  [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0,  [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0,  [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0,  [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0,  [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0,  [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0,  [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0,  [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0,  [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0,  [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0,  [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0,  [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0,  [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0,  [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0,  [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0,  [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0,  [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0,  [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0,  [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0,  [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0,  [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0,  [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0,  [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0,  [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0,  [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0,  [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0,  [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0,  [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: Turn left,move forward then cross the room head to the shelf  | STEP 2: Pick up the gray container on the shelf | STEP 3: Turn right then head to the black table on your right | STEP 4: Put the gray container in the box | STEP 5: Pick up the box on the black table | STEP 6: Turn right then head to the long brown table | STEP 7: Put the box with gray container on the table | END


Input: Put a bowl with a potato in it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.75, 0, 0, 0,  [SEP] 1, Potato, 1.846, 1.045, -1.245, 0, 270, 0, 89 [SEP] 2, Potato, -1.330, 0.943, -0.109, 0, 0, 0, 77 [SEP] 3, ButterKnife, -0.993, 0.911, -1.722, 0, 0, 0, 84 [SEP] 4, Kettle, -0.612, 0.113, 0.218, 0, 180, 0, 79 [SEP] 5, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 81 [SEP] 6, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 74 [SEP] 7, Spatula, -0.376, 0.778, -2.118, 0, 90, 0, 94 [SEP] 8, Spoon, -1.278, 0.914, 0.241, 0, 90, 0, 77 [SEP] 9, Egg, -0.117, 0.797, -1.897, 0, 0, 0, 94 [SEP] 10, Plate, 1.914, 1.650, -1.737, 0, 0, 0, 62 [SEP] 11, Plate, -1.312, 1.659, -0.353, 0, 0, 0, 67 [SEP] 12, Knife, -0.375, 1.155, 0.618, 0, 0, 0, 80 [SEP] 13, Knife, -1.278, 0.937, 0.135, 0, 0, 0, 77 [SEP] 14, SoapBottle, 3.105, 0.879, 0.195, 0, 180, 0, 88 [SEP] 15, SoapBottle, 2.591, 0.552, 0.038, 0, 180, 0, 90 [SEP] 16, Tomato, 1.924, 0.112, 0.109, 0, 0, 0, 87 [SEP] 17, Bowl, 1.911, 1.656, -1.197, 0, 0, 0, 61 [SEP] 18, SaltShaker, -0.657, 0.907, -2.267, 0, 0, 0, 84 [SEP] 19, SaltShaker, 0.071, 1.127, 0.529, 0, 0, 0, 80 [SEP] 20, PepperShaker, 2.694, 0.548, 0.038, 0, 180, 0, 90 [SEP] 21, PepperShaker, 0.094, 0.112, 0.286, 0, 180, 0, 72 [SEP] 22, Lettuce, 1.891, 1.175, -0.551, 0, 270, 0, 91 [SEP] 23, Mug, 0.388, 1.655, -2.087, 0, 0, 0, 64 [SEP] 24, Apple, 1.945, 0.865, -0.271, 0, 270, 0, 91 [SEP] 25, Apple, -0.152, 1.180, 0.485, 0, 0, 0, 80 [SEP] 26, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 84 [SEP] 27, Knife, -0.598, 1.155, 0.662, 0, 0, 0, 80 [SEP] 28, Bowl, 2.000, 0.814, -0.737, 0, 270, 0, 91 [SEP] 29, Fork, -0.290, 0.763, -2.063, 0, 0, 0, 94 [SEP] 30, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 94 [SEP] 31, Ladle, -0.645, 0.728, 0.190, 0, 270, 0, 78 [SEP] 32, Apple, 1.781, 0.865, -0.551, 0, 270, 0, 91 [SEP] 33, Kettle, -1.047, 0.953, -2.094, 0, 0, 0, 84 [SEP] 34, Vase, -1.163, 0.915, -0.109, 0, 0, 0, 77 [SEP] 35, Potato, -1.157, 0.941, -1.806, 0, 0, 0, 84 [SEP] 36, Pot, -1.289, 0.957, -0.756, 0, 180, 0, 59 [SEP] 37, Bread, -0.849, 0.995, 0.188, 0, 0, 0, 77 [SEP] 38, Plate, -1.313, 1.660, -0.043, 0, 0, 0, 68 [SEP] 39, Spatula, -0.993, 0.926, -1.891, 0, 0, 0, 84 [SEP] 40, PaperTowelRoll, -0.634, 1.017, 0.083, 0, 0, 0, 77 [SEP] 41, Vase, -1.330, 0.919, -0.353, 0, 0, 0, 77 [SEP] 42, Egg, 2.042, 0.096, 0.166, 0, 0, 0, 87 [SEP] 43, SoapBottle, -0.997, 0.913, -0.109, 0, 0, 0, 77 [SEP] 44, SaltShaker, -0.986, 0.125, -1.465, 0, 0, 0, 70 [SEP] 45, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 91 [SEP] 46, PepperShaker, -0.375, 1.127, 0.485, 0, 0, 0, 80 [SEP] 47, ButterKnife, 1.194, 0.911, -1.844, 0, 0, 0, 84 [SEP] 48, DishSponge, -1.272, 1.660, -0.558, 0, 0, 0, 67 [SEP] 49, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 90 [SEP] 50, Spoon, -0.205, 0.914, 0.188, 0, 0, 0, 77 [SEP] 51, Tomato, 0.969, 0.960, -1.760, 0, 0, 0, 84 [SEP] 52, Mug, -0.264, 0.111, 0.245, 0, 180, 0, 72 [SEP] 53, Statue, -0.420, 0.920, 0.188, 0, 0, 0, 77 [SEP] 54, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 55, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0,  [SEP] 56, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0,  [SEP] 57, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0,  [SEP] 59, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0,  [SEP] 60, Faucet, -0.157, 1.052, -2.196, 0, 270, 0,  [SEP] 61, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0,  [SEP] 62, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0,  [SEP] 63, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 64, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 65, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 66, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0,  [SEP] 67, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0,  [SEP] 68, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0,  [SEP] 69, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 70, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0,  [SEP] 71, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0,  [SEP] 72, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0,  [SEP] 73, Sink, -0.118, 0.875, -2.009, 0, 0, 0,  [SEP] 74, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0,  [SEP] 75, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0,  [SEP] 76, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0,  [SEP] 77, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0,  [SEP] 78, Drawer, -0.449, 0.75, -0.010, 0, 180, 0,  [SEP] 79, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0,  [SEP] 80, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0,  [SEP] 81, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0,  [SEP] 82, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0,  [SEP] 83, Drawer, -0.070, 0.75, -0.009, 0, 180, 0,  [SEP] 84, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0,  [SEP] 85, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0,  [SEP] 86, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0,  [SEP] 87, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0,  [SEP] 88, Shelf, 2.759, 0.880, 0.144, 0, 0, 0,  [SEP] 89, Microwave, 1.827, 0.900, -1.354, 0, 270, 0,  [SEP] 90, Shelf, 2.759, 0.552, 0.145, 0, 0, 0,  [SEP] 91, Fridge, 1.975, 0.0, -0.537, 0, 0, 0,  [SEP] 92, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0,  [SEP] 93, Shelf, 2.760, 0.172, 0.145, 0, 0, 0,  [SEP] 94, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0,  [SEP] 95, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0,  [SEP] 96, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0,  [SEP] 97, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0,  [SEP] 98, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0,  [SEP] 99, Toaster, 0.840, 0.900, -2.057, 0, 0, 0,  [SEP] 100, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0,  [SEP] 101, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0,  [SEP] 102, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0,  [SEP] 103, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0,  [SEP] 104, NorthWall, , , , , , ,  [SEP] 105, EastWall, , , , , , ,  [SEP] 106, SouthWall, , , , , , ,  [SEP] 107, WestWall, , , , , , ,

Output: STEP 1: Turn around and take a step then turn left to face the microwave. | STEP 2: Take the potato out of the microwave. | STEP 3: Look up at the cupboard above the microwave. | STEP 4: Open the cupboard above the microwave and put the potato in the glass bowl that's up there. | STEP 5: Grab the bowl with the potato and close the door. | STEP 6: Look back down at the microwave. | STEP 7: Put the bowl with the potato in it in the microwave. | END


Input: turn on the lamp while holding a pencil SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.937, 3.0, 0, 270, 0,  [SEP] 1, Mug, -0.602, 1.114, -3.243, 0, 0, 0, 35 [SEP] 2, Mug, -1.539, 1.114, -2.732, 0, 0, 0, 35 [SEP] 3, CellPhone, -1.426, 0.586, -2.934, 0, 0, 0, 31 [SEP] 4, Pen, -2.164, 1.121, -2.732, 0, 0, 0, 35 [SEP] 5, CreditCard, 1.752, 0.553, 2.243, 0, 90, 0, 55 [SEP] 6, CreditCard, -1.929, 0.190, 3.503, 0, 180, 0, 48 [SEP] 7, KeyChain, 1.828, 0.095, -3.206, 0, 90, 0, 53 [SEP] 8, RemoteControl, -0.365, 0.087, -2.882, 0, 0, 0, 34 [SEP] 9, RemoteControl, 1.609, 0.556, 2.490, 0, 90, 0, 55 [SEP] 10, AlarmClock, -1.227, 1.118, -2.817, 0, 0, 0, 35 [SEP] 11, AlarmClock, -0.602, 1.118, -2.902, 0, 0, 0, 35 [SEP] 12, Laptop, 0.389, 0.830, 0.975, 0, 0, 0, 28 [SEP] 13, Laptop, 0.958, 0.830, 1.456, 0, 0, 0, 28 [SEP] 14, Book, 0.573, 0.077, -3.077, 0, 0, 0, 32 [SEP] 15, AlarmClock, -1.539, 1.118, -3.073, 0, 0, 0, 35 [SEP] 16, CellPhone, -0.543, 0.087, -2.882, 0, 0, 0, 34 [SEP] 17, Pillow, 0.104, 0.940, 0.255, 0, 0, 0, 28 [SEP] 18, Pillow, 1.243, 0.940, 0.015, 0, 0, 0, 28 [SEP] 19, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 20, CreditCard, 1.609, 0.552, 2.391, 0, 90, 0, 55 [SEP] 21, KeyChain, 1.854, 0.554, 2.612, 0, 0, 0, 55 [SEP] 22, Pencil, -3.365, 0.377, -2.841, 0, 4.809, 0, 37 [SEP] 23, Laptop, -1.901, 1.104, -2.965, 0, 0, 0, 35 [SEP] 24, RemoteControl, -2.010, 0.193, 3.684, 0, 180, 0, 48 [SEP] 25, CD, -0.696, 0.190, 3.597, 0, 175.771, 0, 47 [SEP] 26, Pen, -1.071, 0.588, -2.934, 0, 0, 0, 31 [SEP] 27, Mug, -2.865, 0.080, -2.976, 0, 0, 0, 29 [SEP] 28, Bed, 0.967, 0.049, 0.667, 0, 90, 0,  [SEP] 29, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0,  [SEP] 30, Drawer, -0.365, 0.785, -2.848, 0, 0, 0,  [SEP] 31, Drawer, -1.159, 0.785, -2.848, 0, 0, 0,  [SEP] 32, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0,  [SEP] 33, Drawer, -1.159, 0.285, -2.848, 0, 0, 0,  [SEP] 34, Drawer, -0.365, 0.285, -2.848, 0, 0, 0,  [SEP] 35, Desk, -1.271, 1.169, -2.987, 0, 0, 0,  [SEP] 36, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0,  [SEP] 37, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0,  [SEP] 38, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0,  [SEP] 39, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0,  [SEP] 40, Mirror, -1.603, 1.447, 3.999, 0, 0, 0,  [SEP] 41, Television, -3.883, 1.771, 2.122, 0, 90, 0,  [SEP] 42, Window, -1.952, 2.148, -3.302, 90, 180, 0,  [SEP] 43, Window, -0.467, 2.148, -3.302, 90, 180, 0,  [SEP] 44, Window, -3.894, 1.751, 0.582, 90, 270, 0,  [SEP] 45, Window, -3.894, 1.751, -0.675, 90, 270, 0,  [SEP] 46, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354,  [SEP] 47, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0,  [SEP] 48, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0,  [SEP] 49, Blinds, -0.477, 2.785, -3.253, 0, 0, 0,  [SEP] 50, Blinds, -1.957, 2.785, -3.253, 0, 0, 0,  [SEP] 51, Blinds, -3.799, 2.506, 0.602, 0, 90, 0,  [SEP] 52, Blinds, -3.799, 2.506, -0.647, 0, 90, 0,  [SEP] 53, Safe, 1.673, 0.054, -3.004, 0, 0, 0,  [SEP] 54, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0,  [SEP] 55, SideTable, 1.775, 0.048, 2.377, 0, 0, 0,  [SEP] 56, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0,  [SEP] 57, NorthWall, , , , , , ,  [SEP] 58, EastWall, , , , , , ,  [SEP] 59, SouthWall, , , , , , ,  [SEP] 60, WestWall, , , , , , ,

Output: STEP 1: walk over to the blue recycling bin | STEP 2: grab the yellow pencil out of the recycling bin | STEP 3: turn around and go across the room to the circle table | STEP 4: turn on the lamp on the table | END


Input: Place a knife and a slice of tomato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 2.75, 0, 0, 0,  [SEP] 1, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 44 [SEP] 2, Potato, 1.183, 0.951, -1.247, 0, 90, 0, 45 [SEP] 3, ButterKnife, 0.476, 0.910, 1.180, 0, 90, 0, 41 [SEP] 4, DishSponge, 1.762, 0.910, 0.622, 0, 90, 0, 41 [SEP] 5, DishSponge, 0.220, 0.910, 0.915, 0, 90, 0, 41 [SEP] 6, Fork, 0.356, 0.911, -1.793, 0, 180, 0, 45 [SEP] 7, Egg, 0.894, 0.795, -1.654, 0, 0, 0, 60 [SEP] 8, Cup, 1.735, 1.631, -1.046, 0, 0, 0, 53 [SEP] 9, SoapBottle, 1.769, 2.135, 0.880, 0, 0, 0, 49 [SEP] 10, SoapBottle, 1.516, 0.909, -1.374, 0, 90, 0, 45 [SEP] 11, Tomato, 1.77, 0.134, 1.731, 0, 270, 0, 59 [SEP] 12, SaltShaker, 1.877, 1.648, -0.353, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.769, 1.648, -0.257, 0, 0, 0, 52 [SEP] 14, PepperShaker, 1.684, 0.905, 0.415, 0, 90, 0, 41 [SEP] 15, PepperShaker, 1.839, 0.905, 0.518, 0, 90, 0, 41 [SEP] 16, Bread, 1.726, 0.988, -1.460, 0, 90, 0, 45 [SEP] 17, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 67 [SEP] 18, Mug, 1.809, 2.131, 1.121, 0, 0, 0, 48 [SEP] 19, Plate, 1.501, 0.912, 1.180, 0, 90, 0, 41 [SEP] 20, SoapBottle, 1.451, 0.908, 0.467, 0, 90, 0, 41 [SEP] 21, Cup, -0.334, 1.062, -1.382, 0, 0, 0, 68 [SEP] 22, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 65 [SEP] 23, Fork, 0.988, 0.911, 1.004, 0, 90, 0, 41 [SEP] 24, Ladle, 1.201, 0.926, 0.743, 3.357, 0, 346.991, 41 [SEP] 25, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 60 [SEP] 26, SaltShaker, 1.735, 1.628, -0.682, 0, 0, 0, 53 [SEP] 27, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 43 [SEP] 28, Tomato, 0.476, 0.974, 1.092, 0, 90, 0, 41 [SEP] 29, Spatula, 0.989, 0.925, 0.915, 0, 270, 0, 41 [SEP] 30, Potato, 1.796, 0.951, -1.631, 0, 90, 0, 45 [SEP] 31, Knife, 1.529, 0.943, 0.363, 0, 180, 0, 41 [SEP] 32, ButterKnife, 1.245, 0.910, 0.827, 0, 90, 0, 41 [SEP] 33, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 41 [SEP] 34, Lettuce, -0.790, 0.560, -1.541, 0, 0, 0, 68 [SEP] 35, PepperShaker, 1.769, 1.648, -0.449, 0, 0, 0, 52 [SEP] 36, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 47 [SEP] 37, DishSponge, 1.865, 0.910, -1.288, 0, 90, 0, 45 [SEP] 38, Spoon, 1.586, 0.912, -1.717, 0, 90, 0, 45 [SEP] 39, Bowl, 1.805, 1.634, -1.378, 0, 0, 0, 54 [SEP] 40, Mug, 1.844, 1.634, 0.487, 0, 90, 0, 50 [SEP] 41, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 42, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 43, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 44, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 45, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 46, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 47, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 48, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 49, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 50, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 51, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 52, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 53, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 54, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 55, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 56, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 57, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 58, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 59, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 60, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 61, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 62, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 63, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 64, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 65, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 66, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 67, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 68, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 69, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 70, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 71, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Turn left, head towards the door, turn left towards the counter on your left, turn left to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Take a step to the right. | STEP 4: Slice the tomato on the counter into several slices. | STEP 5: Turn right, walk towards the middle of the kitchen, turn left towards the stove, and then turn right towards the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and head towards the counter. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn around and head towards the microwave on your left. | STEP 10: Open the microwave, place the slice in it, heat it up, and then take it out of the microwave. | STEP 11: Turn right towards the sink. | STEP 12: Place the slice tomato to the left of the apple in the sink. | END


Input: To boil an egg and put in the sink smoothly. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 2.75, 0, 0, 0,  [SEP] 1, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 44 [SEP] 2, Potato, 1.183, 0.951, -1.247, 0, 90, 0, 45 [SEP] 3, ButterKnife, 0.476, 0.910, 1.180, 0, 90, 0, 41 [SEP] 4, DishSponge, 1.762, 0.910, 0.622, 0, 90, 0, 41 [SEP] 5, DishSponge, 0.220, 0.910, 0.915, 0, 90, 0, 41 [SEP] 6, Fork, 0.356, 0.911, -1.793, 0, 180, 0, 45 [SEP] 7, Egg, 0.894, 0.795, -1.654, 0, 0, 0, 60 [SEP] 8, Cup, 1.735, 1.631, -1.046, 0, 0, 0, 53 [SEP] 9, SoapBottle, 1.769, 2.135, 0.880, 0, 0, 0, 49 [SEP] 10, SoapBottle, 1.516, 0.909, -1.374, 0, 90, 0, 45 [SEP] 11, Tomato, 1.77, 0.134, 1.731, 0, 270, 0, 59 [SEP] 12, SaltShaker, 1.877, 1.648, -0.353, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.769, 1.648, -0.257, 0, 0, 0, 52 [SEP] 14, PepperShaker, 1.684, 0.905, 0.415, 0, 90, 0, 41 [SEP] 15, PepperShaker, 1.839, 0.905, 0.518, 0, 90, 0, 41 [SEP] 16, Bread, 1.726, 0.988, -1.460, 0, 90, 0, 45 [SEP] 17, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 67 [SEP] 18, Mug, 1.809, 2.131, 1.121, 0, 0, 0, 48 [SEP] 19, Plate, 1.501, 0.912, 1.180, 0, 90, 0, 41 [SEP] 20, SoapBottle, 1.451, 0.908, 0.467, 0, 90, 0, 41 [SEP] 21, Cup, -0.334, 1.062, -1.382, 0, 0, 0, 68 [SEP] 22, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 65 [SEP] 23, Fork, 0.988, 0.911, 1.004, 0, 90, 0, 41 [SEP] 24, Ladle, 1.201, 0.926, 0.743, 3.357, 0, 346.991, 41 [SEP] 25, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 60 [SEP] 26, SaltShaker, 1.735, 1.628, -0.682, 0, 0, 0, 53 [SEP] 27, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 43 [SEP] 28, Tomato, 0.476, 0.974, 1.092, 0, 90, 0, 41 [SEP] 29, Spatula, 0.989, 0.925, 0.915, 0, 270, 0, 41 [SEP] 30, Potato, 1.796, 0.951, -1.631, 0, 90, 0, 45 [SEP] 31, Knife, 1.529, 0.943, 0.363, 0, 180, 0, 41 [SEP] 32, ButterKnife, 1.245, 0.910, 0.827, 0, 90, 0, 41 [SEP] 33, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 41 [SEP] 34, Lettuce, -0.790, 0.560, -1.541, 0, 0, 0, 68 [SEP] 35, PepperShaker, 1.769, 1.648, -0.449, 0, 0, 0, 52 [SEP] 36, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 47 [SEP] 37, DishSponge, 1.865, 0.910, -1.288, 0, 90, 0, 45 [SEP] 38, Spoon, 1.586, 0.912, -1.717, 0, 90, 0, 45 [SEP] 39, Bowl, 1.805, 1.634, -1.378, 0, 0, 0, 54 [SEP] 40, Mug, 1.844, 1.634, 0.487, 0, 90, 0, 50 [SEP] 41, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0,  [SEP] 42, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0,  [SEP] 43, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0,  [SEP] 44, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0,  [SEP] 45, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0,  [SEP] 46, Sink, 1.100, 0.906, -1.599, 0, 0, 0,  [SEP] 47, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0,  [SEP] 48, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0,  [SEP] 49, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0,  [SEP] 50, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0,  [SEP] 51, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0,  [SEP] 52, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0,  [SEP] 53, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0,  [SEP] 54, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0,  [SEP] 55, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0,  [SEP] 56, Toaster, 0.131, 0.900, -1.589, 0, 0, 0,  [SEP] 57, Window, -0.372, 1.588, 3.349, 90, 0, 0,  [SEP] 58, Window, 0.782, 1.741, -1.893, 90, 0, 0,  [SEP] 59, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0,  [SEP] 60, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0,  [SEP] 61, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0,  [SEP] 62, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0,  [SEP] 63, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0,  [SEP] 64, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0,  [SEP] 65, Microwave, 1.752, 0.900, -0.843, 0, 270, 0,  [SEP] 66, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0,  [SEP] 67, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0,  [SEP] 68, Fridge, -0.533, 0.0, -1.554, 0, 0, 0,  [SEP] 69, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0,  [SEP] 70, Faucet, 1.110, 1.138, -1.764, 0, 270, 0,  [SEP] 71, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0,  [SEP] 72, NorthWall, , , , , , ,  [SEP] 73, EastWall, , , , , , ,  [SEP] 74, SouthWall, , , , , , ,  [SEP] 75, WestWall, , , , , , ,

Output: STEP 1: Twist-turn around and take an left. Left again. | STEP 2: Take the knife only from the table. | STEP 3: Turn twist and step forward with the knife in hand. | STEP 4: Touch the red ball of yarn on the table. | STEP 5: turn right and then to the left. | STEP 6: Drop the knife on the counter. | STEP 7: turn right twist and and right along to the table. | STEP 8: Pick up the red egg only from the table. | STEP 9: Walk forward and to the left to the microwave . | STEP 10: You have to open the microwave door and put the egg in it. | STEP 11: Push the door closed and enter the green stamp button. Afterward take out the red egg and in hand. | STEP 12: Over the counter on the right drop the red egg in. | END


Input: to slice up an apple and put in a pan to put 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, 0.0, 0.900, 1.25, 0, 180, 0,  [SEP] 1, SprayBottle, -1.828, 0.116, -1.635, 0, 0, 0, 80 [SEP] 2, SprayBottle, 1.092, 0.117, 0.547, 0, 0, 0, 56 [SEP] 3, Potato, 1.375, 1.409, 1.851, 0, 270, 0, 92 [SEP] 4, Ladle, -1.957, 0.954, 0.118, 0, 0, 0, 75 [SEP] 5, DishSponge, -1.712, 0.910, 0.032, 0, 0, 0, 75 [SEP] 6, DishSponge, 0.976, 0.117, 0.372, 0, 0, 0, 56 [SEP] 7, Fork, 0.697, 0.773, -1.533, 0, 0, 0, 77 [SEP] 8, Fork, 1.414, 1.162, -0.659, 0, 0, 0, 79 [SEP] 9, Spoon, -2.159, 0.774, -1.500, 0, 270, 0, 68 [SEP] 10, Pot, 0.121, 1.657, -1.839, 0, 0, 0, 63 [SEP] 11, Pot, -1.809, 0.912, -1.879, 0, 0, 0, 71 [SEP] 12, Cup, -0.313, 1.656, -1.764, 0, 0, 0, 55 [SEP] 13, Cup, 0.149, 0.920, -1.657, 0, 270, 0, 52 [SEP] 14, Plate, 0.808, 1.656, -1.839, 0, 0, 0, 62 [SEP] 15, SoapBottle, -2.107, 0.111, -1.535, 0, 0, 0, 76 [SEP] 16, SoapBottle, 1.150, 0.115, -0.956, 0, 90, 0, 58 [SEP] 17, Bowl, 1.325, 1.368, 2.351, 0, 270, 0, 92 [SEP] 18, Bowl, 1.035, 0.115, -1.244, 0, 0, 0, 58 [SEP] 19, PepperShaker, -1.809, 0.905, -1.448, 0, 0, 0, 71 [SEP] 20, Bread, -2.323, 0.988, 0.377, 0, 0, 0, 75 [SEP] 21, Mug, 1.275, 1.362, 1.976, 0, 270, 0, 92 [SEP] 22, Apple, 0.251, 0.954, -1.758, 0, 270, 0, 52 [SEP] 23, Apple, 1.325, 1.402, 1.726, 0, 270, 0, 92 [SEP] 24, Tomato, 1.323, 1.760, 1.713, 0, 270, 0, 92 [SEP] 25, Glassbottle, 1.223, 1.656, -0.658, 0, 0, 0, 61 [SEP] 26, Knife, -2.323, 0.940, 0.032, 0, 0, 0, 75 [SEP] 27, Plate, 1.342, 1.656, -1.264, 0, 0, 0, 65 [SEP] 28, Fork, 0.903, 0.773, 0.323, 0, 90, 0, 50 [SEP] 29, Ladle, 0.589, 0.161, -1.585, 0, 90, 0, 67 [SEP] 30, Potato, 1.381, 0.256, 1.108, 0, 0, 0, 90 [SEP] 31, Lettuce, -0.627, 0.980, -1.874, 0, 0, 0, 73 [SEP] 32, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 73 [SEP] 33, Pen, -2.187, 0.777, -1.565, 0, 270, 0, 68 [SEP] 34, SaltShaker, -2.041, 0.106, -1.729, 0, 0, 0, 76 [SEP] 35, Cup, -0.718, 0.112, -1.535, 0, 0, 0, 60 [SEP] 36, Egg, 1.314, 1.846, 2.244, 0, 270, 0, 92 [SEP] 37, Spatula, -1.962, 0.925, -1.448, 0, 180, 0, 71 [SEP] 38, Bowl, 1.090, 0.115, -0.662, 0, 0, 0, 57 [SEP] 39, SprayBottle, -2.039, 0.909, -1.448, 0, 0, 0, 71 [SEP] 40, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 81 [SEP] 41, SoapBottle, -2.201, 0.910, 0.204, 0, 90, 0, 75 [SEP] 42, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 69 [SEP] 43, ButterKnife, 1.010, 0.911, -0.990, 0, 0, 0, 73 [SEP] 44, PepperShaker, 1.454, 1.157, 0.370, 0, 180, 0, 79 [SEP] 45, DishSponge, 1.015, 0.774, -1.013, 0, 0, 0, 51 [SEP] 46, Bread, 1.494, 1.240, -1.688, 0, 0, 0, 79 [SEP] 47, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 95 [SEP] 48, Spoon, 0.217, 0.920, -1.556, 0, 0, 0, 52 [SEP] 49, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 89 [SEP] 50, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 51, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 52, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 53, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 54, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 55, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 56, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 57, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 58, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 59, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 60, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 61, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 62, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 63, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 64, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 65, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 66, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 67, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 68, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 69, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 70, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 71, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 72, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 73, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 74, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 75, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 76, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 77, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 78, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 79, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 80, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 81, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 82, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 83, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 84, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 85, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 86, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 87, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 88, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 89, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 90, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 91, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 92, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 93, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 94, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 95, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 96, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 97, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 98, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 99, NorthWall, , , , , , ,  [SEP] 100, EastWall, , , , , , ,  [SEP] 101, SouthWall, , , , , , ,  [SEP] 102, WestWall, , , , , , ,

Output: STEP 1: walk forward towards the sink and turn left | STEP 2: pick up the knife from the counter | STEP 3: turn left and walk forward then turn right towards the microwave | STEP 4: open the microwave door | STEP 5: slice the apple that is in the microwave, then turn around and walk forward towards the wall then turn left | STEP 6: place knife on the stove | STEP 7: turn around and walk forward then turn right and walk towards the microwave | STEP 8: open the microwave and pull apple slices out of it | STEP 9: turn around and walk forward turn left and walk towards stove | STEP 10: place apple in the pan  | STEP 11: pick up the pan from the stove | STEP 12: turn left with the pan and walk towards the counter | STEP 13: place the pan on the counter | END


Input: Put a pan with a sponge in it on the round 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, 0.900, -0.5, 0, 270, 0,  [SEP] 1, Ladle, -0.645, 0.855, 1.181, 0, 90, 0, 106 [SEP] 2, Ladle, -0.852, 2.329, -0.614, 0, 0, 0, 81 [SEP] 3, ButterKnife, 2.893, 0.764, 4.307, 0, 225, 0, 50 [SEP] 4, ButterKnife, 2.322, 0.764, 3.895, 0, 329.999, 0, 50 [SEP] 5, WineBottle, -0.669, 1.028, 0.416, 0, 0, 0, 52 [SEP] 6, WineBottle, -0.858, 0.335, -0.295, 0, 90, 0, 93 [SEP] 7, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 48 [SEP] 8, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 47 [SEP] 9, Fork, 1.347, 0.791, -1.546, 0, 0, 0, 56 [SEP] 10, Fork, 1.290, 1.027, -1.774, 0, 90, 0, 49 [SEP] 11, Egg, 2.304, 0.808, 4.521, 0, 329.999, 0, 50 [SEP] 12, Egg, -0.577, 0.860, 1.337, 0, 90, 0, 106 [SEP] 13, Cup, -0.669, 1.026, 2.311, 0, 0, 0, 52 [SEP] 14, SoapBottle, 3.075, 0.031, -1.228, 0, 0, 0, 91 [SEP] 15, SoapBottle, 2.959, 1.025, -1.456, 0, 0, 0, 49 [SEP] 16, Bowl, -0.782, 0.814, 1.492, 0, 90, 0, 106 [SEP] 17, PepperShaker, 2.293, 0.760, 4.127, 0, 225, 0, 50 [SEP] 18, PepperShaker, 2.815, 0.028, -0.220, 0, 0, 0, 75 [SEP] 19, Mug, 2.599, 0.759, 4.145, 0, 0, 0, 110 [SEP] 20, Mug, -1.069, 0.781, -0.073, 0, 90, 0, 93 [SEP] 21, Pan, -0.987, 0.785, -0.406, 0, 180, 0, 93 [SEP] 22, Glassbottle, -0.669, 1.028, 2.556, 0, 0, 0, 52 [SEP] 23, Knife, 2.228, 0.789, 4.495, 0, 270, 0, 50 [SEP] 24, SoapBottle, 2.621, 1.025, -0.541, 0, 0, 0, 49 [SEP] 25, Egg, 1.895, 1.905, -1.809, 0, 0, 0, 95 [SEP] 26, Fork, -0.544, 1.028, 0.877, 0, 0, 0, 52 [SEP] 27, Potato, -1.038, 0.119, 2.779, 0, 0, 0, 104 [SEP] 28, Ladle, 2.976, 0.803, 3.970, 0, 270, 0, 50 [SEP] 29, Tomato, -0.877, 1.495, -0.073, 0, 90, 0, 93 [SEP] 30, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 92 [SEP] 31, WineBottle, 2.478, 0.765, 3.773, 0, 329.999, 0, 50 [SEP] 32, Plate, -0.968, 1.442, -0.516, 0, 90, 0, 93 [SEP] 33, Spatula, 2.525, 0.779, 3.445, 0, 0, 0, 50 [SEP] 34, PaperTowelRoll, 2.551, 0.868, 4.240, 0, 329.999, 0, 50 [SEP] 35, Lettuce, 2.370, 1.085, 1.550, 0, 136.999, 0, 49 [SEP] 36, Apple, 2.191, 0.814, 3.710, 0, 225, 0, 50 [SEP] 37, SaltShaker, -0.977, 0.045, 0.700, 0, 0, 0, 51 [SEP] 38, PepperShaker, 2.175, 0.760, 4.447, 0, 329.999, 0, 50 [SEP] 39, ButterKnife, 2.998, 1.026, 1.298, 0, 136.999, 0, 49 [SEP] 40, Bread, 2.439, 1.094, 1.056, 0, 136.999, 0, 49 [SEP] 41, Cup, 2.296, 0.763, 3.605, 0, 225, 0, 50 [SEP] 42, DishSponge, -0.347, 1.027, 1.171, 0, 0, 0, 52 [SEP] 43, Bowl, 2.626, 0.762, 3.821, 0, 270, 0, 50 [SEP] 44, Spoon, 2.404, 1.028, 1.303, 0, 136.999, 0, 49 [SEP] 45, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 102 [SEP] 46, Sink, -0.716, 1.023, 1.333, 0, 0, 0,  [SEP] 47, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0,  [SEP] 48, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0,  [SEP] 49, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0,  [SEP] 50, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0,  [SEP] 51, Drawer, -0.643, 0.828, 0.616, 0, 0, 0,  [SEP] 52, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0,  [SEP] 53, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0,  [SEP] 54, Drawer, -0.643, 0.831, 1.953, 0, 0, 0,  [SEP] 55, Drawer, -0.643, 0.833, 2.418, 0, 0, 0,  [SEP] 56, Drawer, 1.347, 0.836, -1.539, 0, 0, 0,  [SEP] 57, Drawer, 2.693, 0.833, -1.131, 0, 0, 0,  [SEP] 58, Drawer, 2.693, 0.833, -0.699, 0, 0, 0,  [SEP] 59, Drawer, 2.693, 0.833, -0.267, 0, 0, 0,  [SEP] 60, Drawer, 2.693, 0.833, 0.163, 0, 0, 0,  [SEP] 61, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0,  [SEP] 62, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0,  [SEP] 63, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0,  [SEP] 64, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0,  [SEP] 65, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0,  [SEP] 66, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0,  [SEP] 67, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0,  [SEP] 68, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0,  [SEP] 69, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0,  [SEP] 70, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0,  [SEP] 71, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0,  [SEP] 72, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0,  [SEP] 73, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0,  [SEP] 74, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0,  [SEP] 75, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0,  [SEP] 76, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0,  [SEP] 77, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0,  [SEP] 78, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0,  [SEP] 79, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0,  [SEP] 80, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0,  [SEP] 81, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0,  [SEP] 82, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0,  [SEP] 83, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0,  [SEP] 84, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0,  [SEP] 85, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0,  [SEP] 86, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0,  [SEP] 87, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0,  [SEP] 88, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0,  [SEP] 89, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0,  [SEP] 90, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0,  [SEP] 91, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0,  [SEP] 92, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0,  [SEP] 93, Fridge, -0.908, 0.0, -0.405, 0, 0, 0,  [SEP] 94, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0,  [SEP] 95, Microwave, 1.939, 1.745, -1.826, 0, 0, 0,  [SEP] 96, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180,  [SEP] 97, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180,  [SEP] 98, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180,  [SEP] 99, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180,  [SEP] 100, Window, 1.756, 1.608, 4.762, 90, 0, 0,  [SEP] 101, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0,  [SEP] 102, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0,  [SEP] 103, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0,  [SEP] 104, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0,  [SEP] 105, Toaster, -1.007, 1.018, 2.238, 0, 90, 0,  [SEP] 106, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0,  [SEP] 107, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0,  [SEP] 108, Faucet, -1.120, 1.013, 1.334, 0, 90, 0,  [SEP] 109, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0,  [SEP] 110, , , , , , , ,  [SEP] 111, , , , , , , ,  [SEP] 112, NorthWall, , , , , , ,  [SEP] 113, EastWall, , , , , , ,  [SEP] 114, SouthWall, , , , , , ,  [SEP] 115, WestWall, , , , , , ,

Output: STEP 1: Move to the sink, right of the fridge. | STEP 2: Pick up the sponge on the counter in front of the sink.  | STEP 3: Bring the sponge to the fridge on the left. | STEP 4: Put the sponge in the pan in the fridge. | STEP 5: Pick up the pan with sponge in the fridge.  | STEP 6: Turn around, bring the pan over to the round table in the opposite corner of the room. | STEP 7: Put the pan with sponge on the table next to the apple | END


Input: Put the chilled slice cabbage in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0,  [SEP] 1, Potato, -2.671, 1.484, 2.485, 0, 90, 0, 63 [SEP] 2, Potato, -0.169, 0.862, 1.103, 0, 0, 0, 45 [SEP] 3, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 58 [SEP] 4, ButterKnife, -2.813, 0.823, 0.871, 0, 0, 0, 45 [SEP] 5, Pot, -2.840, 0.821, 0.203, 0, 270, 0, 45 [SEP] 6, Fork, -0.147, 0.824, 0.352, 0, 0, 0, 45 [SEP] 7, Spoon, -0.363, 0.698, 0.912, 0, 90, 0, 47 [SEP] 8, Spoon, -1.161, 0.699, 0.444, 0, 270, 0, 49 [SEP] 9, Egg, -1.542, 0.847, 0.073, 0, 0, 0, 45 [SEP] 10, Egg, -1.412, 0.721, 0.295, 0, 0, 0, 72 [SEP] 11, SoapBottle, -2.530, 0.119, 1.550, 0, 0, 0, 56 [SEP] 12, SoapBottle, -1.885, 0.123, 0.323, 0, 0, 0, 57 [SEP] 13, PepperShaker, -2.957, 0.818, 0.426, 0, 0, 0, 45 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -2.726, 0.897, 2.309, 0, 90, 0, 63 [SEP] 16, Apple, -0.329, 0.129, 2.539, 0, 0, 0, 65 [SEP] 17, Apple, -2.837, 1.518, 2.397, 0, 90, 0, 63 [SEP] 18, Fork, -1.214, 0.813, 0.498, 0, 0, 0, 45 [SEP] 19, Ladle, -2.491, 0.867, 0.426, 0, 90, 0, 45 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -2.377, 1.433, 0.142, 0, 0, 0, 52 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.581, 0.873, 0.953, 0, 0, 0, 45 [SEP] 24, Potato, -2.877, 0.960, 1.284, 0, 90, 0, 64 [SEP] 25, SaltShaker, -2.822, 1.430, 0.385, 0, 45, 0, 51 [SEP] 26, Plate, -2.115, 0.130, 0.401, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.817, 0.847, 0.055, 0, 0, 0, 45 [SEP] 30, Cup, -2.837, 1.144, 2.485, 0, 90, 0, 63 [SEP] 31, ButterKnife, -1.967, 0.702, 0.295, 0, 0, 0, 72 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.581, 0.818, 0.462, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.169, 0.823, 1.326, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.943, 0.711, 0.411, 0, 90, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.133, 0, 90, 0, 63 [SEP] 38, Bowl, -0.397, 0.115, 0.914, 0, 0, 0, 61 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn left and head to the counter with microwave | STEP 2: Pick up the bread knife on the counter beside the microwave | STEP 3: Turn left the head to the sink | STEP 4: Slice the cabbage in the sink | STEP 5: Turn right then head to the fridge  | STEP 6: Open the fridge put in the bread knife | STEP 7: Turn left head to the sink  | STEP 8: Pick up a slice of cabbage  | STEP 9: Turn right head to the fridge | STEP 10: Open the fridge put in and out the cabbage | STEP 11: Turn right head to the trash bin | STEP 12: Put the slice cabbage in the trash bin | END


Input: To cool a slice of lettuce plus place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0,  [SEP] 1, Potato, -2.671, 1.484, 2.485, 0, 90, 0, 63 [SEP] 2, Potato, -0.169, 0.862, 1.103, 0, 0, 0, 45 [SEP] 3, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 58 [SEP] 4, ButterKnife, -2.813, 0.823, 0.871, 0, 0, 0, 45 [SEP] 5, Pot, -2.840, 0.821, 0.203, 0, 270, 0, 45 [SEP] 6, Fork, -0.147, 0.824, 0.352, 0, 0, 0, 45 [SEP] 7, Spoon, -0.363, 0.698, 0.912, 0, 90, 0, 47 [SEP] 8, Spoon, -1.161, 0.699, 0.444, 0, 270, 0, 49 [SEP] 9, Egg, -1.542, 0.847, 0.073, 0, 0, 0, 45 [SEP] 10, Egg, -1.412, 0.721, 0.295, 0, 0, 0, 72 [SEP] 11, SoapBottle, -2.530, 0.119, 1.550, 0, 0, 0, 56 [SEP] 12, SoapBottle, -1.885, 0.123, 0.323, 0, 0, 0, 57 [SEP] 13, PepperShaker, -2.957, 0.818, 0.426, 0, 0, 0, 45 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -2.726, 0.897, 2.309, 0, 90, 0, 63 [SEP] 16, Apple, -0.329, 0.129, 2.539, 0, 0, 0, 65 [SEP] 17, Apple, -2.837, 1.518, 2.397, 0, 90, 0, 63 [SEP] 18, Fork, -1.214, 0.813, 0.498, 0, 0, 0, 45 [SEP] 19, Ladle, -2.491, 0.867, 0.426, 0, 90, 0, 45 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -2.377, 1.433, 0.142, 0, 0, 0, 52 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.581, 0.873, 0.953, 0, 0, 0, 45 [SEP] 24, Potato, -2.877, 0.960, 1.284, 0, 90, 0, 64 [SEP] 25, SaltShaker, -2.822, 1.430, 0.385, 0, 45, 0, 51 [SEP] 26, Plate, -2.115, 0.130, 0.401, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.817, 0.847, 0.055, 0, 0, 0, 45 [SEP] 30, Cup, -2.837, 1.144, 2.485, 0, 90, 0, 63 [SEP] 31, ButterKnife, -1.967, 0.702, 0.295, 0, 0, 0, 72 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.581, 0.818, 0.462, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.169, 0.823, 1.326, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.943, 0.711, 0.411, 0, 90, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.133, 0, 90, 0, 63 [SEP] 38, Bowl, -0.397, 0.115, 0.914, 0, 0, 0, 61 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 77, NorthWall, , , , , , ,  [SEP] 78, EastWall, , , , , , ,  [SEP] 79, SouthWall, , , , , , ,  [SEP] 80, WestWall, , , , , , ,

Output: STEP 1: Turn left and step forward to face the counter to the left of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left to face the sink. | STEP 4: Cut the lettuce in the sink into slices. | STEP 5: Turn around and walk forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn left and walk across the room to face the sink. | STEP 8: Pick up a slice of lettuce in the sink. | STEP 9: Turn around and walk forward to face the fridge. | STEP 10: Cool the slice of lettuce in the fridge and then remove it. | STEP 11: Turn around and step forward to face the trash can. | STEP 12: Place the slice of lettuce in the trash can. | END


Input: Retrieve the sponge from the kitchen island, place in fry pan, put fry pan on kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 270, 0,  [SEP] 1, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 61 [SEP] 2, Ladle, -0.720, 0.957, -2.167, 0, 0, 0, 64 [SEP] 3, DishSponge, 2.009, 0.913, -1.329, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.180, 0.930, 0.076, 0, 0, 0, 81 [SEP] 5, WineBottle, 1.557, 0.914, -1.797, 0, 0, 0, 64 [SEP] 6, WineBottle, -0.047, 0.931, 0.076, 0, 0, 0, 81 [SEP] 7, Spatula, 1.153, 0.928, -2.169, 0, 0, 0, 64 [SEP] 8, Spatula, -0.047, 0.941, 0.534, 0, 0, 0, 81 [SEP] 9, Egg, 0.180, 0.984, 1.448, 0, 0, 0, 81 [SEP] 10, Cup, 0.457, 0.913, -2.252, 0, 0, 0, 64 [SEP] 11, Plate, 0.066, 0.934, 0.991, 0, 0, 0, 81 [SEP] 12, Knife, 0.002, 0.936, -1.689, 0, 0, 0, 64 [SEP] 13, Bowl, 1.566, 0.549, 2.431, 0, 0, 0, 84 [SEP] 14, Bowl, 1.528, 1.656, -2.124, 0, 0, 0, 51 [SEP] 15, SaltShaker, -0.035, 2.147, -2.067, 0, 0, 0, 49 [SEP] 16, PepperShaker, -0.047, 0.923, 0.305, 0, 0, 0, 81 [SEP] 17, PepperShaker, 1.669, 0.877, 2.510, 0, 0, 0, 90 [SEP] 18, Mug, -0.137, 0.759, -2.116, 0, 0, 0, 76 [SEP] 19, Mug, 1.647, 0.908, -1.446, 0, 0, 0, 64 [SEP] 20, Apple, -1.553, 0.930, -1.013, 0, 90, 0, 72 [SEP] 21, Apple, -1.317, 1.086, -1.638, 0, 90, 0, 70 [SEP] 22, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 81 [SEP] 23, Potato, -0.160, 0.956, 0.991, 0, 0, 0, 81 [SEP] 24, Bowl, -1.438, 1.180, -0.702, 0, 90, 0, 72 [SEP] 25, SoapBottle, 1.631, 0.119, -1.266, 0, 270, 0, 56 [SEP] 26, Fork, -0.230, 0.914, -1.713, 0, 0, 0, 64 [SEP] 27, Ladle, 0.408, 0.975, 0.991, 0, 0, 0, 81 [SEP] 28, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 81 [SEP] 29, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 72 [SEP] 30, WineBottle, -0.963, 0.914, -2.260, 0, 0, 0, 64 [SEP] 31, Spatula, 0.408, 0.941, 0.534, 0, 180, 0, 81 [SEP] 32, Plate, 0.066, 0.930, 0.534, 0, 0, 0, 81 [SEP] 33, SaltShaker, 1.464, 0.877, 2.510, 0, 0, 0, 85 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, -1.553, 1.183, -0.910, 0, 90, 0, 72 [SEP] 36, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 81 [SEP] 37, Pan, 1.909, 1.657, -1.737, 0, 180, 0, 54 [SEP] 38, ButterKnife, 0.180, 0.926, 1.220, 0, 0, 0, 81 [SEP] 39, Tomato, -1.533, 1.556, -0.910, 0, 90, 0, 72 [SEP] 40, DishSponge, 1.255, 0.552, 2.379, 0, 0, 0, 91 [SEP] 41, Egg, -0.927, 0.967, -2.151, 0, 0, 0, 64 [SEP] 42, Spoon, 0.522, 0.931, 1.220, 0, 0, 0, 81 [SEP] 43, Knife, 1.618, 0.936, -2.085, 0, 90, 0, 64 [SEP] 44, Mug, 1.738, 0.908, -1.797, 0, 0, 0, 64 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 90, , , , , , , ,  [SEP] 91, , , , , , , ,  [SEP] 92, NorthWall, , , , , , ,  [SEP] 93, EastWall, , , , , , ,  [SEP] 94, SouthWall, , , , , , ,  [SEP] 95, WestWall, , , , , , ,

Output: STEP 1: Move to the left side of the kitchen island | STEP 2: Pick up the sponge from the kitchen island | STEP 3: Turn around and move to the stove | STEP 4: Put the sponge in the fry pan at the at the back | STEP 5: Pick up the fry pan from the stove | STEP 6: Turn around and go to the far side of the kitchen island | STEP 7: Put the fry pan on the kitchen island behind the apple | END


Input: To put a sponge in a pan and put the pan on the kitchen island.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 270, 0,  [SEP] 1, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 61 [SEP] 2, Ladle, -0.720, 0.957, -2.167, 0, 0, 0, 64 [SEP] 3, DishSponge, 2.009, 0.913, -1.329, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.180, 0.930, 0.076, 0, 0, 0, 81 [SEP] 5, WineBottle, 1.557, 0.914, -1.797, 0, 0, 0, 64 [SEP] 6, WineBottle, -0.047, 0.931, 0.076, 0, 0, 0, 81 [SEP] 7, Spatula, 1.153, 0.928, -2.169, 0, 0, 0, 64 [SEP] 8, Spatula, -0.047, 0.941, 0.534, 0, 0, 0, 81 [SEP] 9, Egg, 0.180, 0.984, 1.448, 0, 0, 0, 81 [SEP] 10, Cup, 0.457, 0.913, -2.252, 0, 0, 0, 64 [SEP] 11, Plate, 0.066, 0.934, 0.991, 0, 0, 0, 81 [SEP] 12, Knife, 0.002, 0.936, -1.689, 0, 0, 0, 64 [SEP] 13, Bowl, 1.566, 0.549, 2.431, 0, 0, 0, 84 [SEP] 14, Bowl, 1.528, 1.656, -2.124, 0, 0, 0, 51 [SEP] 15, SaltShaker, -0.035, 2.147, -2.067, 0, 0, 0, 49 [SEP] 16, PepperShaker, -0.047, 0.923, 0.305, 0, 0, 0, 81 [SEP] 17, PepperShaker, 1.669, 0.877, 2.510, 0, 0, 0, 90 [SEP] 18, Mug, -0.137, 0.759, -2.116, 0, 0, 0, 76 [SEP] 19, Mug, 1.647, 0.908, -1.446, 0, 0, 0, 64 [SEP] 20, Apple, -1.553, 0.930, -1.013, 0, 90, 0, 72 [SEP] 21, Apple, -1.317, 1.086, -1.638, 0, 90, 0, 70 [SEP] 22, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 81 [SEP] 23, Potato, -0.160, 0.956, 0.991, 0, 0, 0, 81 [SEP] 24, Bowl, -1.438, 1.180, -0.702, 0, 90, 0, 72 [SEP] 25, SoapBottle, 1.631, 0.119, -1.266, 0, 270, 0, 56 [SEP] 26, Fork, -0.230, 0.914, -1.713, 0, 0, 0, 64 [SEP] 27, Ladle, 0.408, 0.975, 0.991, 0, 0, 0, 81 [SEP] 28, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 81 [SEP] 29, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 72 [SEP] 30, WineBottle, -0.963, 0.914, -2.260, 0, 0, 0, 64 [SEP] 31, Spatula, 0.408, 0.941, 0.534, 0, 180, 0, 81 [SEP] 32, Plate, 0.066, 0.930, 0.534, 0, 0, 0, 81 [SEP] 33, SaltShaker, 1.464, 0.877, 2.510, 0, 0, 0, 85 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, -1.553, 1.183, -0.910, 0, 90, 0, 72 [SEP] 36, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 81 [SEP] 37, Pan, 1.909, 1.657, -1.737, 0, 180, 0, 54 [SEP] 38, ButterKnife, 0.180, 0.926, 1.220, 0, 0, 0, 81 [SEP] 39, Tomato, -1.533, 1.556, -0.910, 0, 90, 0, 72 [SEP] 40, DishSponge, 1.255, 0.552, 2.379, 0, 0, 0, 91 [SEP] 41, Egg, -0.927, 0.967, -2.151, 0, 0, 0, 64 [SEP] 42, Spoon, 0.522, 0.931, 1.220, 0, 0, 0, 81 [SEP] 43, Knife, 1.618, 0.936, -2.085, 0, 90, 0, 64 [SEP] 44, Mug, 1.738, 0.908, -1.797, 0, 0, 0, 64 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 90, , , , , , , ,  [SEP] 91, , , , , , , ,  [SEP] 92, NorthWall, , , , , , ,  [SEP] 93, EastWall, , , , , , ,  [SEP] 94, SouthWall, , , , , , ,  [SEP] 95, WestWall, , , , , , ,

Output: STEP 1: turn left and walk to the kitchen island.  | STEP 2: Pick up the sponge to the left of the loaf of bread.  | STEP 3: Turn right and walk to the stove.  | STEP 4: Put the sponge down on the pan on the back right burner of the stove.  | STEP 5: Pick up the pan with the sponge in it.  | STEP 6: Walk back over to the kitchen island.  | STEP 7: Put the pan down on the kitchen island behind the apple.  | END


Input: place a cool slice of potato on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 2.0, 0, 270, 0,  [SEP] 1, WineBottle, 1.840, 0.939, 0.731, 0, 0, 0, 63 [SEP] 2, WineBottle, 0.033, 0.791, 0.713, 0, 0, 0, 79 [SEP] 3, Spatula, -0.272, 0.805, 0.377, 0, 180, 0, 79 [SEP] 4, Spatula, -0.425, 0.805, 1.049, 0, 90, 0, 79 [SEP] 5, Spoon, -0.196, 0.792, 1.049, 0, 0, 0, 79 [SEP] 6, Spoon, -0.349, 0.792, 0.377, 0, 0, 0, 79 [SEP] 7, Fork, 1.815, 0.747, 2.060, 0, 90, 0, 67 [SEP] 8, Fork, -0.119, 0.791, 0.545, 0, 180, 0, 79 [SEP] 9, Egg, -0.041, 0.980, 2.451, 0, 0, 0, 52 [SEP] 10, Egg, -0.349, 0.833, 1.217, 0, 0, 0, 79 [SEP] 11, Cup, 1.840, 0.936, 0.435, 0, 0, 0, 63 [SEP] 12, Cup, -0.119, 0.789, 0.881, 0, 0, 0, 79 [SEP] 13, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 58 [SEP] 14, Plate, 2.059, 0.342, -0.188, 0, 270, 0, 73 [SEP] 15, SoapBottle, -0.042, 0.791, 1.217, 0, 180, 0, 79 [SEP] 16, SoapBottle, 2.282, 1.502, 2.104, 0, 0, 0, 55 [SEP] 17, Tomato, 0.033, 0.837, 0.545, 0, 0, 0, 79 [SEP] 18, Tomato, 2.223, 1.369, -0.369, 0, 270, 0, 73 [SEP] 19, PepperShaker, -0.195, 0.932, 2.504, 0, 0, 0, 52 [SEP] 20, Lettuce, 2.227, 0.999, 2.260, 0, 270, 0, 52 [SEP] 21, Egg, 2.301, 0.980, 0.806, 0, 0, 0, 63 [SEP] 22, Lettuce, 2.000, 1.385, -0.460, 0, 270, 0, 73 [SEP] 23, Fork, -0.119, 0.791, 1.217, 0, 0, 0, 79 [SEP] 24, SoapBottle, 2.127, 1.504, 0.665, 0, 0, 0, 60 [SEP] 25, Ladle, 0.033, 0.835, 1.049, 0, 270, 0, 79 [SEP] 26, Ladle, 0.174, 0.982, 2.827, 0, 0, 0, 52 [SEP] 27, Bread, 2.112, 1.369, -0.097, 0, 270, 0, 73 [SEP] 28, SaltShaker, -0.272, 0.785, 1.386, 0, 0, 0, 79 [SEP] 29, Potato, 2.301, 0.978, 0.361, 0, 180, 0, 63 [SEP] 30, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 47 [SEP] 31, WineBottle, 1.085, 0.082, 2.601, 0, 0, 0, 58 [SEP] 32, Spatula, 1.906, 0.761, 0.721, 0, 270, 0, 61 [SEP] 33, Knife, 1.673, 0.963, 2.666, 0, 0, 0, 52 [SEP] 34, Tomato, 2.024, 1.565, -0.550, 0, 270, 0, 73 [SEP] 35, Apple, 2.076, 1.569, -0.369, 0, 270, 0, 73 [SEP] 36, ButterKnife, -0.196, 0.791, 1.049, 0, 0, 0, 79 [SEP] 37, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 56 [SEP] 38, PepperShaker, 1.925, 0.077, 1.986, 0, 0, 0, 48 [SEP] 39, Cup, 0.637, 0.079, 2.562, 0, 0, 0, 59 [SEP] 40, DishSponge, 2.257, 0.937, 2.898, 0, 0, 0, 52 [SEP] 41, Plate, -0.272, 0.795, 0.713, 0, 0, 0, 79 [SEP] 42, Spoon, -0.042, 0.792, 0.881, 0, 90, 0, 79 [SEP] 43, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 78 [SEP] 44, Bowl, 2.165, 1.500, 0.448, 0, 0, 0, 50 [SEP] 45, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0,  [SEP] 46, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0,  [SEP] 47, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0,  [SEP] 48, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0,  [SEP] 49, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0,  [SEP] 50, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0,  [SEP] 51, Drawer, -0.024, 0.774, 2.061, 0, 0, 0,  [SEP] 52, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0,  [SEP] 53, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0,  [SEP] 54, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0,  [SEP] 55, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0,  [SEP] 56, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0,  [SEP] 57, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0,  [SEP] 58, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0,  [SEP] 59, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0,  [SEP] 60, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0,  [SEP] 61, Drawer, 2.167, 0.774, 0.582, 0, 0, 0,  [SEP] 62, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0,  [SEP] 63, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0,  [SEP] 64, Sink, 0.935, 0.936, 2.646, 0, 0, 0,  [SEP] 65, Curtains, 0.964, 2.061, 2.989, 0, 0, 0,  [SEP] 66, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0,  [SEP] 67, Drawer, 1.911, 0.774, 2.060, 0, 0, 0,  [SEP] 68, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0,  [SEP] 69, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0,  [SEP] 70, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0,  [SEP] 71, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0,  [SEP] 72, Toaster, 2.126, 0.926, 0.572, 0, 270, 0,  [SEP] 73, Fridge, 2.104, 0.0, -0.279, 0, 270, 0,  [SEP] 74, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0,  [SEP] 75, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0,  [SEP] 76, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0,  [SEP] 77, Microwave, -0.310, 0.926, 2.077, 0, 90, 0,  [SEP] 78, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0,  [SEP] 79, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0,  [SEP] 80, Faucet, 1.175, 0.926, 2.950, 270, 90, 0,  [SEP] 81, Faucet, 0.686, 0.926, 2.950, 270, 90, 0,  [SEP] 82, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0,  [SEP] 83, NorthWall, , , , , , ,  [SEP] 84, EastWall, , , , , , ,  [SEP] 85, SouthWall, , , , , , ,  [SEP] 86, WestWall, , , , , , ,

Output: STEP 1: turn left and head to the table | STEP 2: pick up the knife | STEP 3: turn around and head for the table  | STEP 4: slice the potato on it | STEP 5: turn around and head for the table | STEP 6: drop the knife on the table | STEP 7: move right on the table | STEP 8: pick up a slice of potato | STEP 9: turn around to the fridge | STEP 10: cool the potato in the fridge | STEP 11: turn around to the table | STEP 12: place the potato on the table | END


Input: Cool mug in refrigerator, move to coffee maker on counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 3.75, 0, 0, 0,  [SEP] 1, Potato, -0.572, 0.926, 3.334, 0, 0, 0, 64 [SEP] 2, DishSponge, -0.657, 0.900, 3.334, 0, 0, 0, 64 [SEP] 3, Cup, -2.764, 1.186, 4.204, 0, 90, 0, 58 [SEP] 4, Knife, -2.377, 0.688, 0.355, 0, 90, 0, 49 [SEP] 5, Tomato, -2.748, 0.117, 0.420, 0, 26.101, 0, 55 [SEP] 6, Bowl, -2.847, 1.182, 4.575, 0, 90, 0, 58 [SEP] 7, Lettuce, -2.831, 0.378, 4.278, 0, 90, 0, 58 [SEP] 8, Lettuce, -2.789, 0.980, 2.309, 0, 0, 0, 62 [SEP] 9, Egg, -2.764, 0.087, 0.301, 0, 26.101, 0, 55 [SEP] 10, Plate, -0.228, 0.904, 2.530, 0, 0, 0, 64 [SEP] 11, Fork, -2.583, 0.901, 2.177, 0, 0, 0, 62 [SEP] 12, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 62 [SEP] 13, Apple, -2.583, 0.956, 2.441, 0, 0, 0, 62 [SEP] 14, Lettuce, -2.864, 1.015, 3.302, 0, 90, 0, 48 [SEP] 15, Spatula, -0.921, 0.810, 0.281, 0, 90, 0, 59 [SEP] 16, Knife, -2.789, 0.926, 2.573, 0, 0, 0, 62 [SEP] 17, Potato, -2.480, 0.926, 1.913, 0, 0, 0, 62 [SEP] 18, Tomato, -2.847, 0.696, 4.204, 0, 90, 0, 58 [SEP] 19, Cup, -2.480, 0.900, 2.441, 0, 0, 0, 62 [SEP] 20, SaltShaker, -2.686, 0.896, 2.441, 0, 0, 0, 62 [SEP] 21, PepperShaker, -0.400, 0.896, 2.530, 0, 0, 0, 64 [SEP] 22, ButterKnife, -2.686, 0.900, 2.573, 0, 0, 0, 62 [SEP] 23, SoapBottle, -2.377, 0.900, 1.913, 0, 0, 0, 62 [SEP] 24, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 43 [SEP] 25, DishSponge, -2.480, 0.900, 2.706, 0, 0, 0, 62 [SEP] 26, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 45 [SEP] 27, Spoon, -0.218, 0.663, 0.355, 0, 0, 0, 30 [SEP] 28, Mug, -1.007, 0.790, 0.392, 0, 0, 0, 59 [SEP] 29, Bowl, -1.636, 1.770, 0.114, 0, 0, 0, 36 [SEP] 30, Drawer, -0.325, 0.696, 0.413, 0, 0, 0,  [SEP] 31, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0,  [SEP] 32, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0,  [SEP] 33, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0,  [SEP] 34, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0,  [SEP] 35, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0,  [SEP] 36, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0,  [SEP] 37, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0,  [SEP] 38, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0,  [SEP] 39, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0,  [SEP] 40, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0,  [SEP] 41, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0,  [SEP] 42, Sink, -1.108, 0.926, 0.340, 0, 0, 0,  [SEP] 43, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0,  [SEP] 44, Drawer, -1.824, 0.696, 0.413, 0, 0, 0,  [SEP] 45, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0,  [SEP] 46, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0,  [SEP] 47, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0,  [SEP] 48, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0,  [SEP] 49, Drawer, -2.323, 0.696, 0.413, 0, 0, 0,  [SEP] 50, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865,  [SEP] 51, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865,  [SEP] 52, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865,  [SEP] 53, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865,  [SEP] 54, Toaster, -0.286, 0.861, 3.520, 0, 270, 0,  [SEP] 55, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400,  [SEP] 56, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0,  [SEP] 57, Window, -3.075, 1.593, 1.361, 90, 90, 0,  [SEP] 58, Fridge, -2.802, 0.0, 4.427, 0, 0, 0,  [SEP] 59, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0,  [SEP] 60, Microwave, -0.358, 0.917, 0.224, 0, 0, 0,  [SEP] 61, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0,  [SEP] 62, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0,  [SEP] 63, Faucet, -1.077, 0.920, 0.028, 270, 270, 0,  [SEP] 64, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0,  [SEP] 65, NorthWall, , , , , , ,  [SEP] 66, EastWall, , , , , , ,  [SEP] 67, SouthWall, , , , , , ,  [SEP] 68, WestWall, , , , , , ,

Output: STEP 1: Turn right, proceed to table.  Turn right, proceed to sink. | STEP 2: Pick up mug from sink, located to the right of the spatula. | STEP 3: Turn around, proceed to wall.  Turn left, proceed to refrigerator. | STEP 4: Open refrigerator, place mug on top shelf to the right of the tomato.  Close refrigerator, wait five seconds, open refrigerator.  Remove mug from refrigerator, close refrigerator door. | STEP 5: Turn left, proceed to counter on right.  Turn right to face coffee maker.   | STEP 6: Place mug on coffee maker to the right of the lettuce.  | END


Input: Place the knife next to the egg SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, 1.0, 0, 180, 0,  [SEP] 1, Pan, -1.380, 1.322, -2.981, 0, 270, 0, 61 [SEP] 2, Pan, -1.818, 0.343, 1.110, 0, 180, 0, 62 [SEP] 3, Potato, 1.246, 1.350, 0.810, 0, 270, 0, 86 [SEP] 4, DishSponge, -1.345, 1.322, -1.269, 0, 0, 0, 61 [SEP] 5, DishSponge, -1.602, 0.343, -2.362, 0, 0, 0, 57 [SEP] 6, WineBottle, -1.237, 1.323, -3.314, 0, 0, 0, 61 [SEP] 7, WineBottle, -1.660, 1.323, -2.981, 0, 0, 0, 61 [SEP] 8, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 56 [SEP] 9, Fork, -1.660, 1.323, 1.419, 0, 0, 0, 61 [SEP] 10, Fork, 1.025, 1.323, -2.424, 0, 0, 0, 61 [SEP] 11, Spoon, 0.897, 0.741, 1.054, 0, 270, 0, 85 [SEP] 12, Spoon, -1.687, 0.421, -1.283, 0, 0, 0, 67 [SEP] 13, Spatula, -2.004, 1.351, -1.117, 0, 270, 0, 68 [SEP] 14, Pot, -0.125, 1.332, -2.973, 0, 0, 0, 69 [SEP] 15, Egg, -1.530, 1.363, -2.461, 0, 0, 0, 61 [SEP] 16, Egg, 0.861, 1.248, 1.222, 0, 0, 0, 86 [SEP] 17, Plate, 0.976, 0.345, -2.267, 0, 180, 0, 60 [SEP] 18, Plate, -1.817, 0.344, 0.613, 0, 0, 0, 59 [SEP] 19, Knife, -1.737, 1.358, -1.186, 0, 180, 0, 68 [SEP] 20, Knife, -1.790, 1.352, 1.094, 0, 0, 0, 61 [SEP] 21, Knife, -1.826, 1.362, -0.980, 0, 180, 0, 68 [SEP] 22, SoapBottle, 1.193, 1.207, 1.238, 0, 0, 0, 86 [SEP] 23, SoapBottle, -1.954, 0.344, 1.007, 0, 0, 0, 62 [SEP] 24, Tomato, 1.072, 1.558, 1.848, 0, 270, 0, 74 [SEP] 25, Tomato, -1.954, 1.084, -0.633, 0, 0, 0, 79 [SEP] 26, Bowl, -1.790, 1.321, -2.201, 0, 0, 0, 61 [SEP] 27, SaltShaker, 0.778, 1.202, 1.254, 0, 0, 0, 86 [SEP] 28, PepperShaker, 1.285, 1.318, -3.164, 0, 0, 0, 61 [SEP] 29, Bread, 0.563, 1.397, -3.232, 0, 0, 0, 61 [SEP] 30, Mug, -1.698, 1.046, -0.587, 0, 0, 0, 79 [SEP] 31, Apple, -1.308, 1.371, -2.760, 0, 0, 0, 61 [SEP] 32, Apple, -1.308, 1.371, -3.203, 0, 180, 0, 61 [SEP] 33, Bread, -1.510, 1.380, 0.674, 0, 0, 0, 61 [SEP] 34, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 64 [SEP] 35, Knife, -1.737, 1.360, -1.117, 0, 90, 0, 68 [SEP] 36, Bowl, -1.602, 0.342, -1.863, 0, 0, 0, 57 [SEP] 37, Potato, -1.920, 1.362, 1.744, 0, 0, 0, 61 [SEP] 38, SoapBottle, -1.682, 0.344, 1.523, 0, 0, 0, 62 [SEP] 39, Fork, -1.561, 0.423, -1.283, 0, 90, 0, 67 [SEP] 40, Cup, -1.920, 1.320, -1.941, 0, 0, 0, 61 [SEP] 41, Kettle, -1.691, 1.310, -3.156, 0, 150.000, 0, 61 [SEP] 42, Egg, -2.093, 1.375, -1.186, 0, 0, 0, 68 [SEP] 43, Pan, -1.660, 1.312, 0.445, 0, 0, 0, 61 [SEP] 44, SaltShaker, 0.506, 1.318, -2.053, 0, 0, 0, 61 [SEP] 45, WineBottle, -1.610, 0.281, 2.275, 0, 270, 0, 76 [SEP] 46, Lettuce, 0.896, 1.399, -0.942, 0, 0, 0, 61 [SEP] 47, Spatula, -1.772, 0.437, -0.561, 0, 90, 0, 65 [SEP] 48, PaperTowelRoll, -2.049, 1.427, 0.445, 0, 0, 0, 61 [SEP] 49, Tomato, -1.610, 0.314, 2.110, 0, 270, 0, 76 [SEP] 50, Plate, 0.349, 1.323, -3.121, 0, 0, 0, 61 [SEP] 51, PepperShaker, -1.602, 0.338, -2.262, 0, 0, 0, 57 [SEP] 52, DishSponge, -1.165, 1.322, -3.425, 0, 0, 0, 61 [SEP] 53, Spoon, -1.826, 1.065, -0.542, 0, 0, 0, 79 [SEP] 54, Apple, 0.766, 1.371, -2.053, 0, 0, 0, 75 [SEP] 55, Mug, 1.027, 1.202, 1.238, 0, 0, 0, 86 [SEP] 56, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0,  [SEP] 57, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0,  [SEP] 58, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0,  [SEP] 59, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0,  [SEP] 60, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0,  [SEP] 61, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0,  [SEP] 62, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0,  [SEP] 63, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0,  [SEP] 64, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0,  [SEP] 65, Drawer, -1.610, 0.681, -0.430, 0, 0, 0,  [SEP] 66, Window, -2.566, 1.799, -0.822, 270, 0, 0,  [SEP] 67, Drawer, -1.610, 0.681, -1.217, 0, 0, 0,  [SEP] 68, Sink, -1.990, 1.143, -0.975, 0, 0, 0,  [SEP] 69, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0,  [SEP] 70, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180,  [SEP] 71, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180,  [SEP] 72, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180,  [SEP] 73, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180,  [SEP] 74, Fridge, 1.013, 0.227, 1.917, 0, 270, 0,  [SEP] 75, Microwave, 0.994, 1.310, -2.163, 0, 270, 0,  [SEP] 76, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0,  [SEP] 77, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0,  [SEP] 78, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0,  [SEP] 79, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0,  [SEP] 80, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0,  [SEP] 81, Toaster, -1.885, 1.310, -2.512, 0, 90, 0,  [SEP] 82, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0,  [SEP] 83, Drawer, 0.647, 1.061, 0.680, 0, 270, 0,  [SEP] 84, Drawer, 0.648, 1.061, 1.020, 0, 270, 0,  [SEP] 85, Drawer, 0.648, 0.843, 1.020, 0, 270, 0,  [SEP] 86, SideTable, 0.975, 0.220, 0.869, 0, 270, 0,  [SEP] 87, Drawer, 0.648, 0.602, 0.680, 0, 270, 0,  [SEP] 88, Drawer, 0.648, 0.596, 1.020, 0, 270, 0,  [SEP] 89, Drawer, 0.648, 0.843, 0.680, 0, 270, 0,  [SEP] 90, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0,  [SEP] 91, NorthWall, , , , , , ,  [SEP] 92, EastWall, , , , , , ,  [SEP] 93, SouthWall, , , , , , ,  [SEP] 94, WestWall, , , , , , ,

Output: STEP 1: Walk to the table to your right | STEP 2: Pick up the knife from the table | STEP 3: Turn around and walk towards the microwave behind you | STEP 4: Place the knife right next to the egg on the table. | END


Input: Put a washed pan on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 1.75, 0, 180, 0,  [SEP] 1, Potato, -1.219, 1.044, -1.638, 0, 90, 0, 66 [SEP] 2, Potato, -1.380, 1.212, -0.495, 0, 90, 0, 68 [SEP] 3, Ladle, 1.919, 0.957, -1.329, 0, 0, 0, 60 [SEP] 4, Ladle, -0.047, 0.975, 0.991, 0, 0, 0, 77 [SEP] 5, DishSponge, -0.616, 0.913, -2.200, 0, 0, 0, 60 [SEP] 6, WineBottle, 1.143, 0.120, -2.022, 0, 0, 0, 52 [SEP] 7, Spatula, -0.047, 0.941, 0.534, 0, 90, 0, 77 [SEP] 8, Spatula, 0.522, 0.941, 1.220, 0, 0, 0, 77 [SEP] 9, Egg, 2.009, 0.967, -1.563, 0, 0, 0, 60 [SEP] 10, Plate, -1.495, 1.187, -0.703, 0, 90, 0, 68 [SEP] 11, Knife, 1.153, 0.936, -2.085, 0, 0, 0, 60 [SEP] 12, Tomato, -1.553, 1.235, -0.910, 0, 90, 0, 68 [SEP] 13, SoapBottle, 1.877, 0.551, 2.586, 0, 0, 0, 86 [SEP] 14, Lettuce, 0.180, 1.008, 0.534, 0, 0, 0, 77 [SEP] 15, Lettuce, -0.047, 1.011, 0.305, 0, 0, 0, 77 [SEP] 16, SaltShaker, 0.408, 0.926, 0.534, 0, 0, 0, 77 [SEP] 17, PepperShaker, -0.230, 0.909, -1.725, 0, 0, 0, 60 [SEP] 18, Apple, -1.553, 0.930, -0.910, 0, 90, 0, 68 [SEP] 19, Potato, -1.000, 0.942, -2.115, 0, 0, 0, 60 [SEP] 20, Bowl, 0.325, 1.655, -2.162, 0, 0, 0, 49 [SEP] 21, SoapBottle, 0.294, 0.925, 1.448, 0, 0, 0, 77 [SEP] 22, Fork, 0.119, 0.914, -1.713, 0, 0, 0, 60 [SEP] 23, Ladle, 0.180, 0.971, 0.991, 0, 0, 0, 77 [SEP] 24, Bread, 1.738, 0.958, -1.563, 0, 0, 0, 60 [SEP] 25, Lettuce, -0.160, 1.011, 0.534, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.631, 0.121, -1.200, 0, 270, 0, 54 [SEP] 27, Spatula, -0.047, 0.941, 1.220, 0, 0, 0, 77 [SEP] 28, Plate, 1.462, 0.556, 2.431, 0, 0, 0, 80 [SEP] 29, SaltShaker, -1.000, 0.909, -2.224, 0, 0, 0, 60 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, -0.381, 2.151, -2.120, 0, 0, 0, 45 [SEP] 32, PepperShaker, -1.238, 1.655, -1.667, 0, 90, 0, 43 [SEP] 33, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 57 [SEP] 34, ButterKnife, 1.850, 0.913, -1.751, 0, 0, 0, 60 [SEP] 35, Tomato, 0.522, 0.978, 0.762, 0, 0, 0, 77 [SEP] 36, DishSponge, 0.180, 0.930, 1.220, 0, 0, 0, 77 [SEP] 37, Egg, -1.610, 0.913, -0.806, 0, 90, 0, 68 [SEP] 38, Spoon, 1.557, 0.914, -1.212, 0, 0, 0, 60 [SEP] 39, Knife, 0.522, 0.953, 0.076, 0, 90, 0, 77 [SEP] 40, Mug, 1.773, 0.548, 2.379, 0, 0, 0, 86 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0,  [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0,  [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0,  [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0,  [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0,  [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0,  [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0,  [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0,  [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0,  [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0,  [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0,  [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0,  [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0,  [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0,  [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0,  [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0,  [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0,  [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0,  [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0,  [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0,  [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0,  [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0,  [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0,  [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0,  [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0,  [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0,  [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0,  [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0,  [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0,  [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0,  [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0,  [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0,  [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477,  [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477,  [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477,  [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477,  [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0,  [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0,  [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0,  [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0,  [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0,  [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0,  [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0,  [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0,  [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0,  [SEP] 86, , , , , , , ,  [SEP] 87, NorthWall, , , , , , ,  [SEP] 88, EastWall, , , , , , ,  [SEP] 89, SouthWall, , , , , , ,  [SEP] 90, WestWall, , , , , , ,

Output: STEP 1: Go to the stove. | STEP 2: Pick up a pan on the stove. | STEP 3:  Turn and go to the sink. | STEP 4: Wash the pan in the sink.  | STEP 5: Turn and go to the stove. | STEP 6: Put the pan on the stove. | END


Input: Place a yellow knife along with a slice of bread in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 2.25, 0, 180, 0,  [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0,  [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0,  [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0,  [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0,  [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0,  [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0,  [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0,  [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0,  [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0,  [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0,  [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0,  [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0,  [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0,  [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0,  [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0,  [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0,  [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0,  [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0,  [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0,  [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0,  [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0,  [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0,  [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0,  [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0,  [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0,  [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0,  [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0,  [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0,  [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0,  [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0,  [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0,  [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0,  [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0,  [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0,  [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0,  [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0,  [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0,  [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0,  [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0,  [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0,  [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0,  [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0,  [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0,  [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0,  [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0,  [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0,  [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0,  [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0,  [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0,  [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0,  [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0,  [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Walk past the toaster on your left. | STEP 2: Pick up the knife next to the toaster on the counter. | STEP 3: Turn around and walk towards a white rectangular table. | STEP 4: Slice the bread on the table into several pieces. | STEP 5: Turn left and walk towards the fridge. | STEP 6: Place the knife on the top shelf in the fridge and close it. | STEP 7: Turn right and walk back to the table to your left. | STEP 8: Pick up a slice of bread from the table. | STEP 9: Turn left and walk towards the microwave to your right. | STEP 10: Place the slice of bread in the microwave, heat it up, and take it back out. | STEP 11: Head towards the fridge to your right. | STEP 12: Place the bread behind the knife in the fridge. | END