Input: Place a microwaved tomato inside a refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.930, -0.75, 0, 90, 0,  [SEP] 1, Potato, -0.702, 0.938, -0.726, 0, 45, 0, 60 [SEP] 2, DishSponge, 2.987, 0.746, 0.098, 0, 90, 0, 105 [SEP] 3, DishSponge, 2.971, 0.175, -0.702, 0, 0, 0, 72 [SEP] 4, ButterKnife, 0.445, 0.911, 0.727, 0, 0, 0, 91 [SEP] 5, ButterKnife, 0.622, 0.911, 0.326, 0, 0, 0, 91 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 55 [SEP] 7, Kettle, 3.113, 1.465, -1.648, 0, 0, 0, 58 [SEP] 8, Spatula, -0.950, 0.341, -0.273, 0, 90, 0, 65 [SEP] 9, Apple, 0.851, 1.147, -1.475, 0, 0, 0, 106 [SEP] 10, Lettuce, -0.717, 0.965, 0.176, 0, 0, 0, 60 [SEP] 11, SaltShaker, 1.255, 1.671, -1.619, 0, 0, 0, 51 [SEP] 12, SaltShaker, 3.084, 0.173, 0.770, 0, 0, 0, 69 [SEP] 13, PepperShaker, -0.745, 0.514, 1.255, 0, 0, 0, 48 [SEP] 14, Bowl, 0.404, 1.256, -1.707, 0, 0, 0, 76 [SEP] 15, Bowl, 0.798, 0.908, 0.426, 0, 0, 0, 91 [SEP] 16, Tomato, -0.007, 0.937, -1.728, 0, 45, 0, 81 [SEP] 17, Egg, 1.242, 1.300, -1.475, 0, 0, 0, 106 [SEP] 18, Cup, 0.101, 0.898, -1.373, 0, 0, 0, 81 [SEP] 19, Knife, -0.991, 0.352, 1.343, 0, 90, 0, 95 [SEP] 20, Knife, 3.200, 0.926, -0.499, 0, 0, 0, 59 [SEP] 21, Plate, 3.084, 0.188, -0.404, 0, 0, 0, 71 [SEP] 22, Glassbottle, 3.128, 0.101, 1.6, 0, 225, 0, 101 [SEP] 23, SoapBottle, 1.255, 1.683, -1.341, 0, 0, 0, 51 [SEP] 24, Potato, 1.164, 0.749, -1.407, 0, 0, 0, 106 [SEP] 25, Fork, 2.988, 0.713, 0.761, 0, 180, 0, 82 [SEP] 26, Ladle, -0.991, 0.554, 1.255, 0, 90, 0, 48 [SEP] 27, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 49 [SEP] 28, Kettle, 1.229, 0.912, 0.464, 0, 0, 0, 91 [SEP] 29, Spatula, 0.533, 0.925, 0.527, 0, 0, 0, 91 [SEP] 30, Knife, -0.991, 0.732, -0.273, 0, 90, 0, 67 [SEP] 31, Lettuce, -0.789, 0.965, 0.399, 0, 0, 0, 60 [SEP] 32, Cup, 0.808, 1.672, -1.759, 0, 0, 0, 75 [SEP] 33, SaltShaker, -0.085, 0.896, -1.342, 0, 45, 0, 81 [SEP] 34, Egg, -1.085, 1.050, 1.417, 0, 90, 0, 108 [SEP] 35, PepperShaker, 0.239, 0.316, -1.556, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.786, 0.908, 0.691, 0, 36.810, 0, 91 [SEP] 37, Apple, 3.277, 0.974, -0.698, 0, 0, 0, 59 [SEP] 38, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 81 [SEP] 39, Bread, -0.789, 0.979, -0.047, 0, 0, 0, 60 [SEP] 40, CellPhone, -0.868, 0.515, -0.098, 0, 0, 0, 87 [SEP] 41, DishSponge, -0.827, 0.130, 1.168, 0, 0, 0, 95 [SEP] 42, Tomato, 1.164, 0.923, -1.475, 0, 0, 0, 106 [SEP] 43, Spoon, -0.827, 0.132, -0.273, 0, 0, 0, 80 [SEP] 44, Bowl, 3.198, 0.172, -0.828, 0, 0, 0, 72 [SEP] 45, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 103 [SEP] 46, Drawer, 0.376, 0.572, -1.509, 0, 0, 0,  [SEP] 47, Drawer, 3.020, 0.769, -0.783, 0, 180, 0,  [SEP] 48, Drawer, -0.860, 0.577, 1.429, 0, 0, 0,  [SEP] 49, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0,  [SEP] 50, Drawer, 0.376, 0.191, -1.509, 0, 0, 0,  [SEP] 51, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0,  [SEP] 52, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0,  [SEP] 53, Drawer, -0.860, 0.765, 1.429, 0, 0, 0,  [SEP] 54, Drawer, -0.677, 0.765, -0.700, 0, 0, 0,  [SEP] 55, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0,  [SEP] 56, Drawer, 3.020, 0.769, -0.407, 0, 180, 0,  [SEP] 57, Drawer, -0.860, 0.577, 0.663, 0, 0, 0,  [SEP] 58, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0,  [SEP] 59, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0,  [SEP] 60, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0,  [SEP] 61, Drawer, -0.860, 0.385, 0.663, 0, 0, 0,  [SEP] 62, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0,  [SEP] 63, Drawer, -0.047, 0.573, -1.324, 0, 0, 0,  [SEP] 64, Drawer, -0.860, 0.765, 0.663, 0, 0, 0,  [SEP] 65, Drawer, -0.860, 0.385, -0.100, 0, 0, 0,  [SEP] 66, Drawer, 0.376, 0.380, -1.509, 0, 0, 0,  [SEP] 67, Drawer, -0.860, 0.765, -0.100, 0, 0, 0,  [SEP] 68, Drawer, 0.376, 0.765, -1.509, 0, 0, 0,  [SEP] 69, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0,  [SEP] 70, Drawer, -0.047, 0.765, -1.324, 0, 0, 0,  [SEP] 71, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0,  [SEP] 72, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0,  [SEP] 73, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0,  [SEP] 74, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0,  [SEP] 75, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0,  [SEP] 76, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0,  [SEP] 77, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0,  [SEP] 78, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0,  [SEP] 79, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0,  [SEP] 80, Drawer, -0.860, 0.190, -0.100, 0, 0, 0,  [SEP] 81, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0,  [SEP] 82, Drawer, 3.020, 0.769, 0.695, 0, 180, 0,  [SEP] 83, Drawer, -0.677, 0.577, -0.700, 0, 0, 0,  [SEP] 84, Drawer, -0.860, 0.190, 1.429, 0, 0, 0,  [SEP] 85, Drawer, -0.047, 0.192, -1.324, 0, 0, 0,  [SEP] 86, Drawer, -0.677, 0.193, -0.700, 0, 0, 0,  [SEP] 87, Drawer, -0.860, 0.577, -0.100, 0, 0, 0,  [SEP] 88, Sink, 3.078, 0.887, 0.086, 0, 0, 0,  [SEP] 89, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0,  [SEP] 90, Drawer, -0.860, 0.190, 0.663, 0, 0, 0,  [SEP] 91, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0,  [SEP] 92, Drawer, -0.047, 0.381, -1.324, 0, 0, 0,  [SEP] 93, Drawer, -0.677, 0.387, -0.700, 0, 0, 0,  [SEP] 94, Mirror, -1.295, 1.630, 0.045, 0, 0, 0,  [SEP] 95, Drawer, -0.860, 0.385, 1.429, 0, 0, 0,  [SEP] 96, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0,  [SEP] 97, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0,  [SEP] 98, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0,  [SEP] 99, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0,  [SEP] 100, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0,  [SEP] 101, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0,  [SEP] 102, Window, 3.703, 1.675, 0.046, 90, 90, 0,  [SEP] 103, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0,  [SEP] 104, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0,  [SEP] 105, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0,  [SEP] 106, Fridge, 1.008, 0.029, -1.467, 0, 0, 0,  [SEP] 107, Toaster, -1.035, 0.873, -0.396, 0, 90, 0,  [SEP] 108, Microwave, -1.034, 0.874, 1.428, 0, 90, 0,  [SEP] 109, Faucet, 3.305, 0.886, 0.094, 270, 180, 0,  [SEP] 110, NorthWall, , , , , , ,  [SEP] 111, EastWall, , , , , , ,  [SEP] 112, SouthWall, , , , , , ,  [SEP] 113, WestWall, , , , , , ,

Output: STEP 1: Turn right towards the tomato on the counter. | STEP 2: Pick up the tomato from the counter. | STEP 3: Turn right and walk toward the microwave on the counter by the wall. | STEP 4: Heat the tomato in the microwave for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the refrigerator. | STEP 6: Put the tomato in the refrigerator, in front of and to the right of the potato, then close the refrigerator. | END


Input: Place the cool sliced lettuce in front of the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Potato, -2.477, 0.982, 0.435, 0, 90, 0, 89 [SEP] 2, ButterKnife, 1.412, 0.912, -1.571, 0, 0, 0, 56 [SEP] 3, ButterKnife, 0.167, 0.912, 0.540, 0, 0, 0, 55 [SEP] 4, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 58 [SEP] 5, Spoon, -2.340, 0.953, 0.345, 0, 90, 0, 89 [SEP] 6, Spoon, 1.791, 0.775, 0.339, 0, 270, 0, 57 [SEP] 7, Cup, -2.614, 0.950, 0.345, 0, 90, 0, 89 [SEP] 8, Cup, -2.222, 1.050, -1.720, 0, 0, 0, 86 [SEP] 9, Knife, -2.203, 0.977, 0.345, 0, 90, 0, 89 [SEP] 10, Knife, 1.785, 0.937, 0.209, 0, 0, 0, 71 [SEP] 11, SoapBottle, 0.649, 0.918, -1.449, 0, 270, 0, 54 [SEP] 12, SoapBottle, 1.658, 0.910, -1.406, 0, 0, 0, 56 [SEP] 13, Tomato, -2.047, 0.829, -1.763, 0, 0, 0, 86 [SEP] 14, Bowl, 1.792, 0.107, 0.348, 0, 0, 0, 64 [SEP] 15, Bowl, 0.753, 0.918, -1.649, 0, 270, 0, 54 [SEP] 16, SaltShaker, -2.203, 0.948, 0.435, 0, 90, 0, 89 [SEP] 17, SaltShaker, -2.065, 0.948, 0.435, 0, 90, 0, 89 [SEP] 18, PepperShaker, -0.129, 0.102, 0.204, 0, 0, 0, 66 [SEP] 19, Bread, 1.535, 0.995, -1.820, 0, 0, 0, 56 [SEP] 20, Bread, 0.035, 0.995, 0.375, 0, 0, 0, 55 [SEP] 21, Lettuce, -0.175, 1.002, -1.820, 0, 0, 0, 56 [SEP] 22, Lettuce, 1.846, 1.002, 0.623, 0, 0, 0, 71 [SEP] 23, Lettuce, -2.065, 1.042, 0.614, 0, 90, 0, 89 [SEP] 24, Mug, -0.249, 0.105, -1.434, 0, 0, 0, 65 [SEP] 25, Apple, 1.846, 0.979, 0.292, 0, 0, 0, 71 [SEP] 26, Apple, 1.781, 0.979, -1.406, 0, 0, 0, 56 [SEP] 27, Bread, 1.781, 0.995, -1.654, 0, 0, 0, 56 [SEP] 28, Knife, -1.928, 0.977, 0.524, 0, 180, 0, 89 [SEP] 29, Fork, -2.065, 0.952, 0.345, 0, 90, 0, 89 [SEP] 30, Bowl, 0.562, 0.109, 0.346, 0, 0, 0, 67 [SEP] 31, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 55 [SEP] 32, Cup, -1.791, 0.950, 0.614, 0, 90, 0, 89 [SEP] 33, Tomato, -1.959, 0.560, -1.720, 0, 0, 0, 86 [SEP] 34, SoapBottle, 0.908, 0.918, -1.516, 0, 270, 0, 54 [SEP] 35, Plate, 1.754, 1.329, -1.809, 0, 180, 0, 72 [SEP] 36, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 61 [SEP] 37, Spatula, 1.785, 0.927, 0.540, 0, 0, 0, 71 [SEP] 38, PaperTowelRoll, -0.096, 1.016, 0.209, 0, 0, 0, 55 [SEP] 39, Egg, 0.753, 0.954, -1.449, 0, 270, 0, 54 [SEP] 40, Lettuce, -1.791, 1.042, 0.345, 0, 90, 0, 89 [SEP] 41, SaltShaker, 1.943, 0.104, 0.311, 0, 0, 0, 64 [SEP] 42, PepperShaker, -2.203, 0.948, 0.255, 0, 90, 0, 89 [SEP] 43, Apple, -0.329, 0.137, 0.526, 0, 90, 0, 85 [SEP] 44, ButterKnife, -2.614, 0.952, 0.435, 0, 270, 0, 89 [SEP] 45, Potato, -2.397, 0.541, -1.763, 0, 0, 0, 86 [SEP] 46, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 68 [SEP] 47, DishSponge, -1.928, 0.951, 0.614, 0, 90, 0, 89 [SEP] 48, Spoon, -1.791, 0.953, 0.435, 0, 90, 0, 89 [SEP] 49, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 80 [SEP] 50, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 51, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 52, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 53, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 54, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 55, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 56, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 57, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 58, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 59, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 60, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 61, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 62, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 63, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 64, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 65, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 66, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 67, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 68, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 69, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 70, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 71, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 72, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 73, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 74, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 75, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 76, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 77, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 78, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 79, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 80, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 81, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 82, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 83, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 84, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 85, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 86, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 87, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 88, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 89, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Turn right and head towards the table on your right. | STEP 2: Pick up the lettuce on the right edge of the table. | STEP 3: Take a step to the left. | STEP 4: Place the lettuce back to the original spot. | STEP 5: Pick up the yellow knife in between the salt shaker and fork. | STEP 6: Slice the right lettuce in several piece. | STEP 7: Place the knife back on the table. | STEP 8: Pick up a slice of lettuce from the table. | STEP 9: Turn around and walk towards the fridge. | STEP 10: Open the fridge, place the lettuce next to the top tomato, close the fridge to let it cool, and take it back out. | STEP 11: Turn left and walk towards the toaster on the left counter. | STEP 12: Place the slice lettuce in front of the toaster. | END


Input: Grab a slice of lettuce, put it on the fridge, set it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0,  [SEP] 1, Potato, -2.477, 0.982, 0.435, 0, 90, 0, 89 [SEP] 2, ButterKnife, 1.412, 0.912, -1.571, 0, 0, 0, 56 [SEP] 3, ButterKnife, 0.167, 0.912, 0.540, 0, 0, 0, 55 [SEP] 4, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 58 [SEP] 5, Spoon, -2.340, 0.953, 0.345, 0, 90, 0, 89 [SEP] 6, Spoon, 1.791, 0.775, 0.339, 0, 270, 0, 57 [SEP] 7, Cup, -2.614, 0.950, 0.345, 0, 90, 0, 89 [SEP] 8, Cup, -2.222, 1.050, -1.720, 0, 0, 0, 86 [SEP] 9, Knife, -2.203, 0.977, 0.345, 0, 90, 0, 89 [SEP] 10, Knife, 1.785, 0.937, 0.209, 0, 0, 0, 71 [SEP] 11, SoapBottle, 0.649, 0.918, -1.449, 0, 270, 0, 54 [SEP] 12, SoapBottle, 1.658, 0.910, -1.406, 0, 0, 0, 56 [SEP] 13, Tomato, -2.047, 0.829, -1.763, 0, 0, 0, 86 [SEP] 14, Bowl, 1.792, 0.107, 0.348, 0, 0, 0, 64 [SEP] 15, Bowl, 0.753, 0.918, -1.649, 0, 270, 0, 54 [SEP] 16, SaltShaker, -2.203, 0.948, 0.435, 0, 90, 0, 89 [SEP] 17, SaltShaker, -2.065, 0.948, 0.435, 0, 90, 0, 89 [SEP] 18, PepperShaker, -0.129, 0.102, 0.204, 0, 0, 0, 66 [SEP] 19, Bread, 1.535, 0.995, -1.820, 0, 0, 0, 56 [SEP] 20, Bread, 0.035, 0.995, 0.375, 0, 0, 0, 55 [SEP] 21, Lettuce, -0.175, 1.002, -1.820, 0, 0, 0, 56 [SEP] 22, Lettuce, 1.846, 1.002, 0.623, 0, 0, 0, 71 [SEP] 23, Lettuce, -2.065, 1.042, 0.614, 0, 90, 0, 89 [SEP] 24, Mug, -0.249, 0.105, -1.434, 0, 0, 0, 65 [SEP] 25, Apple, 1.846, 0.979, 0.292, 0, 0, 0, 71 [SEP] 26, Apple, 1.781, 0.979, -1.406, 0, 0, 0, 56 [SEP] 27, Bread, 1.781, 0.995, -1.654, 0, 0, 0, 56 [SEP] 28, Knife, -1.928, 0.977, 0.524, 0, 180, 0, 89 [SEP] 29, Fork, -2.065, 0.952, 0.345, 0, 90, 0, 89 [SEP] 30, Bowl, 0.562, 0.109, 0.346, 0, 0, 0, 67 [SEP] 31, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 55 [SEP] 32, Cup, -1.791, 0.950, 0.614, 0, 90, 0, 89 [SEP] 33, Tomato, -1.959, 0.560, -1.720, 0, 0, 0, 86 [SEP] 34, SoapBottle, 0.908, 0.918, -1.516, 0, 270, 0, 54 [SEP] 35, Plate, 1.754, 1.329, -1.809, 0, 180, 0, 72 [SEP] 36, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 61 [SEP] 37, Spatula, 1.785, 0.927, 0.540, 0, 0, 0, 71 [SEP] 38, PaperTowelRoll, -0.096, 1.016, 0.209, 0, 0, 0, 55 [SEP] 39, Egg, 0.753, 0.954, -1.449, 0, 270, 0, 54 [SEP] 40, Lettuce, -1.791, 1.042, 0.345, 0, 90, 0, 89 [SEP] 41, SaltShaker, 1.943, 0.104, 0.311, 0, 0, 0, 64 [SEP] 42, PepperShaker, -2.203, 0.948, 0.255, 0, 90, 0, 89 [SEP] 43, Apple, -0.329, 0.137, 0.526, 0, 90, 0, 85 [SEP] 44, ButterKnife, -2.614, 0.952, 0.435, 0, 270, 0, 89 [SEP] 45, Potato, -2.397, 0.541, -1.763, 0, 0, 0, 86 [SEP] 46, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 68 [SEP] 47, DishSponge, -1.928, 0.951, 0.614, 0, 90, 0, 89 [SEP] 48, Spoon, -1.791, 0.953, 0.435, 0, 90, 0, 89 [SEP] 49, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 80 [SEP] 50, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 51, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 52, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 53, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 54, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 55, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 56, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 57, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 58, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 59, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 60, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 61, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 62, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 63, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 64, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 65, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 66, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 67, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 68, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 69, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 70, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 71, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 72, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 73, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 74, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 75, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 76, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 77, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 78, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 79, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 80, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 81, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 82, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 83, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 84, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 85, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 86, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 87, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 88, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 89, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 90, NorthWall, , , , , , ,  [SEP] 91, EastWall, , , , , , ,  [SEP] 92, SouthWall, , , , , , ,  [SEP] 93, WestWall, , , , , , ,

Output: STEP 1: Walk left and towards the table | STEP 2: Grab a lettuce from the table | STEP 3: Walk away from the table with the lettuce | STEP 4: Set the lettuce on the table again | STEP 5: Grab a knife from the table | STEP 6: Slice the lettuce on the table | STEP 7: Grab a slice from the lettuce | STEP 8: Walk towards the fridge | STEP 9: Put the slice of lettuce inside the fridge | STEP 10: Close the fridge door in open it the fridge again | STEP 11: Take the slice of lettuce  walk towards the counter  | STEP 12: Put the slice of lettuce on the counter next to the bread | END


Input: Put a clean bar of soap on the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -0.75, 0, 90, 0,  [SEP] 1, Cloth, -1.780, 0.291, -2.459, 0, 0, 0, 35 [SEP] 2, Cloth, -0.501, 0.291, -2.631, 0, 0, 0, 35 [SEP] 3, SprayBottle, -0.125, 0.877, -1.380, 0, 90, 0, 24 [SEP] 4, Candle, -0.045, 0.764, -2.285, 0, 0, 0, 22 [SEP] 5, SoapBar, -0.241, 0.876, -1.702, 0, 0, 0, 24 [SEP] 6, SoapBar, -0.202, 0.876, -1.541, 0, 0, 0, 24 [SEP] 7, SoapBar, -0.280, 0.876, -1.380, 0, 0, 0, 24 [SEP] 8, SoapBottle, -2.459, 0.723, -2.095, 0, 0, 0, 22 [SEP] 9, SoapBottle, -2.398, 1.045, -0.295, 0, 90, 0, 37 [SEP] 10, ToiletPaper, -1.490, 1.049, -0.110, 0, 180, 90, 31 [SEP] 11, Towel, -0.106, 1.541, -2.487, 0, 270, 0, 29 [SEP] 12, Candle, -2.276, 1.086, -0.427, 0, 90, 0, 37 [SEP] 13, HandTowel, -2.496, 1.836, -0.907, 0, 270, 0, 32 [SEP] 14, Plunger, -2.366, 0.000, -0.653, 0, 0, 0, Floor|-00.95| [SEP] 15, SoapBottle, -2.337, 1.045, -0.164, 0, 90, 0, 37 [SEP] 16, SoapBar, -2.398, 1.045, -0.558, 0, 90, 0, 37 [SEP] 17, ToiletPaper, -2.306, 1.042, -0.558, 0, 90, 0, 37 [SEP] 18, Cloth, -1.524, 0.291, -2.459, 0, 0, 0, 35 [SEP] 19, ToiletPaper, -0.086, 0.872, -1.461, 0, 0, 0, 24 [SEP] 20, SprayBottle, -0.086, 0.877, -1.380, 0, 270, 0, 24 [SEP] 21, ScrubBrush, -2.114, 0.000, -0.695, 0, 0, 0, Floor|-00.95| [SEP] 22, Bathtub, -1.281, 0.277, -2.529, 0, 0, 0,  [SEP] 23, Mirror, -2.512, 1.764, -1.518, 0, 0, 0,  [SEP] 24, SideTable, -0.153, 0.000, -1.465, 0, 270, 0,  [SEP] 25, Sink, -2.273, 0.0, -1.519, 0, 90, 0,  [SEP] 26, Drawer, -0.218, 0.775, -1.466, 0, 270, 0,  [SEP] 27, GarbageCan, -2.197, -0.034, -1.009, 0, 90, 0,  [SEP] 28, TowelHolder, -2.530, 1.526, -2.486, 0, 90, 0,  [SEP] 29, TowelHolder, 0.0, 1.526, -2.486, 0, 270, 0,  [SEP] 30, LightSwitch, 0.0, 1.324, -1.146, 0, 270, 0,  [SEP] 31, ToiletPaperHanger, -1.427, 1.049, 0.0, 0, 180, 0,  [SEP] 32, HandTowelHolder, -2.534, 1.937, -0.907, 0, 0, 0,  [SEP] 33, Window, -1.291, 1.815, -3.121, 90, 0, 0,  [SEP] 34, SinkBasin, -2.216, 0.905, -1.503, 0, 90, 0,  [SEP] 35, SinkBasin, -1.305, 0.280, -2.516, 0, 0, 0,  [SEP] 36, HousePlant, -0.108, 0.870, -1.649, 0, 0, 0,  [SEP] 37, Toilet, -2.045, 0.000, -0.358, 0, 180, 0,  [SEP] 38, Faucet, -2.446, 0.940, -1.516, 0, 90, 0,  [SEP] 39, Faucet, -0.132, 0.706, -2.877, 0, 29.999, 0,  [SEP] 40, ShowerCurtain, -2.438, 1.945, -1.917, 0, 90, 0,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, EastWall, , , , , , ,  [SEP] 43, SouthWall, , , , , , ,

Output: STEP 1: Turn right and walk towards the tub, then hang a right and walk up to the green bin. | STEP 2: Pick up the bar of soap off of the toilet tank to your right. | STEP 3: Walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple of seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn right and walk over to the toilet. | STEP 6: Put the clean bar of soap on top of the toilet tank. | END


Input: the on the lamp on the desk while holding an alarm clock 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, -0.25, 0, 90, 0,  [SEP] 1, Bowl, 1.371, 0.694, -1.968, 0, 18.354, 0, 34 [SEP] 2, CD, 1.664, 0.051, -0.418, 0, 345.000, 0, 29 [SEP] 3, Pen, 1.520, 0.698, -1.715, 0, 18.354, 0, 34 [SEP] 4, Pen, 1.747, 0.698, -1.576, 0, 0, 0, 34 [SEP] 5, CreditCard, 1.549, 0.692, -2.027, 0, 18.354, 0, 34 [SEP] 6, CreditCard, -0.451, 0.090, 0.503, 0, 0, 0, 38 [SEP] 7, KeyChain, -0.634, 0.663, 0.643, 0, 0, 0, 37 [SEP] 8, KeyChain, -0.506, 0.369, 0.457, 0, 90, 0, 36 [SEP] 9, Book, -0.782, 0.661, 0.513, 0, 180, 0, 37 [SEP] 10, Book, -1.346, 0.629, -1.023, 0, 0, 0, 25 [SEP] 11, AlarmClock, -0.560, 0.664, 0.600, 0, 180, 0, 37 [SEP] 12, Box, -0.015, 0.239, -2.091, 0, 0, 0,  [SEP] 13, Book, -1.521, 0.629, -0.473, 0, 0, 0, 25 [SEP] 14, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316,  [SEP] 15, Pen, 0.347, 0.698, -2.118, 0, 99.090, 0, 34 [SEP] 16, Pencil, 0.205, 0.697, -2.095, 0, 99.090, 0, 34 [SEP] 17, KeyChain, 1.527, 0.473, -0.813, 0, 270, 0, 33 [SEP] 18, Pillow, -1.871, 0.703, -0.748, 0, 0, 0, 25 [SEP] 19, CreditCard, -0.615, 0.090, 0.503, 0, 0, 0, 38 [SEP] 20, CellPhone, -0.339, 0.664, 0.556, 0, 180, 0, 37 [SEP] 21, Laptop, 1.641, 0.686, -1.011, 0, 270, 0, 34 [SEP] 22, CD, 1.559, 0.693, -1.576, 0, 0, 0, 34 [SEP] 23, Bowl, 1.559, 0.695, -1.409, 0, 0, 0, 34 [SEP] 24, AlarmClock, 1.492, 0.475, -0.715, 0, 270, 0, 33 [SEP] 25, Bed, -1.696, 0.004, -0.446, 0, 0, 0,  [SEP] 26, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0,  [SEP] 27, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0,  [SEP] 28, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0,  [SEP] 29, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0,  [SEP] 30, Mirror, 1.300, 1.422, 0.765, 0, 0, 0,  [SEP] 31, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0,  [SEP] 32, Window, 0.819, 1.496, -2.553, 90, 180, 0,  [SEP] 33, Shelf, 1.616, 0.561, -0.802, 0, 0, 0,  [SEP] 34, Desk, 0.617, -0.000, -1.511, 0, 0, 0,  [SEP] 35, Blinds, 0.796, 2.217, -2.476, 0, 0, 0,  [SEP] 36, Drawer, -0.558, 0.456, 0.462, 0, 180, 0,  [SEP] 37, SideTable, -0.557, -0.000, 0.529, 0, 180, 0,  [SEP] 38, Drawer, -0.558, 0.164, 0.462, 0, 180, 0,  [SEP] 39, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: turn left to face the night stand | STEP 2: grab the alarm clock off of the night stand | STEP 3: turn around and walk to the desk | STEP 4: turn on the lamp on the desk | END


Input: To put a pencil in a bowl, as well as set them on the computer table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 90, 0,  [SEP] 1, CD, 1.329, 0.104, -1.570, 0, 0, 0, 31 [SEP] 2, CellPhone, 0.937, 0.577, -2.482, 0, 0, 0, 44 [SEP] 3, Pencil, 1.121, 0.510, -2.038, 0, 270, 0, 27 [SEP] 4, KeyChain, -1.301, 0.101, -2.046, 0, 0, 0, 48 [SEP] 5, CreditCard, -1.269, 0.699, -1.900, 0, 0, 0, 49 [SEP] 6, CreditCard, -1.582, 0.699, -2.191, 0, 0, 0, 49 [SEP] 7, Book, -1.443, 0.610, 0.057, 0, 0, 0, 26 [SEP] 8, AlarmClock, 1.260, 1.410, 0.050, 0, 270, 0, 37 [SEP] 9, Pillow, -1.082, 0.713, -0.223, 0, 0, 0, 26 [SEP] 10, Book, -0.962, 0.610, 0.337, 0, 0, 0, 26 [SEP] 11, KeyChain, -1.269, 0.700, -2.046, 0, 0, 0, 49 [SEP] 12, BaseballBat, 1.436, 0.636, 1.985, 21.882, 0, 0,  [SEP] 13, BasketBall, 1.270, 0.12, -1.290, 0, 345.557, 0,  [SEP] 14, Pencil, 0.466, 0.582, -2.427, 0, 0, 0, 44 [SEP] 15, CellPhone, 1.329, 0.371, -1.963, 0, 0, 0, 28 [SEP] 16, CreditCard, -1.645, 0.696, -1.755, 0, 0, 0, 49 [SEP] 17, Laptop, 0.076, 0.569, -2.456, 0, 0, 0, 44 [SEP] 18, Pillow, -1.170, 0.684, -0.990, 0, 0, 0, 26 [SEP] 19, Boots, 1.288, 0.000, -0.961, 0, 177.912, 0,  [SEP] 20, Pen, -1.332, 0.705, -2.191, 0, 90, 0, 49 [SEP] 21, AlarmClock, 1.26, 0.911, -0.249, 0, 270, 0, 35 [SEP] 22, CD, 1.120, 0.370, -1.709, 0, 0, 0, 32 [SEP] 23, Bowl, -1.519, 0.699, -1.610, 0, 0, 0, 49 [SEP] 24, Drawer, 0.980, 0.271, -1.963, 0, 0, 0,  [SEP] 25, Drawer, 0.980, 0.139, -1.963, 0, 0, 0,  [SEP] 26, Bed, -1.209, 0.016, -0.266, 0, 180, 1.624,  [SEP] 27, Shelf, 1.220, 0.859, -1.802, 0, 270, 0,  [SEP] 28, Drawer, 0.980, 0.404, -1.963, 0, 0, 0,  [SEP] 29, Drawer, 0.980, 0.272, -1.639, 0, 0, 0,  [SEP] 30, Mirror, 0.740, 1.491, 2.099, 0, 0, 0,  [SEP] 31, Drawer, 0.980, 0.139, -1.639, 0, 0, 0,  [SEP] 32, Drawer, 0.980, 0.404, -1.639, 0, 0, 0,  [SEP] 33, Chair, 0.280, -0.001, -2.264, 0, 180, 0,  [SEP] 34, GarbageCan, -1.542, 0.013, 1.919, 2.249, 116.925, 355.175,  [SEP] 35, Shelf, 1.259, 0.903, -0.269, 0, 270, 0,  [SEP] 36, Shelf, 1.259, 0.375, -0.263, 0, 270, 0,  [SEP] 37, Shelf, 1.259, 1.402, -0.259, 0, 270, 0,  [SEP] 38, Shelf, -1.577, 1.513, -2.025, 0, 270, 0,  [SEP] 39, LightSwitch, -0.755, 1.176, 2.099, 0, 180, 0,  [SEP] 40, DeskLamp, -1.489, 0.669, -2.419, 0, 0, 0,  [SEP] 41, Window, 0.243, 0.963, -2.678, 90, 0, 0,  [SEP] 42, Window, -0.361, 0.963, -2.679, 90, 0, 0,  [SEP] 43, Window, -0.962, 0.963, -2.678, 90, 0, 0,  [SEP] 44, Desk, 0.445, 0.001, -2.430, 0, 0, 0,  [SEP] 45, Blinds, -0.349, 2.186, -2.685, 0, 0, 0,  [SEP] 46, Blinds, 0.250, 2.186, -2.685, 0, 0, 0,  [SEP] 47, Blinds, -0.952, 2.186, -2.685, 0, 0, 0,  [SEP] 48, Drawer, -1.314, 0.163, -2.051, 0, 90, 0,  [SEP] 49, SideTable, -1.444, -0.001, -2.051, 0, 90, 0,  [SEP] 50, Drawer, -1.314, 0.455, -2.051, 0, 90, 0,  [SEP] 51, NorthWall, , , , , , ,  [SEP] 52, EastWall, , , , , , ,  [SEP] 53, SouthWall, , , , , , ,  [SEP] 54, WestWall, , , , , , ,

Output: STEP 1: Walk forward across the room, then turn right and walk forward to face the computer table. | STEP 2: Pick up the pencil on the computer table. | STEP 3: Turn right and walk across the room to face the dresser. | STEP 4: Place the pencil in the bowl on the right side of the dresser. | STEP 5: Pick up the bowl with the pencil in it on the right side of the dresser. | STEP 6: Turn around and walk forward and turn to the right to face the computer table. | STEP 7: Place the bowl with a pencil in it on the computer table. | END


Input: Place a bowl and knife 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, 2.5, 0.900, -0.5, 0, 0, 0,  [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 55 [SEP] 2, Book, -2.733, 0.875, 2.715, 0, 0, 0, 58 [SEP] 3, Book, 3.689, 0.549, 1.449, 0, 270, 0, 79 [SEP] 4, DishSponge, 3.637, 0.552, 1.656, 0, 270, 0, 79 [SEP] 5, DishSponge, -3.174, 0.878, 3.021, 0, 225, 0, 58 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 59 [SEP] 7, WineBottle, 0.036, 0.115, -1.415, 0, 0, 0, 64 [SEP] 8, Spatula, -2.525, 0.893, 3.565, 0, 225, 0, 58 [SEP] 9, Pot, -1.849, 0.914, 0.363, 0, 0, 0, 56 [SEP] 10, Fork, -2.148, 0.718, -1.647, 0, 90, 0, 75 [SEP] 11, Fork, -1.738, 0.912, -1.591, 0, 0, 0, 56 [SEP] 12, Spoon, -2.644, 0.875, 3.446, 0, 315, 0, 58 [SEP] 13, Egg, -0.377, 1.169, 2.286, 0, 180, 0, 81 [SEP] 14, Egg, 0.307, 0.828, 2.080, 0, 180, 0, 81 [SEP] 15, Cup, -0.377, 1.142, 2.167, 0, 180, 0, 81 [SEP] 16, Cup, 0.079, 1.570, 2.219, 0, 180, 0, 81 [SEP] 17, Plate, -0.377, 0.807, 2.080, 0, 180, 0, 81 [SEP] 18, Knife, -2.996, 0.896, 3.370, 0, 270, 0, 58 [SEP] 19, SoapBottle, -1.961, 0.912, -1.265, 0, 0, 0, 56 [SEP] 20, Bowl, 0.591, 0.114, -1.408, 0, 0, 0, 63 [SEP] 21, PepperShaker, 1.595, 0.716, -1.443, 0, 0, 0, 72 [SEP] 22, Lettuce, -2.621, 0.943, 2.945, 0, 225, 0, 58 [SEP] 23, Apple, 0.663, 0.967, -1.674, 0, 0, 0, 56 [SEP] 24, Book, -2.152, 0.871, 3.073, 0, 270, 0, 58 [SEP] 25, Fork, 1.760, 0.910, -1.709, 0, 90, 0, 76 [SEP] 26, Tomato, -2.510, 0.925, 3.728, 0, 0, 0, 58 [SEP] 27, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 56 [SEP] 28, Kettle, -0.237, 0.122, -1.373, 0, 0, 0, 65 [SEP] 29, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 79 [SEP] 30, Cup, -2.126, 0.118, -1.506, 0, 0, 0, 57 [SEP] 31, WineBottle, -0.818, 0.193, 2.097, 0, 90, 0, 86 [SEP] 32, Plate, 0.665, 1.657, -1.675, 0, 0, 0, 67 [SEP] 33, Spatula, -2.321, 0.893, 3.147, 0, 270, 0, 58 [SEP] 34, Potato, 0.571, 0.948, -1.572, 0, 0, 0, 56 [SEP] 35, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 74 [SEP] 36, Knife, -2.539, 0.896, 3.341, 0, 225, 0, 58 [SEP] 37, SaltShaker, -2.490, 0.874, 3.444, 0, 270, 0, 58 [SEP] 38, PepperShaker, -2.183, 0.908, -1.265, 0, 0, 0, 56 [SEP] 39, Lettuce, -1.627, 0.977, 0.363, 0, 0, 0, 56 [SEP] 40, ButterKnife, -2.405, 0.874, 3.685, 0, 225, 0, 58 [SEP] 41, Bread, -0.263, 1.655, 2.100, 0, 180, 0, 81 [SEP] 42, Vase, 1.631, 1.656, -1.672, 0, 0, 0, 66 [SEP] 43, DishSponge, 3.716, 0.880, 1.861, 0, 270, 0, 79 [SEP] 44, Apple, 1.157, 1.816, -1.663, 0, 0, 0, 80 [SEP] 45, Pan, -3.017, 0.878, 2.863, 0, 225, 0, 58 [SEP] 46, Spoon, 0.617, 0.913, -1.471, 0, 0, 0, 56 [SEP] 47, SoapBottle, 0.150, 0.114, -1.487, 0, 0, 0, 64 [SEP] 48, Mug, 0.193, 1.138, 2.167, 0, 180, 0, 81 [SEP] 49, Statue, -2.740, 0.885, 3.618, 0, 225, 0, 58 [SEP] 50, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 79 [SEP] 51, Bowl, -0.149, 1.141, 2.206, 0, 180, 0, 81 [SEP] 52, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0,  [SEP] 53, Sink, 0.024, 0.771, -1.708, 0, 270, 0,  [SEP] 54, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0,  [SEP] 55, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0,  [SEP] 56, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0,  [SEP] 57, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0,  [SEP] 58, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0,  [SEP] 59, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0,  [SEP] 60, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0,  [SEP] 61, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0,  [SEP] 62, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0,  [SEP] 63, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0,  [SEP] 64, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0,  [SEP] 65, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0,  [SEP] 66, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0,  [SEP] 67, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0,  [SEP] 68, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0,  [SEP] 69, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0,  [SEP] 70, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0,  [SEP] 71, Drawer, -1.636, 0.683, -0.930, 0, 0, 0,  [SEP] 72, Drawer, 1.650, 0.682, -1.396, 0, 0, 0,  [SEP] 73, Drawer, 0.600, 0.682, -1.396, 0, 0, 0,  [SEP] 74, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0,  [SEP] 75, Drawer, -2.062, 0.683, -1.579, 0, 0, 0,  [SEP] 76, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0,  [SEP] 77, Shelf, 3.725, 0.880, 1.671, 0, 90, 0,  [SEP] 78, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0,  [SEP] 79, Shelf, 3.726, 0.552, 1.671, 0, 90, 0,  [SEP] 80, Microwave, 1.150, 1.655, -1.614, 0, 0, 0,  [SEP] 81, Fridge, -0.035, 0.0, 2.177, 0, 180, 0,  [SEP] 82, Window, -0.115, 1.802, -1.896, 90, 0, 0,  [SEP] 83, Window, -4.009, 1.799, 0.310, 90, 90, 0,  [SEP] 84, Shelf, 3.726, 0.172, 1.671, 0, 90, 0,  [SEP] 85, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0,  [SEP] 86, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0,  [SEP] 87, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0,  [SEP] 88, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0,  [SEP] 89, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0,  [SEP] 90, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0,  [SEP] 91, Toaster, 1.637, 0.900, -1.673, 0, 0, 0,  [SEP] 92, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0,  [SEP] 93, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0,  [SEP] 94, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0,  [SEP] 95, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0,  [SEP] 96, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0,  [SEP] 97, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0,  [SEP] 98, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0,  [SEP] 99, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0,  [SEP] 100, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0,  [SEP] 101, NorthWall, , , , , , ,  [SEP] 102, EastWall, , , , , , ,  [SEP] 103, SouthWall, , , , , , ,  [SEP] 104, WestWall, , , , , , ,

Output: STEP 1: Turn around completely and go to the right.  | STEP 2: Pick up the butter knife from the table.  | STEP 3: hen go forward then turn to the left an face the counter | STEP 4: Open the cabinet and put the butter knife inside the bowl in the cabinet.  | STEP 5: Take out the bowl with the knife in it.  | STEP 6: Turn around completely and walk forward turn to the right. Turn to the right again and face the sink.  | STEP 7: Place the bowl and knife in the sink.  | END


Input: put the blue pencil on the table into the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 0.0, 0, 270, 0,  [SEP] 1, CD, 1.029, 0.693, -2.196, 0, 90, 0, 36 [SEP] 2, CD, 1.492, 0.473, -0.911, 0, 270, 0, 35 [SEP] 3, CellPhone, -2.046, 0.631, -0.198, 0, 0, 0, 27 [SEP] 4, CellPhone, -1.171, 0.631, -0.473, 0, 0, 0, 27 [SEP] 5, CreditCard, -0.339, 0.663, 0.513, 0, 180, 0, 39 [SEP] 6, CreditCard, -0.724, 0.090, 0.480, 0, 0, 0, 40 [SEP] 7, KeyChain, -0.451, 0.370, 0.480, 0, 90, 0, 38 [SEP] 8, KeyChain, -0.634, 0.663, 0.643, 0, 0, 0, 39 [SEP] 9, Book, -0.362, 0.692, -1.980, 0, 90, 0, 36 [SEP] 10, Book, -1.521, 0.629, -0.473, 0, 0, 0, 27 [SEP] 11, Pillow, -1.346, 0.703, -0.198, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.560, 0.664, 0.600, 0, 180, 0, 39 [SEP] 13, AlarmClock, 1.610, 0.694, -1.644, 0, 18.354, 0, 36 [SEP] 14, Box, -0.015, 0.239, -2.091, 0, 0, 0,  [SEP] 15, Book, -0.782, 0.661, 0.600, 0, 180, 0, 39 [SEP] 16, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316,  [SEP] 17, Pen, 0.477, 0.698, -2.336, 0, 90, 0, 36 [SEP] 18, Pencil, -0.219, 0.697, -2.148, 0, 90, 0, 36 [SEP] 19, KeyChain, -0.561, 0.663, 0.427, 0, 180, 0, 39 [SEP] 20, Pillow, -1.694, 0.656, 0.415, 0, 0, 0, 27 [SEP] 21, CreditCard, 1.456, 0.473, -0.715, 0, 270, 0, 35 [SEP] 22, CellPhone, 1.559, 0.693, -1.409, 0, 0, 0, 36 [SEP] 23, Laptop, -1.871, 0.628, -1.297, 0, 0, 0, 27 [SEP] 24, CD, 0.661, 0.692, -2.266, 0, 90, 0, 36 [SEP] 25, Bowl, 1.222, 0.686, -2.128, 0, 0, 0, 36 [SEP] 26, AlarmClock, -0.506, 0.694, -1.980, 0, 90, 0, 36 [SEP] 27, Bed, -1.696, 0.004, -0.446, 0, 0, 0,  [SEP] 28, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0,  [SEP] 29, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0,  [SEP] 30, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0,  [SEP] 31, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0,  [SEP] 32, Mirror, 1.300, 1.422, 0.765, 0, 0, 0,  [SEP] 33, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0,  [SEP] 34, Window, 0.819, 1.496, -2.553, 90, 180, 0,  [SEP] 35, Shelf, 1.616, 0.561, -0.802, 0, 0, 0,  [SEP] 36, Desk, 0.617, -0.000, -1.511, 0, 0, 0,  [SEP] 37, Blinds, 0.796, 2.217, -2.476, 0, 0, 0,  [SEP] 38, Drawer, -0.558, 0.456, 0.462, 0, 180, 0,  [SEP] 39, SideTable, -0.557, -0.000, 0.529, 0, 180, 0,  [SEP] 40, Drawer, -0.558, 0.164, 0.462, 0, 180, 0,  [SEP] 41, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0,  [SEP] 42, NorthWall, , , , , , ,  [SEP] 43, EastWall, , , , , , ,  [SEP] 44, SouthWall, , , , , , ,  [SEP] 45, WestWall, , , , , , ,

Output: STEP 1: turn left, walk to the table | STEP 2: grab the blue pencil on the table | STEP 3: turn around, walk to the trash bin on the right | STEP 4: put the pencil in the trash bin | END


Input: Retrieve a cloth from the tub, put the cloth in the sink, put the same cloth on the toilet tank.

Output: STEP0: Turn around, walk to the tub | STEP1: Pick up the wash cloth on the right | STEP2: Turn around, walk to the sink | STEP3: Put the cloth in the sink, pick the cloth up again | STEP4: Turn around, walk to the toilet | STEP5: Put the cloth on the toilet tank | END


Input: Put the spoon in the pan and place on the shelf above the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 1.75, 0, 270, 0,  [SEP] 1, Pan, 0.121, 1.655, -1.839, 0, 0, 0, 58 [SEP] 2, Pen, 1.036, 0.777, -0.732, 0, 270, 0, 67 [SEP] 3, Potato, 0.285, 0.961, -1.708, 0, 180, 0, 55 [SEP] 4, Ladle, 1.260, 0.955, -1.331, 0, 0, 0, 76 [SEP] 5, ButterKnife, -2.079, 0.910, 0.549, 0, 0, 0, 78 [SEP] 6, ButterKnife, -2.201, 0.910, 0.291, 0, 0, 0, 78 [SEP] 7, Glassbottle, -0.309, 0.117, -1.538, 0, 0, 0, 62 [SEP] 8, Glassbottle, 0.569, 0.912, -1.704, 0, 0, 0, 76 [SEP] 9, Fork, 0.982, 0.775, -1.013, 0, 270, 0, 54 [SEP] 10, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 76 [SEP] 11, Spoon, 1.414, 1.163, -1.002, 0, 270, 0, 82 [SEP] 12, Spatula, 0.105, 0.926, -1.436, 0, 0, 0, 55 [SEP] 13, Spatula, -1.809, 0.925, -1.620, 0, 90, 0, 74 [SEP] 14, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 86 [SEP] 15, Cup, 1.476, 1.367, 2.100, 0, 270, 0, 95 [SEP] 16, Cup, 1.476, 1.367, 2.350, 0, 270, 0, 95 [SEP] 17, Tomato, 1.388, 1.760, 1.713, 0, 270, 0, 95 [SEP] 18, Tomato, 0.183, 0.959, -1.708, 0, 270, 0, 55 [SEP] 19, PepperShaker, -1.886, 0.905, -1.879, 0, 0, 0, 74 [SEP] 20, PepperShaker, -1.835, 0.905, 0.204, 0, 0, 0, 78 [SEP] 21, SaltShaker, -0.342, 0.111, -1.440, 0, 0, 0, 62 [SEP] 22, SaltShaker, -1.712, 0.905, 0.291, 0, 0, 0, 78 [SEP] 23, Lettuce, -2.079, 0.979, 0.204, 0, 0, 0, 78 [SEP] 24, Mug, -1.732, 0.111, -1.538, 0, 0, 0, 83 [SEP] 25, Mug, -1.886, 0.905, -1.620, 0, 0, 0, 74 [SEP] 26, Apple, 1.093, 0.945, -1.331, 0, 0, 0, 76 [SEP] 27, Tomato, 1.381, 0.254, 1.022, 0, 0, 0, 93 [SEP] 28, Glassbottle, 1.275, 1.368, 2.351, 0, 270, 0, 95 [SEP] 29, Knife, 0.936, 0.803, 0.485, 0, 270, 0, 53 [SEP] 30, Plate, 1.461, 1.656, -1.421, 0, 0, 0, 68 [SEP] 31, Fork, 0.916, 0.775, -1.068, 0, 90, 0, 54 [SEP] 32, Ladle, 1.401, 1.700, -0.579, 0, 0, 0, 64 [SEP] 33, Potato, 0.569, 0.953, -1.448, 0, 0, 0, 76 [SEP] 34, Lettuce, 1.414, 1.231, -1.688, 0, 0, 0, 82 [SEP] 35, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 76 [SEP] 36, Pen, -2.039, 0.913, -1.448, 0, 0, 0, 71 [SEP] 37, SaltShaker, 0.070, 0.906, -1.972, 0, 0, 0, 76 [SEP] 38, Cup, -1.732, 0.910, -1.879, 0, 0, 0, 74 [SEP] 39, Egg, 1.302, 0.243, 1.08, 0, 0, 0, 93 [SEP] 40, Spatula, 0.946, 0.926, -1.534, 0, 0, 0, 76 [SEP] 41, Bowl, 1.208, 0.118, 0.430, 0, 0, 0, 59 [SEP] 42, SprayBottle, -1.732, 0.909, -1.534, 0, 0, 0, 74 [SEP] 43, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 77 [SEP] 44, SoapBottle, -2.116, 0.910, -1.534, 0, 0, 0, 74 [SEP] 45, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 72 [SEP] 46, ButterKnife, -2.323, 0.910, 0.118, 0, 0, 0, 78 [SEP] 47, PepperShaker, -1.438, 1.853, -1.766, 0, 0, 0, 69 [SEP] 48, DishSponge, -2.201, 0.910, 0.032, 0, 0, 0, 78 [SEP] 49, Bread, -0.703, 0.989, -1.534, 0, 0, 0, 76 [SEP] 50, Apple, -2.323, 0.945, 0.377, 0, 0, 0, 78 [SEP] 51, Spoon, -1.957, 0.911, 0.377, 0, 0, 0, 78 [SEP] 52, Mug, 1.520, 1.651, -1.106, 0, 0, 0, 64 [SEP] 53, Drawer, 0.860, 0.75, 0.430, 0, 0, 0,  [SEP] 54, Drawer, 0.871, 0.75, -1.134, 0, 0, 0,  [SEP] 55, Sink, 0.156, 0.817, -1.801, 0, 270, 0,  [SEP] 56, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0,  [SEP] 57, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0,  [SEP] 58, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0,  [SEP] 59, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0,  [SEP] 60, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0,  [SEP] 61, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0,  [SEP] 62, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0,  [SEP] 63, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0,  [SEP] 64, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0,  [SEP] 65, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0,  [SEP] 66, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0,  [SEP] 67, Drawer, 0.860, 0.75, -0.699, 0, 0, 0,  [SEP] 68, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0,  [SEP] 69, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0,  [SEP] 70, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0,  [SEP] 71, Drawer, -2.105, 0.75, -1.389, 0, 0, 0,  [SEP] 72, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0,  [SEP] 73, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0,  [SEP] 74, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0,  [SEP] 75, Drawer, -0.375, 0.75, -1.389, 0, 0, 0,  [SEP] 76, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0,  [SEP] 77, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0,  [SEP] 78, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0,  [SEP] 79, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0,  [SEP] 80, Drawer, 0.584, 0.75, -1.389, 0, 0, 0,  [SEP] 81, Drawer, -1.795, 0.75, -1.389, 0, 0, 0,  [SEP] 82, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0,  [SEP] 83, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0,  [SEP] 84, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0,  [SEP] 85, Drawer, -0.685, 0.75, -1.389, 0, 0, 0,  [SEP] 86, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0,  [SEP] 87, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0,  [SEP] 88, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0,  [SEP] 89, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0,  [SEP] 90, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0,  [SEP] 91, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0,  [SEP] 92, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0,  [SEP] 93, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0,  [SEP] 94, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0,  [SEP] 95, Fridge, 1.417, 0.0, 2.101, 0, 0, 0,  [SEP] 96, Window, -0.486, 1.452, 3.302, 90, 0, 0,  [SEP] 97, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0,  [SEP] 98, Microwave, 1.422, 1.150, 0.022, 0, 270, 0,  [SEP] 99, Toaster, -2.066, 0.900, -1.848, 0, 0, 0,  [SEP] 100, Stool, -1.994, 0.010, 0.882, 0, 0, 0,  [SEP] 101, Faucet, -0.096, 1.041, -1.867, 0, 270, 0,  [SEP] 102, NorthWall, , , , , , ,  [SEP] 103, EastWall, , , , , , ,  [SEP] 104, SouthWall, , , , , , ,  [SEP] 105, WestWall, , , , , , ,

Output: STEP 1: Turn around and head to the counter on the right side of the dishwasher. | STEP 2: Pick up the spoon from behind the apple off the top of the counter. | STEP 3: Turn to the right and go to the front of the sink. | STEP 4: Open the cabinet and place the spoon inside the pan.  | STEP 5: Take the pan out and close the door. | STEP 6: Turn left and move back to the end of the counter. | STEP 7: Place the pan to the left of the soup spoon on the shelf above the counter. | END


Input: Move two spray bottles to a storage shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.913, 0.25, 0, 0, 0,  [SEP] 1, Cloth, 1.780, 0.622, -2.094, 0, 0, 0, 38 [SEP] 2, Cloth, -2.034, 0.075, -1.039, 0, 45, 0, Floor|-00.35| [SEP] 3, TissueBox, -2.977, 0.874, 1.473, 0, 90, 0, 49 [SEP] 4, TissueBox, -0.208, 0.963, -2.181, 0, 0, 0, 30 [SEP] 5, SoapBar, -1.787, 0.076, -1.498, 0, 45, 0, 30 [SEP] 6, SoapBar, 0.185, 0.802, -1.839, 0, 0, 0, 32 [SEP] 7, SprayBottle, 0.270, 0.959, -2.181, 0, 0, 0, 30 [SEP] 8, SprayBottle, -3.034, 0.243, 1.707, 0, 90, 0, 49 [SEP] 9, DishSponge, 0.930, 0.624, -2.168, 0, 0, 0, 38 [SEP] 10, SoapBottle, 0.135, 0.976, 2.304, 0, 270, 0, 44 [SEP] 11, Candle, -2.751, 0.873, 1.551, 0, 90, 0, 49 [SEP] 12, HandTowel, -0.885, 1.617, -2.503, 0, 180, 0, 39 [SEP] 13, Towel, 0.465, 1.21, -1.095, 0, 270, 0, 35 [SEP] 14, SoapBottle, -0.368, 0.973, -2.275, 0, 0, 0, 30 [SEP] 15, SoapBar, 1.142, 0.623, -2.463, 0, 0, 0, 38 [SEP] 16, ToiletPaper, 1.355, 0.620, -2.094, 0, 0, 0, 38 [SEP] 17, Plunger, 0.506, 0.011, 2.268, 0, 0, 0, Floor|-00.35| [SEP] 18, SprayBottle, 1.142, 0.620, -2.389, 0, 0, 0, 38 [SEP] 19, TissueBox, -2.921, 0.244, 1.317, 0, 90, 0, 49 [SEP] 20, ToiletPaper, -0.515, 0.031, 2.338, 0, 0, 90, 36 [SEP] 21, ScrubBrush, 0.342, 0.012, 2.072, 0, 0, 0, Floor|-00.35| [SEP] 22, Cloth, 0.270, 0.961, -1.899, 0, 0, 0, 30 [SEP] 23, DishSponge, -2.246, 0.078, -1.251, 0, 45, 0, 30 [SEP] 24, Footstool, -0.325, 0.297, -1.98, 0, 0, 0, Floor|-00.35| [SEP] 25, Bathtub, -1.957, 0.494, -1.233, 0, 0, 0,  [SEP] 26, ShowerDoor, 0.650, 1.413, 2.169, 0, 0, 0,  [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0,  [SEP] 28, Drawer, 0.300, 0.304, -1.820, 0, 0, 0,  [SEP] 29, Mirror, -0.046, 1.512, -2.538, 0, 0, 0,  [SEP] 30, CounterTop, 0.196, 0.430, -2.010, 0, 0, 0,  [SEP] 31, Sink, -2.796, 0.328, 0.755, 0, 90, 0,  [SEP] 32, Drawer, 0.300, 0.833, -1.820, 0, 0, 0,  [SEP] 33, Drawer, 0.300, 0.682, -1.820, 0, 0, 0,  [SEP] 34, Drawer, 0.300, 0.492, -1.820, 0, 0, 0,  [SEP] 35, TowelHolder, 0.572, 1.195, -1.095, 0, 270, 0,  [SEP] 36, GarbageCan, -0.564, 0.010, 2.061, 0, 195.0, 0,  [SEP] 37, ToiletPaperHanger, -0.574, 0.926, 2.407, 0, 180, 0,  [SEP] 38, Shelf, 1.536, 0.613, -2.242, 0, 0, 0,  [SEP] 39, HandTowelHolder, -0.884, 1.718, -2.542, 0, 270, 0,  [SEP] 40, Window, -3.170, 1.812, -1.697, 90, 90, 0,  [SEP] 41, Window, -3.170, 1.812, 1.597, 90, 90, 0,  [SEP] 42, Window, -2.144, 1.809, -2.573, 90, 0, 0,  [SEP] 43, Window, -3.170, 1.812, -0.054, 90, 90, 0,  [SEP] 44, Toilet, -0.064, 0.012, 1.838, 0, 180, 0,  [SEP] 45, LightSwitch, -1.406, 1.472, 2.407, 0, 180, 0,  [SEP] 46, SinkBasin, -2.796, 0.875, 0.765, 0, 90, 0,  [SEP] 47, ShowerHead, 1.591, 1.700, -2.424, 0, 90, 0,  [SEP] 48, Faucet, -2.676, 0.423, -0.312, 0, 99.958, 0,  [SEP] 49, SideTable, -2.847, 0.013, 1.509, 0, 90, 0,  [SEP] 50, Faucet, -3.106, 1.056, 0.757, 0, 90, 0,  [SEP] 51, , , , , , , ,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and then the left to face the toilet. | STEP 2: Pick up the spray from the toilet tank. | STEP 3: Hold the bottle and turn to the left and then find the storage cart. | STEP 4: Place the bottle on the top shelf of the storage cart. | STEP 5: Turn around and then right to find the counter. | STEP 6: Pick up the spray bottle from the back of the counter. | STEP 7: Carry the bottle and turn around. Turn left to find the storage cart.  | STEP 8: Place the bottle on the top shelf, next to the other bottle. | END


Input: Move two dispensers to the shelf by the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.913, 0.25, 0, 0, 0,  [SEP] 1, Cloth, 1.780, 0.622, -2.094, 0, 0, 0, 38 [SEP] 2, Cloth, -2.034, 0.075, -1.039, 0, 45, 0, Floor|-00.35| [SEP] 3, TissueBox, -2.977, 0.874, 1.473, 0, 90, 0, 49 [SEP] 4, TissueBox, -0.208, 0.963, -2.181, 0, 0, 0, 30 [SEP] 5, SoapBar, -1.787, 0.076, -1.498, 0, 45, 0, 30 [SEP] 6, SoapBar, 0.185, 0.802, -1.839, 0, 0, 0, 32 [SEP] 7, SprayBottle, 0.270, 0.959, -2.181, 0, 0, 0, 30 [SEP] 8, SprayBottle, -3.034, 0.243, 1.707, 0, 90, 0, 49 [SEP] 9, DishSponge, 0.930, 0.624, -2.168, 0, 0, 0, 38 [SEP] 10, SoapBottle, 0.135, 0.976, 2.304, 0, 270, 0, 44 [SEP] 11, Candle, -2.751, 0.873, 1.551, 0, 90, 0, 49 [SEP] 12, HandTowel, -0.885, 1.617, -2.503, 0, 180, 0, 39 [SEP] 13, Towel, 0.465, 1.21, -1.095, 0, 270, 0, 35 [SEP] 14, SoapBottle, -0.368, 0.973, -2.275, 0, 0, 0, 30 [SEP] 15, SoapBar, 1.142, 0.623, -2.463, 0, 0, 0, 38 [SEP] 16, ToiletPaper, 1.355, 0.620, -2.094, 0, 0, 0, 38 [SEP] 17, Plunger, 0.506, 0.011, 2.268, 0, 0, 0, Floor|-00.35| [SEP] 18, SprayBottle, 1.142, 0.620, -2.389, 0, 0, 0, 38 [SEP] 19, TissueBox, -2.921, 0.244, 1.317, 0, 90, 0, 49 [SEP] 20, ToiletPaper, -0.515, 0.031, 2.338, 0, 0, 90, 36 [SEP] 21, ScrubBrush, 0.342, 0.012, 2.072, 0, 0, 0, Floor|-00.35| [SEP] 22, Cloth, 0.270, 0.961, -1.899, 0, 0, 0, 30 [SEP] 23, DishSponge, -2.246, 0.078, -1.251, 0, 45, 0, 30 [SEP] 24, Footstool, -0.325, 0.297, -1.98, 0, 0, 0, Floor|-00.35| [SEP] 25, Bathtub, -1.957, 0.494, -1.233, 0, 0, 0,  [SEP] 26, ShowerDoor, 0.650, 1.413, 2.169, 0, 0, 0,  [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0,  [SEP] 28, Drawer, 0.300, 0.304, -1.820, 0, 0, 0,  [SEP] 29, Mirror, -0.046, 1.512, -2.538, 0, 0, 0,  [SEP] 30, CounterTop, 0.196, 0.430, -2.010, 0, 0, 0,  [SEP] 31, Sink, -2.796, 0.328, 0.755, 0, 90, 0,  [SEP] 32, Drawer, 0.300, 0.833, -1.820, 0, 0, 0,  [SEP] 33, Drawer, 0.300, 0.682, -1.820, 0, 0, 0,  [SEP] 34, Drawer, 0.300, 0.492, -1.820, 0, 0, 0,  [SEP] 35, TowelHolder, 0.572, 1.195, -1.095, 0, 270, 0,  [SEP] 36, GarbageCan, -0.564, 0.010, 2.061, 0, 195.0, 0,  [SEP] 37, ToiletPaperHanger, -0.574, 0.926, 2.407, 0, 180, 0,  [SEP] 38, Shelf, 1.536, 0.613, -2.242, 0, 0, 0,  [SEP] 39, HandTowelHolder, -0.884, 1.718, -2.542, 0, 270, 0,  [SEP] 40, Window, -3.170, 1.812, -1.697, 90, 90, 0,  [SEP] 41, Window, -3.170, 1.812, 1.597, 90, 90, 0,  [SEP] 42, Window, -2.144, 1.809, -2.573, 90, 0, 0,  [SEP] 43, Window, -3.170, 1.812, -0.054, 90, 90, 0,  [SEP] 44, Toilet, -0.064, 0.012, 1.838, 0, 180, 0,  [SEP] 45, LightSwitch, -1.406, 1.472, 2.407, 0, 180, 0,  [SEP] 46, SinkBasin, -2.796, 0.875, 0.765, 0, 90, 0,  [SEP] 47, ShowerHead, 1.591, 1.700, -2.424, 0, 90, 0,  [SEP] 48, Faucet, -2.676, 0.423, -0.312, 0, 99.958, 0,  [SEP] 49, SideTable, -2.847, 0.013, 1.509, 0, 90, 0,  [SEP] 50, Faucet, -3.106, 1.056, 0.757, 0, 90, 0,  [SEP] 51, , , , , , , ,  [SEP] 52, NorthWall, , , , , , ,  [SEP] 53, EastWall, , , , , , ,  [SEP] 54, SouthWall, , , , , , ,  [SEP] 55, WestWall, , , , , , ,

Output: STEP 1: Turn and go to the toilet. | STEP 2: Pick up the dispenser on the toilet.  | STEP 3: Turn and go to the shelf by the sink.  | STEP 4: Put the dispenser on the shelf.  | STEP 5: Turn and go to the counter by the mirror. | STEP 6: Pick up the dispenser on the counter.  | STEP 7: Turn and go to the shelf by the sink.  | STEP 8: Put the dispenser on the shelf.  | END


Input: Examine a key chain by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.5, 0, 270, 0,  [SEP] 1, Watch, 1.901, 0.760, 0.691, 0, 270, 0, 30 [SEP] 2, Watch, -1.568, 0.489, 1.753, 0, 0, 0, 37 [SEP] 3, KeyChain, 1.901, 0.760, 0.241, 0, 270, 0, 30 [SEP] 4, CreditCard, -1.794, 1.625, -1.473, 0, 90, 0, 39 [SEP] 5, CreditCard, -1.113, 0.327, 0.643, 0, 90, 0, 38 [SEP] 6, RemoteControl, 1.825, 0.759, 0.091, 0, 270, 0, 30 [SEP] 7, Laptop, -0.051, 0.471, -0.086, 0, 90, 0, 27 [SEP] 8, Box, -0.007, 0.65, 0.892, 0, 0, 0, 27 [SEP] 9, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 27 [SEP] 10, CreditCard, 1.825, 0.756, 0.691, 0, 270, 0, 30 [SEP] 11, KeyChain, 1.675, 0.757, 0.091, 0, 0, 0, 30 [SEP] 12, Vase, 1.600, 0.762, 0.541, 0, 270, 0, 30 [SEP] 13, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 39 [SEP] 14, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 38 [SEP] 15, RemoteControl, -0.301, 0.479, 0.971, 0, 90, 0, 27 [SEP] 16, Watch, 1.799, 0.179, 0.208, 0, 270, 0, 32 [SEP] 17, Vase, -0.301, 0.481, 0.089, 0, 90, 0, 27 [SEP] 18, Statue, 1.600, 0.770, 0.241, 0, 270, 0, 30 [SEP] 19, Television, 1.826, 1.241, 0.248, 0, 270, 0,  [SEP] 20, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0,  [SEP] 21, Window, -0.216, 1.495, -1.878, 90, 0, 0,  [SEP] 22, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0,  [SEP] 23, Painting, -2.0, 1.577, 0.418, 90, 270, 0,  [SEP] 24, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0,  [SEP] 25, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0,  [SEP] 26, Painting, -0.096, 1.578, 4.050, 90, 0, 0,  [SEP] 27, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0,  [SEP] 28, Shelf, 1.663, 0.474, 0.609, 0, 270, 0,  [SEP] 29, Shelf, 1.663, 0.273, 0.609, 0, 270, 0,  [SEP] 30, TVStand, 1.669, -0.000, 0.243, 0, 270, 0,  [SEP] 31, Shelf, 1.663, 0.302, -0.124, 0, 270, 0,  [SEP] 32, Shelf, 1.663, 0.442, 0.241, 0, 270, 0,  [SEP] 33, Shelf, 1.663, 0.597, -0.124, 0, 270, 0,  [SEP] 34, Shelf, 1.663, 0.643, 0.609, 0, 270, 0,  [SEP] 35, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0,  [SEP] 36, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0,  [SEP] 37, SideTable, -1.567, -0.002, 1.818, 0, 90, 0,  [SEP] 38, Sofa, -1.445, 0.008, 0.420, 0, 90, 0,  [SEP] 39, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0,  [SEP] 40, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0,  [SEP] 41, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0,  [SEP] 42, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0,  [SEP] 43, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn right and walk to the desk containing the television. | STEP 2: Pick up the key chain from the desk. | STEP 3: Turn left and walk to the floor lamp by the recycling bin. | STEP 4: Turn on the lamp. | END


Input: pick up knife, put into microwave, pick up tomato, clean tomato in sink, place 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, 0.900, 2.5, 0, 0, 0,  [SEP] 1, Potato, -2.671, 0.863, 2.485, 0, 90, 0, 59 [SEP] 2, Potato, -2.840, 0.862, 0.129, 0, 0, 0, 41 [SEP] 3, Fork, -0.817, 0.824, 0.352, 0, 90, 0, 41 [SEP] 4, Fork, -2.698, 0.692, 1.474, 0, 90, 0, 46 [SEP] 5, Tomato, -2.608, 0.873, 0.129, 0, 0, 0, 41 [SEP] 6, Bowl, -2.784, 1.431, 0.293, 0, 45, 0, 47 [SEP] 7, SaltShaker, -2.416, 1.431, 0.142, 0, 90, 0, 48 [SEP] 8, PepperShaker, -2.905, 1.430, 0.708, 0, 0, 0, 50 [SEP] 9, Lettuce, -2.782, 1.529, 2.221, 0, 90, 0, 59 [SEP] 10, Lettuce, -2.837, 0.908, 2.133, 0, 90, 0, 59 [SEP] 11, Mug, -2.782, 1.138, 2.485, 0, 90, 0, 59 [SEP] 12, Mug, -2.726, 1.440, 2.485, 0, 90, 0, 59 [SEP] 13, Apple, -2.744, 0.994, 1.178, 0, 270, 0, 60 [SEP] 14, Fork, -2.631, 0.692, 1.547, 0, 270, 0, 46 [SEP] 15, Ladle, -2.813, 0.867, 0.871, 0, 0, 0, 41 [SEP] 16, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 40 [SEP] 17, SoapBottle, -2.000, 0.123, 0.401, 0, 0, 0, 53 [SEP] 18, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 38 [SEP] 19, Tomato, -2.671, 1.495, 2.045, 0, 90, 0, 59 [SEP] 20, Potato, -0.477, 0.862, 1.326, 0, 0, 0, 41 [SEP] 21, SaltShaker, -2.115, 0.120, 0.401, 0, 0, 0, 53 [SEP] 22, Plate, -2.586, 0.813, 0.309, 0, 0, 0, 41 [SEP] 23, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 37 [SEP] 24, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 41 [SEP] 25, Egg, -2.726, 1.469, 2.397, 0, 90, 0, 59 [SEP] 26, Cup, -1.151, 0.823, 0.352, 0, 0, 0, 41 [SEP] 27, ButterKnife, -1.876, 0.823, 0.539, 0, 0, 0, 41 [SEP] 28, Lettuce, -0.329, 0.140, 2.606, 0, 0, 0, 61 [SEP] 29, PepperShaker, -2.530, 0.116, 1.431, 0, 0, 0, 52 [SEP] 30, DishSponge, -1.151, 0.823, 0.055, 0, 0, 0, 41 [SEP] 31, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 41 [SEP] 32, Spoon, -2.581, 0.824, 0.953, 0, 0, 0, 41 [SEP] 33, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 69 [SEP] 34, Bowl, -2.726, 1.140, 2.133, 0, 90, 0, 59 [SEP] 35, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0,  [SEP] 36, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0,  [SEP] 37, Drawer, -0.402, 0.703, 1.252, 0, 0, 0,  [SEP] 38, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0,  [SEP] 39, Sink, -1.838, 0.726, 0.343, 0, 180, 0,  [SEP] 40, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0,  [SEP] 41, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0,  [SEP] 42, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0,  [SEP] 43, Drawer, -0.404, 0.704, 0.912, 0, 0, 0,  [SEP] 44, Drawer, -0.861, 0.709, 0.420, 0, 0, 0,  [SEP] 45, Drawer, -1.133, 0.706, 0.418, 0, 0, 0,  [SEP] 46, Drawer, -2.589, 0.703, 1.511, 0, 0, 0,  [SEP] 47, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0,  [SEP] 48, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0,  [SEP] 49, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0,  [SEP] 50, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0,  [SEP] 51, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0,  [SEP] 52, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0,  [SEP] 53, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0,  [SEP] 54, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0,  [SEP] 55, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0,  [SEP] 56, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0,  [SEP] 57, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0,  [SEP] 58, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0,  [SEP] 59, Fridge, -2.782, 0.0, 2.221, 0, 0, 0,  [SEP] 60, Microwave, -2.794, 0.812, 1.348, 0, 90, 0,  [SEP] 61, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0,  [SEP] 62, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470,  [SEP] 63, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470,  [SEP] 64, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470,  [SEP] 65, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470,  [SEP] 66, Window, -1.720, 1.342, -0.208, 90, 0, 0,  [SEP] 67, Toaster, -0.171, 0.812, 0.735, 0, 270, 0,  [SEP] 68, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0,  [SEP] 69, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0,  [SEP] 70, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0,  [SEP] 71, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0,  [SEP] 72, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0,  [SEP] 73, NorthWall, , , , , , ,  [SEP] 74, EastWall, , , , , , ,  [SEP] 75, SouthWall, , , , , , ,  [SEP] 76, WestWall, , , , , , ,

Output: STEP 1: turn around, walk straight, turn right to the counter | STEP 2: pick up knife from the counter | STEP 3: turn to the left, look at the sink | STEP 4: turn around look at the sink | STEP 5: turn right , turn left to the microwave | STEP 6: open door, place knife in to microwave, close door | STEP 7: turn left, walk to the sink | STEP 8: pick up tomato from counter | STEP 9: turn around, turn to the right, turn right to the counter | STEP 10: place tomato in to the sink, turn water on, turn off water, pick up tomato | STEP 11: turn right, turn left to the counter | STEP 12: place tomato on to the counter | END


Input: Put the knife and the smallest diced piece of potato in the pot, which goes in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0,  [SEP] 1, Vase, 1.478, 0.550, -2.562, 0, 180, 0, 92 [SEP] 2, Potato, -0.059, 1.142, -0.253, 0, 0, 0, 62 [SEP] 3, Potato, 0.355, 1.142, -0.001, 0, 0, 0, 62 [SEP] 4, Potato, -0.173, 1.820, -2.546, 0, 0, 0, 88 [SEP] 5, Plate, -2.121, 0.537, 1.251, 0, 90, 0, 95 [SEP] 6, Plate, -1.805, 0.133, -1.623, 0, 90, 0, 63 [SEP] 7, Cup, -0.995, 0.909, -2.560, 0, 0, 0, 87 [SEP] 8, Cup, 1.993, 0.878, -2.536, 0, 180, 0, 89 [SEP] 9, Egg, -1.958, 1.538, 1.176, 0, 90, 0, 95 [SEP] 10, Tomato, -1.935, 0.087, 2.076, 0, 270, 0, 93 [SEP] 11, SoapBottle, -1.143, 0.912, -2.637, 0, 0, 0, 87 [SEP] 12, SaltShaker, 0.079, 1.107, -0.001, 0, 0, 0, 62 [SEP] 13, Bread, -2.019, 0.983, -0.513, 0, 0, 0, 87 [SEP] 14, Lettuce, -2.081, 1.582, 1.092, 0, 90, 0, 95 [SEP] 15, Knife, -1.937, 0.936, -2.256, 0, 90, 0, 87 [SEP] 16, Knife, 0.217, 1.136, 0.251, 0, 180, 0, 62 [SEP] 17, Fork, 0.892, 0.646, -2.333, 0, 0, 0, 67 [SEP] 18, Fork, 0.079, 1.112, 0.251, 0, 0, 0, 62 [SEP] 19, Spoon, 1.098, 0.911, -2.253, 0, 0, 0, 64 [SEP] 20, Spoon, -1.597, 0.912, -1.682, 0, 90, 0, 87 [SEP] 21, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 22, ButterKnife, -1.852, 0.769, -1.328, 0, 90, 0, 97 [SEP] 23, Glassbottle, -1.401, 1.659, -2.677, 0, 0, 0, 78 [SEP] 24, Glassbottle, -1.852, 0.770, -1.501, 0, 90, 0, 97 [SEP] 25, WineBottle, -1.567, 1.659, -2.641, 0, 0, 0, 78 [SEP] 26, WineBottle, 0.969, 0.911, -2.330, 0, 0, 0, 64 [SEP] 27, Book, 0.155, 1.1, 0.617, 0, 315, 0, 62 [SEP] 28, Glassbottle, -1.935, 0.048, 1.933, 0, 270, 0, 93 [SEP] 29, Knife, -1.574, 0.936, -2.056, 0, 90, 0, 87 [SEP] 30, Bread, -2.078, 0.870, 0.920, 0, 90, 0, 95 [SEP] 31, Fork, 0.582, 0.911, -2.253, 0, 0, 0, 64 [SEP] 32, Potato, -1.856, 0.941, -0.884, 0, 0, 0, 87 [SEP] 33, SoapBottle, 1.685, 0.554, -2.666, 0, 180, 0, 92 [SEP] 34, Kettle, -1.438, 0.912, -2.329, 0, 0, 0, 87 [SEP] 35, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 65 [SEP] 36, Plate, -0.197, 1.108, 0.251, 0, 0, 0, 62 [SEP] 37, Tomato, -2.122, 1.542, 0.925, 0, 90, 0, 95 [SEP] 38, Vase, -0.197, 1.113, -0.253, 0, 0, 0, 62 [SEP] 39, Egg, -0.197, 1.146, -0.001, 0, 0, 0, 62 [SEP] 40, CreditCard, -1.856, 0.908, -2.695, 0, 0, 0, 87 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, 1.891, 0.881, -2.617, 0, 180, 0, 89 [SEP] 43, Pot, -2.019, 0.915, -0.884, 0, 0, 0, 87 [SEP] 44, Spatula, 0.355, 1.126, -0.253, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, 1.789, 0.657, -2.511, 0, 180, 0, 92 [SEP] 46, Cup, 1.996, 0.550, -2.666, 0, 180, 0, 92 [SEP] 47, Vase, 0.355, 1.109, -0.506, 0, 0, 0, 62 [SEP] 48, Bowl, -0.912, 0.133, -2.503, 0, 0, 0, 80 [SEP] 49, SaltShaker, 0.451, 1.656, -2.560, 0, 0, 0, 86 [SEP] 50, PepperShaker, -0.335, 1.107, -0.253, 0, 0, 0, 62 [SEP] 51, Lettuce, -1.774, 0.991, -0.513, 0, 0, 0, 87 [SEP] 52, ButterKnife, 0.582, 0.910, -2.560, 0, 0, 0, 64 [SEP] 53, Apple, -2.070, 1.359, 1.008, 0, 90, 0, 95 [SEP] 54, DishSponge, -2.018, 0.769, -1.414, 0, 90, 0, 97 [SEP] 55, Spoon, -1.740, 0.154, -0.293, 0, 90, 0, 85 [SEP] 56, Mug, -1.982, 1.301, 0.841, 0, 90, 0, 95 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0,  [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0,  [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0,  [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0,  [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0,  [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0,  [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0,  [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0,  [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0,  [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0,  [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0,  [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0,  [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0,  [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0,  [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0,  [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0,  [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0,  [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0,  [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0,  [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0,  [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0,  [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0,  [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0,  [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0,  [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0,  [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0,  [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0,  [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0,  [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0,  [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0,  [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0,  [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0,  [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0,  [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0,  [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0,  [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0,  [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0,  [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0,  [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0,  [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0,  [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0,  [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0,  [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0,  [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0,  [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0,  [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0,  [SEP] 103, NorthWall, , , , , , ,  [SEP] 104, EastWall, , , , , , ,  [SEP] 105, SouthWall, , , , , , ,  [SEP] 106, WestWall, , , , , , ,

Output: STEP 1: Turn around, walk towards the wine bottle then go right to get to the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn right walk just past the sink to the potato on the counter. | STEP 4: Dice the potato with the knife. | STEP 5: Put the knife in the pot behind the potato. | STEP 6: Pick up the smallest piece of diced potato. | STEP 7: Put the potato slice in the pot with the knife. | STEP 8: Pick up the pot with the knife and potato slice in it. | STEP 9: Turn right and walk to the refrigerator. | STEP 10: Open the refrigerator, put the pot inside next to the loaf of bread and then close it.  | END


Input: Putting a bowl with a tomato slice in it on the white 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, 0.900, -1.0, 0, 270, 0,  [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn around and head to the counter on the left | STEP 2: Grab the knife that's on the counter | STEP 3: Move slightly to the right | STEP 4: Cut the tomato on the counter into slices | STEP 5: Move slightly to the left and look at the cabinets | STEP 6: Open the cabinet on the left and put the knife inside | STEP 7: Move slightly to the right | STEP 8: Grab one of the tomato slices off the counter | STEP 9: Turn around and head to the oven | STEP 10: Put the tomato in the bowl in the top left stove | STEP 11: Grab the bowl off of the stove | STEP 12: Turn left and stop at the white table | STEP 13: Place the bowl on the table | END


Input: Put a sliced tomato in a pot 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, 0.900, -1.0, 0, 270, 0,  [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Go to the end of the kitchen counter on the left.  | STEP 2: Pick up the gray knife behind the bread. | STEP 3: Move over to the tomatoes and cut the one on the left. | STEP 4: Move back to the bread. | STEP 5: Reach for the cupboard above the bread. | STEP 6: Open the cupboard and place the knife inside. | STEP 7: Move over right to the tomatoes. | STEP 8: Pick up a slice of tomato on the left. | STEP 9: Turn around and go to the stove. | STEP 10: Place the slice of tomato inside the large pot on the left.  | STEP 11: Pick up the pot with the tomato in it. | STEP 12: Turn left and go to the white table on the opposite side of the kitchen. | STEP 13: Place the pot with tomato on the table.  | END


Input: Slice a tomato, put it in the pot on the stove, move the pot to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.0, 0, 270, 0,  [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk towards the counter | STEP 2: Grab the knife from the plate on the counter | STEP 3: Walk with the knife towards the cabinet  | STEP 4: Slice the tomato on the counter | STEP 5: Look up and Open the cabinet in front | STEP 6: Put the knife in the cabinet | STEP 7: Move towards the counter | STEP 8: Grab a slice of tomato on the counter | STEP 9: Walk with the slice of tomato towards the stove | STEP 10: Put the slice of tomato inside the pot | STEP 11: Grab the pot and walk towards the door | STEP 12: Turn right towards the table next to the door | STEP 13: Put the pot on the table | END


Input: Place a slice of tomato inside a plan 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, 0.900, -1.0, 0, 270, 0,  [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0,  [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0,  [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0,  [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0,  [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0,  [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0,  [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0,  [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0,  [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0,  [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0,  [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0,  [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0,  [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0,  [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0,  [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0,  [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0,  [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0,  [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0,  [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0,  [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0,  [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0,  [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0,  [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0,  [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0,  [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0,  [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0,  [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0,  [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0,  [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0,  [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0,  [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0,  [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0,  [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0,  [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0,  [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0,  [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0,  [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0,  [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0,  [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0,  [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0,  [SEP] 84, NorthWall, , , , , , ,  [SEP] 85, EastWall, , , , , , ,  [SEP] 86, SouthWall, , , , , , ,  [SEP] 87, WestWall, , , , , , ,

Output: STEP 1: Turn left and walk towards the window, then turn right.  | STEP 2: Walk towards the black table. | STEP 3: Pick up the knife behind the loaf of bread on the black table. | STEP 4: Slice the tomato behind the blue plate closest to the loaf of bread.  | STEP 5: Take the knife and turn towards the cabinet about the black table. | STEP 6: Place the knife inside the cabinet above the black table. | STEP 7: Pick up the slice of tomato, turn all the way around. | STEP 8: Walk towards the stove. | STEP 9: Place the tomato slice into the pan nearest coffee maker, | STEP 10: Pick up the pan with the tomato slice in it. | STEP 11: Turn left and walk towards the door. | STEP 12: Turn right in front of the white table. | STEP 13: Place the pan on the white table. | END


Input: Chill a plate and put it back 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, -1.25, 0.900, -2.0, 0, 0, 0,  [SEP] 1, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 53 [SEP] 2, Glassbottle, -0.383, 0.082, -1.712, 0, 0, 0, 51 [SEP] 3, Glassbottle, -0.436, 0.916, -2.764, 0, 0, 0, 56 [SEP] 4, Pencil, -0.600, 0.916, -3.768, 0, 0, 0, 56 [SEP] 5, Pencil, -0.361, 0.747, -3.238, 0, 90, 0, 67 [SEP] 6, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 81 [SEP] 7, Potato, -0.508, 0.947, -2.966, 0, 0, 0, 56 [SEP] 8, DishSponge, -0.457, 0.915, -3.839, 0, 0, 0, 56 [SEP] 9, WineBottle, -1.912, 0.027, -3.690, 0, 0, 0, 72 [SEP] 10, WineBottle, -0.186, 1.528, -2.703, 0, 0, 0, 68 [SEP] 11, Spatula, -0.293, 0.930, -3.570, 0, 180, 0, 56 [SEP] 12, Spoon, -2.210, 0.924, -1.423, 0, 180, 0, 81 [SEP] 13, Spoon, -2.324, 0.924, -2.115, 0, 0, 0, 81 [SEP] 14, Knife, -2.438, 0.946, -1.423, 0, 180, 0, 81 [SEP] 15, Plate, -0.747, 0.084, -3.623, 0, 0, 0, 62 [SEP] 16, Plate, -2.780, 0.925, -1.423, 0, 0, 0, 81 [SEP] 17, Cup, -0.308, 1.689, -0.560, 0, 270, 0, 73 [SEP] 18, Cup, -2.438, 0.922, -1.193, 0, 0, 0, 81 [SEP] 19, Tomato, -0.254, 0.861, -2.008, 0, 270, 0, 74 [SEP] 20, Bowl, -2.666, 0.922, -2.115, 0, 0, 0, 81 [SEP] 21, PepperShaker, -0.815, 0.912, -3.485, 0, 0, 0, 56 [SEP] 22, PepperShaker, -0.671, 0.912, -3.909, 0, 0, 0, 56 [SEP] 23, Mug, -0.499, 0.076, -1.941, 0, 90, 0, 51 [SEP] 24, Mug, -0.422, 0.076, -2.109, 0, 0, 0, 51 [SEP] 25, Apple, -1.943, 0.100, -3.835, 0, 0, 0, 72 [SEP] 26, Apple, -0.228, 1.764, -0.770, 0, 270, 0, 73 [SEP] 27, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 81 [SEP] 28, Glassbottle, -2.210, 0.924, -1.884, 0, 0, 0, 81 [SEP] 29, Egg, -2.096, 0.956, -1.654, 0, 0, 0, 81 [SEP] 30, Pen, -2.324, 0.926, -2.115, 0, 0, 0, 81 [SEP] 31, Fork, -2.438, 0.924, -1.884, 0, 0, 0, 81 [SEP] 32, SoapBottle, -2.210, 0.922, -1.654, 0, 0, 0, 81 [SEP] 33, Pencil, -2.210, 0.923, -2.345, 0, 0, 0, 81 [SEP] 34, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 81 [SEP] 35, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 81 [SEP] 36, Bread, -0.295, 1.151, -0.979, 0, 270, 0, 73 [SEP] 37, Tomato, -2.324, 0.987, -1.423, 0, 0, 0, 81 [SEP] 38, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 81 [SEP] 39, Cup, -0.343, 1.097, -0.455, 0, 270, 0, 73 [SEP] 40, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 54 [SEP] 41, SaltShaker, -1.549, 1.965, -3.773, 0, 0, 0, 65 [SEP] 42, Potato, -1.204, 1.661, -3.837, 0, 0, 0, 69 [SEP] 43, PepperShaker, -0.421, 0.077, -3.330, 0, 0, 0, 62 [SEP] 44, ButterKnife, -2.210, 0.923, -1.423, 0, 90, 0, 81 [SEP] 45, DishSponge, -0.350, 0.796, -2.082, 0, 270, 0, 74 [SEP] 46, Spoon, -2.324, 0.924, -1.193, 0, 0, 0, 81 [SEP] 47, Plate, -2.552, 0.925, -1.423, 0, 0, 0, 81 [SEP] 48, Knife, -2.666, 0.946, -0.963, 0, 180, 0, 81 [SEP] 49, Mug, -0.197, 1.093, -0.770, 0, 0, 0, 73 [SEP] 50, Bowl, -2.666, 0.922, -2.345, 0, 0, 0, 81 [SEP] 51, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0,  [SEP] 52, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0,  [SEP] 53, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0,  [SEP] 54, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0,  [SEP] 55, Drawer, -0.749, 0.779, -3.551, 0, 0, 0,  [SEP] 56, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0,  [SEP] 57, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0,  [SEP] 58, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0,  [SEP] 59, Sink, -0.349, 0.907, -2.014, 0, 0, 0,  [SEP] 60, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0,  [SEP] 61, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0,  [SEP] 62, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0,  [SEP] 63, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0,  [SEP] 64, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0,  [SEP] 65, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0,  [SEP] 66, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0,  [SEP] 67, Drawer, -0.454, 0.779, -3.268, 0, 0, 0,  [SEP] 68, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0,  [SEP] 69, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0,  [SEP] 70, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0,  [SEP] 71, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0,  [SEP] 72, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0,  [SEP] 73, Fridge, -0.330, 0.0, -0.769, 0, 270, 0,  [SEP] 74, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0,  [SEP] 75, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0,  [SEP] 76, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0,  [SEP] 77, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0,  [SEP] 78, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0,  [SEP] 79, Toaster, -0.181, 0.903, -2.764, 0, 270, 0,  [SEP] 80, Window, -2.503, 1.782, -4.185, 90, 180, 0,  [SEP] 81, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0,  [SEP] 82, Shelf, -2.432, 0.150, -1.694, 0, 270, 0,  [SEP] 83, Blinds, -2.536, 2.699, -3.959, 0, 0, 0,  [SEP] 84, Faucet, -0.079, 0.904, -2.034, 270, 180, 0,  [SEP] 85, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0,  [SEP] 86, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0,  [SEP] 87, Shelf, -2.432, 0.523, -1.694, 0, 270, 0,  [SEP] 88, NorthWall, , , , , , ,  [SEP] 89, EastWall, , , , , , ,  [SEP] 90, SouthWall, , , , , , ,  [SEP] 91, WestWall, , , , , , ,

Output: STEP 1: Walk over to the table. | STEP 2: Grab the plate. | STEP 3: Walk over to the fridge | STEP 4: Chill the plate in the fridge | STEP 5: Grab the plate out of the fridge and walk back to the table | STEP 6: Place the plate on the table | END


Input: To heat an egg and place it on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -1.75, 0, 0, 0,  [SEP] 1, Potato, -2.808, 0.957, -3.878, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.412, 0.746, -1.641, 0, 0, 0, 72 [SEP] 3, DishSponge, -2.797, 0.713, -0.162, 0, 225, 0, 93 [SEP] 4, ButterKnife, -2.439, 0.713, -0.558, 0, 270, 0, 93 [SEP] 5, ButterKnife, -3.167, 0.913, -3.581, 0, 0, 0, 49 [SEP] 6, Spatula, -0.471, 0.761, -1.253, 0, 270, 0, 72 [SEP] 7, Spoon, -0.095, 0.917, -0.472, 0, 0, 0, 76 [SEP] 8, Spoon, -0.650, 0.914, -3.655, 0, 0, 0, 49 [SEP] 9, Fork, -3.140, 0.914, -3.026, 0, 0, 0, 49 [SEP] 10, Fork, -0.419, 0.916, -0.472, 0, 0, 0, 76 [SEP] 11, Egg, -0.014, 0.951, -1.493, 0, 0, 0, 76 [SEP] 12, Cup, -3.182, 1.399, -2.002, 0, 90, 0, 90 [SEP] 13, Cup, -0.500, 0.916, -1.555, 0, 0, 0, 76 [SEP] 14, Knife, -0.095, 0.948, -1.432, 0, 270, 0, 76 [SEP] 15, Knife, -2.865, 0.746, -0.780, 0, 180, 0, 93 [SEP] 16, Tomato, -3.150, 0.766, -0.495, 0, 270, 0, 93 [SEP] 17, Tomato, -0.338, 0.965, -1.370, 0, 0, 0, 76 [SEP] 18, SoapBottle, -2.532, 0.716, -0.427, 0, 225, 0, 93 [SEP] 19, SoapBottle, -0.014, 0.915, -1.555, 0, 0, 0, 76 [SEP] 20, SaltShaker, -0.500, 0.912, -0.490, 0, 0, 0, 76 [SEP] 21, SaltShaker, -2.740, 0.710, -0.496, 0, 0, 0, 93 [SEP] 22, PepperShaker, -0.500, 0.912, -1.432, 0, 0, 0, 76 [SEP] 23, Lettuce, -2.475, 0.804, -0.709, 0, 135, 0, 93 [SEP] 24, Mug, -3.309, 0.908, -3.026, 0, 90, 0, 49 [SEP] 25, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 89 [SEP] 26, Apple, -2.777, 0.759, -0.584, 0, 225, 0, 93 [SEP] 27, Apple, -0.284, 0.122, -0.157, 0, 270, 0, 88 [SEP] 28, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 78 [SEP] 29, Egg, -1.845, 0.827, -3.618, 0, 0, 0, 91 [SEP] 30, Cup, -2.608, 0.717, -0.841, 0, 135, 0, 93 [SEP] 31, Bread, -0.328, 0.954, -3.112, 0, 0, 0, 49 [SEP] 32, Fork, -3.225, 0.914, -3.227, 0, 0, 0, 49 [SEP] 33, Pan, -0.243, 0.912, -3.952, 0, 90, 0, 49 [SEP] 34, Potato, -1.638, 0.834, -3.790, 0, 0, 0, 91 [SEP] 35, Lettuce, -2.928, 0.801, -0.780, 0, 0, 0, 93 [SEP] 36, Tomato, -3.292, 0.766, -0.558, 0, 270, 0, 93 [SEP] 37, Apple, -1.914, 0.833, -3.832, 0, 0, 0, 91 [SEP] 38, SoapBottle, -2.439, 0.713, -0.433, 0, 270, 0, 93 [SEP] 39, Spatula, -0.471, 0.761, -0.837, 0, 90, 0, 75 [SEP] 40, SaltShaker, -0.382, 0.742, -1.331, 0, 0, 0, 72 [SEP] 41, Knife, -3.054, 0.746, -0.483, 0, 225, 0, 93 [SEP] 42, PepperShaker, -0.176, 0.912, -1.616, 0, 0, 0, 76 [SEP] 43, ButterKnife, -0.257, 0.916, -1.616, 0, 0, 0, 76 [SEP] 44, Plate, -0.374, 0.078, -1.492, 0, 0, 0, 54 [SEP] 45, DishSponge, -1.638, 0.790, -3.661, 0, 0, 0, 91 [SEP] 46, Spoon, -0.530, 0.747, -1.486, 0, 90, 0, 72 [SEP] 47, Mug, 0.007, 0.908, -3.112, 0, 0, 0, 49 [SEP] 48, Bowl, -3.079, 0.638, -1.879, 0, 90, 0, 90 [SEP] 49, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0,  [SEP] 50, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0,  [SEP] 51, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0,  [SEP] 52, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0,  [SEP] 53, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0,  [SEP] 54, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0,  [SEP] 55, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0,  [SEP] 56, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0,  [SEP] 57, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0,  [SEP] 58, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0,  [SEP] 59, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0,  [SEP] 60, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0,  [SEP] 61, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0,  [SEP] 62, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0,  [SEP] 63, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0,  [SEP] 64, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0,  [SEP] 65, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0,  [SEP] 66, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0,  [SEP] 67, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0,  [SEP] 68, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0,  [SEP] 69, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0,  [SEP] 70, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0,  [SEP] 71, Drawer, -3.104, 0.797, -2.968, 0, 0, 0,  [SEP] 72, Drawer, -0.449, 0.797, -1.410, 0, 0, 0,  [SEP] 73, Sink, -1.786, 0.902, -3.748, 0, 0, 0,  [SEP] 74, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0,  [SEP] 75, Drawer, -0.449, 0.797, -0.762, 0, 0, 0,  [SEP] 76, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0,  [SEP] 77, Drawer, -0.449, 0.797, -3.348, 0, 0, 0,  [SEP] 78, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0,  [SEP] 79, Drawer, -0.449, 0.797, -2.968, 0, 0, 0,  [SEP] 80, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0,  [SEP] 81, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0,  [SEP] 82, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0,  [SEP] 83, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0,  [SEP] 84, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0,  [SEP] 85, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0,  [SEP] 86, Microwave, -0.143, 0.903, -0.908, 0, 270, 0,  [SEP] 87, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0,  [SEP] 88, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0,  [SEP] 89, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0,  [SEP] 90, Fridge, -3.188, 0.0, -2.184, 0, 0, 0,  [SEP] 91, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0,  [SEP] 92, Toaster, -0.230, 0.903, -3.406, 0, 270, 0,  [SEP] 93, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0,  [SEP] 94, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0,  [SEP] 95, Faucet, -1.791, 1.136, -3.913, 0, 270, 0,  [SEP] 96, NorthWall, , , , , , ,  [SEP] 97, EastWall, , , , , , ,  [SEP] 98, SouthWall, , , , , , ,  [SEP] 99, WestWall, , , , , , ,

Output: STEP 1: Turn right and step forward to face the egg on the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Step to the left to face the microwave. | STEP 4: Heat the egg in the microwave and remove it. | STEP 5: Turn around and cross the room and turn right to face the kitchen table. | STEP 6: Place the egg on the kitchen table. | END