Input: Heat up a potato slice in the microwave to put in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 180, 0,  [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 2, Potato, 2.653, 1.323, -0.709, 0, 0, 0, 99 [SEP] 3, Potato, 2.653, 0.761, -0.504, 0, 0, 0, 99 [SEP] 4, DishSponge, 2.838, 1.654, 1.546, 0, 0, 0, 68 [SEP] 5, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 79 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 7, Spoon, 2.217, 0.772, 1.198, 0, 0, 0, 75 [SEP] 8, Spoon, 0.193, 0.766, -0.596, 0, 0, 0, 101 [SEP] 9, Cup, 0.888, 0.909, -0.684, 0, 0, 0, 44 [SEP] 10, Cup, -0.087, 0.763, -0.541, 0, 0, 0, 101 [SEP] 11, SoapBottle, 0.581, 1.660, -0.773, 0, 180, 0, 83 [SEP] 12, Tomato, 2.962, 1.320, -0.775, 0, 0, 0, 99 [SEP] 13, Tomato, -0.103, 0.942, 1.129, 0, 0, 0, 55 [SEP] 14, Bowl, 0.865, 2.151, 1.429, 0, 0, 0, 53 [SEP] 15, Bowl, 2.222, 1.652, 1.432, 0, 0, 0, 68 [SEP] 16, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 79 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 103 [SEP] 18, Mug, 2.653, 1.558, -0.775, 0, 0, 0, 99 [SEP] 19, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 103 [SEP] 20, Apple, -1.991, 0.492, 1.375, 0, 270, 0, 97 [SEP] 21, SoapBottle, 1.422, 0.917, 1.383, 0, 0, 0, 79 [SEP] 22, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 79 [SEP] 23, Fork, 1.107, 0.771, 1.198, 0, 270, 0, 89 [SEP] 24, Pot, 2.198, 0.118, -0.458, 0, 180, 0, 85 [SEP] 25, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 79 [SEP] 26, Egg, -0.240, 0.949, -0.316, 0, 0, 0, 44 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, 2.838, 1.050, -0.512, 0, 0, 0, 99 [SEP] 29, Cup, 2.962, 1.286, -0.578, 0, 0, 0, 99 [SEP] 30, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 101 [SEP] 31, Apple, 1.688, 0.980, 1.468, 0, 0, 0, 79 [SEP] 32, Pan, 2.488, 0.911, 1.214, 0, 0, 0, 79 [SEP] 33, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 55 [SEP] 34, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 103 [SEP] 35, Knife, -0.017, 0.798, -0.707, 0, 90, 0, 101 [SEP] 36, Potato, -0.682, 0.855, -1.473, 0, 0, 0, 103 [SEP] 37, PepperShaker, 2.412, 1.651, 1.507, 0, 0, 0, 69 [SEP] 38, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 103 [SEP] 39, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 99 [SEP] 40, DishSponge, -0.198, 0.911, 1.299, 0, 0, 0, 55 [SEP] 41, Spoon, -0.983, 0.822, -1.411, 0, 0, 0, 103 [SEP] 42, Mug, 2.900, 0.720, -0.535, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 105, NorthWall, , , , , , ,  [SEP] 106, EastWall, , , , , , ,  [SEP] 107, SouthWall, , , , , , ,  [SEP] 108, WestWall, , , , , , ,

Output: STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table. | STEP 8: Pick up a potato slice from the table. | STEP 9: Turn around to walk to the microwave over the stove. | STEP 10: Heat up the potato slice in the microwave, removing it afterwards. | STEP 11: Turn around to face the sink. | STEP 12: Put the potato slice in the sink. | END


Input: Move a black pen from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.5, 0, 270, 0,  [SEP] 1, Mug, -0.453, 0.801, -3.920, 0, 0, 0, 42 [SEP] 2, CD, -3.539, 0.980, -3.673, 0, 0, 0, 45 [SEP] 3, CellPhone, -3.466, 0.981, -4.075, 0, 0, 0, 45 [SEP] 4, CellPhone, -3.750, 0.809, -3.790, 0, 0, 0, 43 [SEP] 5, Pen, -0.862, 0.809, -3.703, 0, 90, 0, 42 [SEP] 6, Pen, -0.453, 0.809, -4.029, 0, 0, 0, 42 [SEP] 7, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 42 [SEP] 8, Pencil, -0.249, 0.807, -3.703, 0, 0, 0, 42 [SEP] 9, CreditCard, -0.774, 0.542, -3.713, 0, 0, 0, 36 [SEP] 10, CreditCard, -1.474, 0.803, -3.920, 0, 0, 0, 42 [SEP] 11, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 27 [SEP] 12, Pillow, -2.559, 0.722, -2.080, 0, 0, 0, 27 [SEP] 13, AlarmClock, -3.539, 0.981, -3.874, 0, 0, 0, 45 [SEP] 14, Book, -3.760, 0.980, -3.673, 0, 0, 0, 45 [SEP] 15, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 27 [SEP] 16, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 27 [SEP] 17, CreditCard, -3.908, 0.981, -3.271, 0, 0, 0, 45 [SEP] 18, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 42 [SEP] 19, KeyChain, -3.582, 0.420, -3.000, 0, 0, 0, 53 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.066, 0.807, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 27 [SEP] 24, CD, -1.270, 0.799, -4.029, 0, 0, 0, 42 [SEP] 25, Pen, -0.329, 0.548, -3.676, 0, 0, 0, 36 [SEP] 26, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 54, NorthWall, , , , , , ,  [SEP] 55, EastWall, , , , , , ,  [SEP] 56, SouthWall, , , , , , ,  [SEP] 57, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the white desk across the room. | STEP 2: Pick up the black pen that is behind and to the right of the clock on the desk. | STEP 3: Make a right to walk towards the black dresser. | STEP 4: Set the black pen down on the black dresser. | END


Input: Place the pen from the desk to the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.5, 0, 270, 0,  [SEP] 1, Mug, -0.453, 0.801, -3.920, 0, 0, 0, 42 [SEP] 2, CD, -3.539, 0.980, -3.673, 0, 0, 0, 45 [SEP] 3, CellPhone, -3.466, 0.981, -4.075, 0, 0, 0, 45 [SEP] 4, CellPhone, -3.750, 0.809, -3.790, 0, 0, 0, 43 [SEP] 5, Pen, -0.862, 0.809, -3.703, 0, 90, 0, 42 [SEP] 6, Pen, -0.453, 0.809, -4.029, 0, 0, 0, 42 [SEP] 7, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 42 [SEP] 8, Pencil, -0.249, 0.807, -3.703, 0, 0, 0, 42 [SEP] 9, CreditCard, -0.774, 0.542, -3.713, 0, 0, 0, 36 [SEP] 10, CreditCard, -1.474, 0.803, -3.920, 0, 0, 0, 42 [SEP] 11, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 27 [SEP] 12, Pillow, -2.559, 0.722, -2.080, 0, 0, 0, 27 [SEP] 13, AlarmClock, -3.539, 0.981, -3.874, 0, 0, 0, 45 [SEP] 14, Book, -3.760, 0.980, -3.673, 0, 0, 0, 45 [SEP] 15, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 27 [SEP] 16, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 27 [SEP] 17, CreditCard, -3.908, 0.981, -3.271, 0, 0, 0, 45 [SEP] 18, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 42 [SEP] 19, KeyChain, -3.582, 0.420, -3.000, 0, 0, 0, 53 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.066, 0.807, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 27 [SEP] 24, CD, -1.270, 0.799, -4.029, 0, 0, 0, 42 [SEP] 25, Pen, -0.329, 0.548, -3.676, 0, 0, 0, 36 [SEP] 26, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0,  [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0,  [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0,  [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0,  [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0,  [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0,  [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0,  [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0,  [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0,  [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0,  [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0,  [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0,  [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0,  [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0,  [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0,  [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0,  [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0,  [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0,  [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0,  [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0,  [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0,  [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0,  [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0,  [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0,  [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0,  [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0,  [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0,  [SEP] 54, NorthWall, , , , , , ,  [SEP] 55, EastWall, , , , , , ,  [SEP] 56, SouthWall, , , , , , ,  [SEP] 57, WestWall, , , , , , ,

Output: STEP 1: Turn right then head to the desk  | STEP 2: Pick up the pen on the desk | STEP 3: Turn right then head to the cabinet on your right  | STEP 4: Put the pen on the cabinet | END


Input: Put a clean spoon away in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 270, 0,  [SEP] 1, Potato, 2.777, 1.323, -0.578, 0, 0, 0, 100 [SEP] 2, DishSponge, 1.141, 0.911, -0.6, 0, 0, 0, 45 [SEP] 3, DishSponge, -0.694, 0.820, -1.103, 0, 90, 0, 104 [SEP] 4, ButterKnife, -0.785, 0.820, -1.473, 0, 0, 0, 104 [SEP] 5, Spoon, 2.205, 0.772, -0.460, 0, 180, 0, 58 [SEP] 6, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 104 [SEP] 7, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 104 [SEP] 8, Egg, 1.422, 0.949, 1.299, 0, 0, 0, 80 [SEP] 9, Egg, -0.246, 0.949, 1.214, 0, 0, 0, 56 [SEP] 10, Knife, -0.766, 0.853, -1.257, 0, 90, 0, 104 [SEP] 11, Knife, 1.688, 0.944, 1.129, 0, 0, 0, 80 [SEP] 12, SoapBottle, -0.198, 0.917, 1.044, 0, 0, 0, 56 [SEP] 13, SoapBottle, -0.201, 1.660, 1.546, 0, 0, 0, 71 [SEP] 14, Tomato, -0.621, 0.852, -1.411, 0, 90, 0, 104 [SEP] 15, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 100 [SEP] 16, Bowl, 2.221, 0.909, 1.214, 0, 0, 0, 80 [SEP] 17, PepperShaker, 2.222, 1.650, 1.432, 0, 0, 0, 69 [SEP] 18, PepperShaker, 1.792, 0.111, 1.117, 0, 0, 0, 65 [SEP] 19, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Mug, 0.888, 0.906, -0.345, 0, 0, 0, 45 [SEP] 21, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 103 [SEP] 22, SoapBottle, 1.104, 1.661, 1.507, 0, 0, 0, 72 [SEP] 23, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 80 [SEP] 24, Fork, 2.837, 0.771, 1.122, 0, 90, 0, 89 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 100 [SEP] 27, Egg, -0.103, 0.949, 1.044, 0, 0, 0, 56 [SEP] 28, Kettle, 1.902, 0.912, -0.430, 0, 0, 0, 45 [SEP] 29, Tomato, -2.048, 0.455, 1.459, 0, 270, 0, 98 [SEP] 30, Cup, 0.363, 1.782, 1.391, 0, 180, 0, 103 [SEP] 31, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 45 [SEP] 32, Apple, 1.688, 0.980, 1.468, 0, 0, 0, 80 [SEP] 33, Pan, 1.155, 0.911, 1.383, 0, 0, 0, 80 [SEP] 34, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 104 [SEP] 35, SaltShaker, 1.872, 1.650, -0.887, 0, 180, 0, 82 [SEP] 36, Knife, 0.123, 0.798, -0.651, 0, 180, 0, 102 [SEP] 37, Potato, -0.055, 0.946, 1.553, 0, 0, 0, 56 [SEP] 38, PepperShaker, 1.141, 0.908, -0.854, 0, 0, 0, 45 [SEP] 39, ButterKnife, -0.294, 0.911, 1.129, 0, 90, 0, 56 [SEP] 40, Bowl, -0.103, 0.909, 1.383, 0, 0, 0, 56 [SEP] 41, DishSponge, -0.887, 0.820, -1.183, 0, 0, 0, 104 [SEP] 42, Spoon, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 43, Mug, 2.258, 0.109, 1.231, 0, 0, 0, 81 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0,  [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0,  [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0,  [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0,  [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0,  [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0,  [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0,  [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0,  [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0,  [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0,  [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0,  [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0,  [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0,  [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0,  [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0,  [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0,  [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0,  [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0,  [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0,  [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0,  [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0,  [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0,  [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0,  [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0,  [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0,  [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0,  [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0,  [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0,  [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0,  [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0,  [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0,  [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0,  [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0,  [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0,  [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0,  [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0,  [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0,  [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0,  [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0,  [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0,  [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0,  [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0,  [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0,  [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0,  [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0,  [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0,  [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0,  [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0,  [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0,  [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0,  [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0,  [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0,  [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0,  [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0,  [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0,  [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0,  [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0,  [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0,  [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0,  [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0,  [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0,  [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0,  [SEP] 106, NorthWall, , , , , , ,  [SEP] 107, EastWall, , , , , , ,  [SEP] 108, SouthWall, , , , , , ,  [SEP] 109, WestWall, , , , , , ,

Output: STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter | STEP 3: turn around and then turn left walking towards the sink | STEP 4: put the spoon in the sink, wash it, then take it out | STEP 5: turn around and open the drawer | STEP 6: put the clean spoon in the drawer | END


Input: Slice bread, put knife in the cabinet, cook a slice and put it in the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.25, 0, 270, 0,  [SEP] 1, Potato, -1.034, 1.017, 2.153, 0, 180, 0, 58 [SEP] 2, Potato, 1.854, 0.175, 2.414, 0, 270, 0, 59 [SEP] 3, DishSponge, 0.740, 1.046, -1.828, 0, 0, 0, 43 [SEP] 4, DishSponge, -0.222, 0.203, -1.553, 0, 0, 0, 52 [SEP] 5, ButterKnife, -0.517, 1.046, -1.289, 0, 0, 0, 43 [SEP] 6, Spoon, 1.701, 1.044, 0.738, 0, 0, 0, 45 [SEP] 7, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 8, Spatula, -0.260, 1.061, -1.612, 0, 270, 0, 43 [SEP] 9, Knife, 0.516, 1.069, -0.002, 0, 180, 0, 45 [SEP] 10, Knife, 0.848, 1.069, 0.720, 0, 0, 0, 45 [SEP] 11, SoapBottle, -1.183, 0.203, -1.193, 0, 90, 0, 51 [SEP] 12, SaltShaker, -0.432, 1.041, -1.505, 0, 0, 0, 43 [SEP] 13, PepperShaker, 0.989, 1.041, -1.397, 0, 0, 0, 43 [SEP] 14, PepperShaker, -1.416, 2.023, -1.264, 0, 0, 0, 50 [SEP] 15, Apple, 1.238, 1.090, -1.289, 0, 0, 0, 43 [SEP] 16, Apple, 0.936, 1.097, 0.331, 0, 90, 0, 41 [SEP] 17, SoapBottle, 1.589, 1.020, -1.484, 0, 0, 0, 49 [SEP] 18, Apple, 1.241, 0.943, 0.231, 0, 90, 0, 40 [SEP] 19, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 57 [SEP] 20, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 43 [SEP] 21, Kettle, -1.105, 0.203, -1.482, 0, 0, 0, 51 [SEP] 22, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 54 [SEP] 23, Tomato, 1.879, 1.094, 0.091, 0, 0, 0, 45 [SEP] 24, SaltShaker, 1.263, 1.560, -1.463, 0, 0, 0, 47 [SEP] 25, Egg, 0.848, 1.108, 0.331, 0, 90, 0, 41 [SEP] 26, Cup, 0.160, 1.043, 0.522, 0, 0, 0, 45 [SEP] 27, Spatula, 1.347, 1.058, 0.807, 0, 0, 0, 45 [SEP] 28, Knife, 0.160, 1.069, 0.199, 0, 180, 0, 45 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 45 [SEP] 31, PepperShaker, 0.740, 1.041, -1.289, 0, 0, 0, 43 [SEP] 32, DishSponge, 1.347, 1.042, 0.676, 0, 0, 0, 45 [SEP] 33, Plate, -1.184, 2.041, -1.482, 0, 0, 0, 50 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 43 [SEP] 36, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 0.885, 1.563, -1.614, 0, 0, 0, 47 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter | STEP 9: Walk towards the microwave with the slice of bread | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the stove counter | STEP 12: Place the bread slice on the counter | END


Input: Place a warm slice of bread on top of a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.25, 0, 270, 0,  [SEP] 1, Potato, -1.034, 1.017, 2.153, 0, 180, 0, 58 [SEP] 2, Potato, 1.854, 0.175, 2.414, 0, 270, 0, 59 [SEP] 3, DishSponge, 0.740, 1.046, -1.828, 0, 0, 0, 43 [SEP] 4, DishSponge, -0.222, 0.203, -1.553, 0, 0, 0, 52 [SEP] 5, ButterKnife, -0.517, 1.046, -1.289, 0, 0, 0, 43 [SEP] 6, Spoon, 1.701, 1.044, 0.738, 0, 0, 0, 45 [SEP] 7, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 8, Spatula, -0.260, 1.061, -1.612, 0, 270, 0, 43 [SEP] 9, Knife, 0.516, 1.069, -0.002, 0, 180, 0, 45 [SEP] 10, Knife, 0.848, 1.069, 0.720, 0, 0, 0, 45 [SEP] 11, SoapBottle, -1.183, 0.203, -1.193, 0, 90, 0, 51 [SEP] 12, SaltShaker, -0.432, 1.041, -1.505, 0, 0, 0, 43 [SEP] 13, PepperShaker, 0.989, 1.041, -1.397, 0, 0, 0, 43 [SEP] 14, PepperShaker, -1.416, 2.023, -1.264, 0, 0, 0, 50 [SEP] 15, Apple, 1.238, 1.090, -1.289, 0, 0, 0, 43 [SEP] 16, Apple, 0.936, 1.097, 0.331, 0, 90, 0, 41 [SEP] 17, SoapBottle, 1.589, 1.020, -1.484, 0, 0, 0, 49 [SEP] 18, Apple, 1.241, 0.943, 0.231, 0, 90, 0, 40 [SEP] 19, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 57 [SEP] 20, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 43 [SEP] 21, Kettle, -1.105, 0.203, -1.482, 0, 0, 0, 51 [SEP] 22, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 54 [SEP] 23, Tomato, 1.879, 1.094, 0.091, 0, 0, 0, 45 [SEP] 24, SaltShaker, 1.263, 1.560, -1.463, 0, 0, 0, 47 [SEP] 25, Egg, 0.848, 1.108, 0.331, 0, 90, 0, 41 [SEP] 26, Cup, 0.160, 1.043, 0.522, 0, 0, 0, 45 [SEP] 27, Spatula, 1.347, 1.058, 0.807, 0, 0, 0, 45 [SEP] 28, Knife, 0.160, 1.069, 0.199, 0, 180, 0, 45 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 45 [SEP] 31, PepperShaker, 0.740, 1.041, -1.289, 0, 0, 0, 43 [SEP] 32, DishSponge, 1.347, 1.042, 0.676, 0, 0, 0, 45 [SEP] 33, Plate, -1.184, 2.041, -1.482, 0, 0, 0, 50 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 43 [SEP] 36, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 0.885, 1.563, -1.614, 0, 0, 0, 47 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 71, NorthWall, , , , , , ,  [SEP] 72, EastWall, , , , , , ,  [SEP] 73, SouthWall, , , , , , ,  [SEP] 74, WestWall, , , , , , ,

Output: STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of bread from the counter in front of you. | STEP 9: Turn left and face the microwave to your left. | STEP 10: Heat up the bread in the microwave and take it out. | STEP 11: Turn left and face the counter to your right. | STEP 12: Place the slice of bread on top of the counter. | END


Input: Place a laptop between the two pillows on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.949, 0.5, 0, 0, 0,  [SEP] 1, CD, 1.382, 0.987, -2.212, 0, 270, 0, 39 [SEP] 2, CD, -0.885, 0.173, -0.430, 0, 0, 0, 50 [SEP] 3, CellPhone, 2.803, 0.985, -1.687, 0, 270, 0, 39 [SEP] 4, CellPhone, -0.848, 0.174, 0.028, 0, 0, 0, 53 [SEP] 5, Pen, 3.455, 0.729, 1.397, 0, 270, 0, 64 [SEP] 6, Pen, -0.776, 0.179, -0.794, 0, 0, 0, 55 [SEP] 7, Pencil, -0.848, 0.589, 0.027, 0, 0, 0, 61 [SEP] 8, KeyChain, 3.569, 0.126, 1.318, 0, 90, 0, 63 [SEP] 9, KeyChain, 2.519, 0.986, -2.037, 0, 270, 0, 39 [SEP] 10, Book, 2.545, 0.610, 0.068, 0, 0, 0, 24 [SEP] 11, Book, 1.382, 0.985, -1.862, 0, 270, 0, 39 [SEP] 12, KeyChain, -0.848, 0.381, -0.794, 0, 0, 0, 59 [SEP] 13, CreditCard, -0.970, 0.785, 0.081, 0, 0, 0, 60 [SEP] 14, Pen, -0.163, 1.113, 3.115, 0, 180, 0, 47 [SEP] 15, Pencil, -0.904, 0.789, -0.338, 0, 0, 0, 60 [SEP] 16, Laptop, 2.234, 0.986, -1.862, 0, 270, 0, 39 [SEP] 17, Vase, 1.915, 0.189, -1.721, 0, 270, 0, 34 [SEP] 18, AlarmClock, 2.803, 0.989, -1.862, 0, 270, 0, 39 [SEP] 19, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, -0.776, 0.585, -0.430, 0, 0, 0, 62 [SEP] 22, CD, -0.990, 0.091, -1.121, 0, 0, 0, 25 [SEP] 23, Vase, 3.087, 0.989, -1.774, 0, 270, 0, 39 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0,  [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0,  [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0,  [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0,  [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0,  [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0,  [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0,  [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0,  [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0,  [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0,  [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0,  [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0,  [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0,  [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0,  [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0,  [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0,  [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0,  [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0,  [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0,  [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0,  [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0,  [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0,  [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0,  [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0,  [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0,  [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0,  [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0,  [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0,  [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0,  [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0,  [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0,  [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0,  [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0,  [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0,  [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0,  [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0,  [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0,  [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0,  [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0,  [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0,  [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0,  [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0,  [SEP] 66, NorthWall, , , , , , ,  [SEP] 67, EastWall, , , , , , ,  [SEP] 68, SouthWall, , , , , , ,  [SEP] 69, WestWall, , , , , , ,

Output: STEP 1: Turn around and walk to the laptop on the counter at the foot of the bed. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn around and walk to the left side of the bed. | STEP 4: Place the laptop between the two pillows on the bed. | END


Input: Move two newspapers from the desk to the arm chair seat.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -1.0, 0, 180, 0,  [SEP] 1, Watch, 1.891, 0.870, 0.220, 0, 90, 0, 34 [SEP] 2, Watch, -1.163, 0.552, -0.537, 0, 270, 0, 28 [SEP] 3, Newspaper, 1.807, 0.868, 0.537, 0, 90, 0, 34 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, 1.443, 0.309, -0.588, 0, 90, 0, 36 [SEP] 6, Watch, 1.933, 0.870, 0.114, 0, 90, 0, 34 [SEP] 7, Newspaper, 1.766, 0.869, 0.114, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.712, 0.200, -0.577, 0, 90, 0, 29 [SEP] 10, RemoteControl, -0.453, 0.040, -0.185, 0, 270, 0, 24 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.260, 0.562, -0.537, 0, 270, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583,  [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0,  [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0,  [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0,  [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0,  [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0,  [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0,  [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0,  [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0,  [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0,  [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0,  [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0,  [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0,  [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0,  [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0,  [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0,  [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0,  [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0,  [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0,  [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0,  [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0,  [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0,  [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0,  [SEP] 37, NorthWall, , , , , , ,  [SEP] 38, EastWall, , , , , , ,  [SEP] 39, SouthWall, , , , , , ,  [SEP] 40, WestWall, , , , , , ,

Output: STEP 1: Turn around and go to the wooden desk in the right corner of the room.  | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left.  | STEP 4: Place the newspaper on the left of the keys on the chair seat.  | STEP 5: Turn left to go back to the desk with the newspaper.  | STEP 6: Pick up the newspaper on the left side of the desk.  | STEP 7: Turn around and go back to the front of the first arm chair on the left. | STEP 8: Place the newspaper on the right of the first newspaper on the chair seat.  | END


Input: Move the plunger from the corner to the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.75, 0, 270, 0,  [SEP] 1, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 31 [SEP] 2, SoapBar, -1.547, 0.994, 3.100, 0, 0, 0, 25 [SEP] 3, Candle, -1.620, 0.067, 3.327, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.262, 0.065, 2.908, 0, 0, 0, 18 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.560, 0.067, 2.341, 0, 0, 0, 20 [SEP] 8, ToiletPaper, -1.441, 0.065, 3.793, 0, 0, 0, 26 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.561, 0.068, 3.894, 0, 0, 0, 26 [SEP] 11, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 18 [SEP] 12, SoapBottle, -1.439, 0.067, 2.391, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.560, 0.064, 2.441, 0, 0, 0, 20 [SEP] 14, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 28 [SEP] 15, Cloth, -1.481, 0.994, 3.873, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Turn left, walk to the toilet | STEP 2: Grab the plunger on the floor | STEP 3: Turn left, walk to the cabinet under the sink | STEP 4: Open the cabinet on the left, put the plunger in, close the cabinet | END


Input: Put a plunger in the cabinet under the sink.  SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.75, 0, 270, 0,  [SEP] 1, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 31 [SEP] 2, SoapBar, -1.547, 0.994, 3.100, 0, 0, 0, 25 [SEP] 3, Candle, -1.620, 0.067, 3.327, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.262, 0.065, 2.908, 0, 0, 0, 18 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.560, 0.067, 2.341, 0, 0, 0, 20 [SEP] 8, ToiletPaper, -1.441, 0.065, 3.793, 0, 0, 0, 26 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.561, 0.068, 3.894, 0, 0, 0, 26 [SEP] 11, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 18 [SEP] 12, SoapBottle, -1.439, 0.067, 2.391, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.560, 0.064, 2.441, 0, 0, 0, 20 [SEP] 14, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 28 [SEP] 15, Cloth, -1.481, 0.994, 3.873, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 40, NorthWall, , , , , , ,  [SEP] 41, EastWall, , , , , , ,  [SEP] 42, SouthWall, , , , , , ,  [SEP] 43, WestWall, , , , , , ,

Output: STEP 1: Move to the toilet. | STEP 2: Pick up the plunger on the floor. | STEP 3: Move to the cabinet under the sink. | STEP 4: Put the plunger in the cabinet under the sink.  | END


Input: To place a remote in a box on the center of the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 3.75, 0, 180, 0,  [SEP] 1, Bowl, -2.631, 0.535, 3.607, 0, 270, 0, 59 [SEP] 2, Newspaper, -2.672, 0.145, 7.225, 0, 90, 0, 53 [SEP] 3, Newspaper, -3.067, 0.878, 7.173, 0, 90, 0, 50 [SEP] 4, Watch, -2.411, 1.280, 7.045, 0, 90, 0, 58 [SEP] 5, Watch, -2.811, 0.533, 4.169, 0, 0, 0, 59 [SEP] 6, CreditCard, -5.972, 0.533, 6.569, 0, 135, 0, 60 [SEP] 7, RemoteControl, -5.442, 0.536, 6.497, 0, 45, 0, 60 [SEP] 8, RemoteControl, -6.139, 1.282, 5.037, 0, 0, 0, 56 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -3.462, 0.147, 7.276, 0, 90, 0, 53 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -2.422, 0.532, 3.607, 0, 270, 0, 59 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0,  [SEP] 16, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 52 [SEP] 17, CreditCard, -2.672, 0.879, 7.208, 0, 90, 0, 51 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -5.885, 0.453, 3.954, 0, 0, 0, 49 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.631, 0.535, 4.335, 0, 270, 0, 59 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -6.139, 1.282, 4.349, 0, 0, 0, 56 [SEP] 26, Watch, -0.326, 0.793, 2.154, 0, 0, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -6.053, 0.148, 4.942, 0, 90, 0, 49 [SEP] 29, Statue, -3.557, 1.289, 7.235, 0, 90, 0, 58 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0,  [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0,  [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0,  [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0,  [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0,  [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0,  [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0,  [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0,  [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0,  [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0,  [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0,  [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0,  [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0,  [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0,  [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0,  [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0,  [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0,  [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0,  [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0,  [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0,  [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0,  [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0,  [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0,  [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0,  [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0,  [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0,  [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0,  [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0,  [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0,  [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0,  [SEP] 61, NorthWall, , , , , , ,  [SEP] 62, SouthWall, , , , , , ,  [SEP] 63, SouthWall, , , , , , ,

Output: STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch. | STEP 4: Place the empty box on the middle of the couch. | STEP 5: Turn around and walk around the table to face the shelves on the wall. | STEP 6: Pick up the remote on the top of the shelves. | STEP 7: Turn around and walk across the room to face the empty box on the couch. | STEP 8: Place the remote in the empty box on the couch. | END


Input: Move two paper rolls to a cabinet. 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, 2.5, 0, 270, 0,  [SEP] 1, TissueBox, -1.319, 0.068, 3.327, 0, 0, 0, 28 [SEP] 2, Cloth, -1.500, 0.067, 2.341, 0, 0, 0, 24 [SEP] 3, Cloth, -1.382, 0.068, 2.807, 0, 0, 0, 22 [SEP] 4, Candle, -1.441, 0.068, 3.592, 0, 0, 0, 30 [SEP] 5, Candle, 0.284, 0.893, 1.566, 0, 0, 0, 35 [SEP] 6, SprayBottle, -1.481, 0.995, 3.842, 0, 0, 0, 29 [SEP] 7, SprayBottle, -1.441, 0.069, 3.642, 0, 0, 0, 30 [SEP] 8, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, 0.329, 0.893, 1.881, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -1.284, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.613, 0.994, 3.842, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.350, 0.994, 3.873, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.416, 0.993, 3.100, 0, 0, 0, 29 [SEP] 17, ToiletPaper, 0.258, 0.043, 3.838, 0, 0, 0, 32 [SEP] 18, SprayBottle, 0.329, 0.894, 1.618, 0, 90, 0, 35 [SEP] 19, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 28 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0,  [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0,  [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0,  [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0,  [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0,  [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0,  [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0,  [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0,  [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0,  [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0,  [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0,  [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0,  [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0,  [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0,  [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0,  [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0,  [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0,  [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0,  [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0,  [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0,  [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0,  [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0,  [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0,  [SEP] 44, NorthWall, , , , , , ,  [SEP] 45, EastWall, , , , , , ,  [SEP] 46, SouthWall, , , , , , ,  [SEP] 47, WestWall, , , , , , ,

Output: STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right. | STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door. | STEP 5: Look up to the counter with the sinks. | STEP 6: Pick up the paper roll on the counter in between the two sink.s | STEP 7: Hold the paper roll and take a step to the left. | STEP 8: Open the bottom left cabinet and place the roll inside. Shut the door. | END


Input: Place two potatoes in the microwave to cook. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, -0.75, 0, 0, 0,  [SEP] 1, Potato, -0.260, 1.100, -1.397, 0, 0, 0, 40 [SEP] 2, DishSponge, 1.701, 1.042, 0.738, 0, 0, 0, 42 [SEP] 3, Kettle, 1.112, 1.566, -1.764, 0, 0, 0, 44 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 43 [SEP] 5, Spoon, 1.015, 1.044, 0.632, 0, 90, 0, 42 [SEP] 6, Spatula, 1.701, 1.058, 0.630, 0, 0, 0, 42 [SEP] 7, Spatula, -0.346, 1.061, -1.289, 0, 0, 0, 40 [SEP] 8, Egg, 1.347, 1.097, 0.589, 0, 0, 0, 42 [SEP] 9, Cup, -1.416, 2.028, -1.482, 0, 0, 0, 47 [SEP] 10, Cup, 0.936, 1.053, 0.281, 0, 90, 0, 38 [SEP] 11, SaltShaker, 0.960, 1.560, -1.463, 0, 0, 0, 44 [SEP] 12, SaltShaker, -0.517, 1.041, -1.289, 0, 0, 0, 40 [SEP] 13, Mug, 1.589, 1.014, -1.630, 0, 90, 0, 46 [SEP] 14, SoapBottle, 1.523, 1.044, 0.307, 0, 0, 0, 42 [SEP] 15, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 40 [SEP] 16, Potato, 1.241, 0.953, 0.231, 0, 90, 0, 37 [SEP] 17, Fork, 0.516, 1.043, 0.632, 0, 90, 0, 42 [SEP] 18, Kettle, -1.029, 2.029, -1.337, 0, 0, 0, 47 [SEP] 19, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 40 [SEP] 20, Tomato, 1.347, 1.094, 0.763, 0, 0, 0, 42 [SEP] 21, SaltShaker, 0.065, 1.038, 0.522, 0, 0, 0, 42 [SEP] 22, Egg, -1.090, 0.762, 2.331, 0, 90, 0, 55 [SEP] 23, Cup, -1.303, 1.489, 1.796, 0, 90, 0, 55 [SEP] 24, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 40 [SEP] 25, Knife, 0.160, 1.069, 0.091, 0, 0, 0, 42 [SEP] 26, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 55 [SEP] 27, ButterKnife, 0.351, 1.043, 0.738, 0, 0, 0, 42 [SEP] 28, PepperShaker, 0.740, 1.041, -1.612, 0, 0, 0, 40 [SEP] 29, DishSponge, 1.820, 1.019, -1.411, 0, 0, 0, 46 [SEP] 30, Plate, 1.512, 1.032, -1.337, 0, 0, 0, 46 [SEP] 31, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 42 [SEP] 32, Spoon, 0.823, 1.048, -1.181, 0, 0, 0, 40 [SEP] 33, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 41 [SEP] 34, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 58 [SEP] 35, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 55 [SEP] 36, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0,  [SEP] 37, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0,  [SEP] 38, Sink, 0.928, 0.941, 0.324, 0, 90, 0,  [SEP] 39, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0,  [SEP] 40, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0,  [SEP] 41, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0,  [SEP] 42, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0,  [SEP] 43, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0,  [SEP] 44, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0,  [SEP] 45, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0,  [SEP] 46, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0,  [SEP] 47, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0,  [SEP] 48, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0,  [SEP] 49, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0,  [SEP] 50, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0,  [SEP] 51, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0,  [SEP] 52, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0,  [SEP] 53, Toaster, -0.550, 1.035, -1.776, 0, 0, 0,  [SEP] 54, Microwave, -1.189, 1.624, -1.284, 0, 0, 0,  [SEP] 55, Fridge, -1.286, 0.020, 1.832, 0, 90, 0,  [SEP] 56, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0,  [SEP] 57, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0,  [SEP] 58, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0,  [SEP] 59, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0,  [SEP] 60, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0,  [SEP] 61, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0,  [SEP] 62, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0,  [SEP] 63, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0,  [SEP] 64, Faucet, 1.277, 1.265, 0.384, 0, 90, 0,  [SEP] 65, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0,  [SEP] 66, Chair, 1.008, 0.031, 1.034, 0, 180, 0,  [SEP] 67, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0,  [SEP] 68, NorthWall, , , , , , ,  [SEP] 69, EastWall, , , , , , ,  [SEP] 70, SouthWall, , , , , , ,  [SEP] 71, WestWall, , , , , , ,

Output: STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Place the potato in the microwave. | STEP 5: Turn around and walk to the sink. | STEP 6: Pick up the potato in the sink. | STEP 7: Turn around and walk back to the microwave. | STEP 8: Place the second potato in the microwave. | END