Task: To heat a potato slice and place it on the end of the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.914          2.25           0              90             0
   1  DishSponge      -1.655         0.891          0.564          0              90             0              75
   2  Kettle          -3.176         0.916          3.336          0              0              0              39
   3  Spatula         -3.368         0.930          2.844          0              0              0              39
   4  Spoon           -3.214         0.746          1.510          0              90             0              40
   5  Fork            -1.391         0.892          0.152          0              90             0              75
   6  Pot             -3.143         0.966          1.971          0              0              0              59
   7  Cup             -1.259         0.891          0.255          0              90             0              75
   8  Cup             -3.442         1.458          1.454          0              0              0              57
   9  Knife           -1.259         0.915          0.461          0              180            0              75
  10  Tomato          -1.793         0.858          3.662          0              0              0              69
  11  Tomato          -1.224         0.155          3.820          0              270            0              71
  12  SaltShaker      -3.442         1.455          1.152          0              0              0              57
  13  Bread           -1.504         0.996          4.146          0              0              0              39
  14  Mug             -3.081         0.910          1.524          0              0              0              48
  15  Mug             -1.985         0.784          3.7            0              90             0              69
  16  Egg             -1.666         0.824          3.811          0              0              0              69
  17  Knife           -1.391         0.915          0.358          0              90             0              75
  18  Fork            -1.127         0.892          0.049          0              90             0              75
  19  Bread           -1.391         0.972          -0.053         0              90             0              75
  20  Potato          -3.272         0.948          1.189          0              0              0              48
  21  Plate           -3.559         0.919          1.273          0              0              0              48
  22  Pot             -3.424         0.966          2.374          0              0              0              45
  23  Kettle          -3.145         0.069          2.920          0              270            0              52
  24  WineBottle      -3.368         0.916          1.273          0              0              0              48
  25  Bowl            -1.127         0.890          0.564          0              90             0              75
  26  Tomato          -0.556         0.791          3.869          0              180            0              65
  27  Cup             -3.559         0.915          1.607          0              0              0              48
  28  Spatula         -1.127         0.906          0.255          0              180            0              75
  29  SoapBottle      -3.368         0.915          1.607          0              0              0              48
  30  Lettuce         -2.302         1.001          3.783          0              0              0              39
  31  Pan             -3.176         0.915          3.827          0              0              0              39
  32  Apple           -0.323         1.333          4.027          0              180            0              65
  33  SaltShaker      -0.994         0.893          -0.053         0              90             0              75
  34  PepperShaker    -0.994         0.887          0.049          0              90             0              75
  35  ButterKnife     -3.272         0.915          1.440          0              0              0              48
  36  DishSponge      -2.359         0.080          3.586          0              0              0              50
  37  Spoon           -1.523         0.892          0.461          0              90             0              75
  38  Mug             -1.127         0.886          0.358          0              90             0              75
  39  CounterTop      -3.381         0.950          3.335          0              0              0
  40  Drawer          -3.121         0.775          1.357          0              0              0
  41  Drawer          -3.121         0.777          2.916          0              0              0
  42  StoveBurner     -3.148         0.958          2.374          0              0              0
  43  Sink            -1.797         0.917          3.660          0              0              0
  44  Cabinet         -1.421         0.388          3.459          0              0              0
  45  StoveBurner     -3.424         0.958          2.374          0              0              0
  46  Cabinet         -3.365         1.931          2.676          0              0              0
  47  StoveBurner     -3.424         0.958          1.971          0              0              0
  48  CounterTop      -3.381         0.951          1.356          0              0              0
  49  Drawer          -3.121         0.781          3.295          0              0              0
  50  Cabinet         -2.205         0.388          3.459          0              0              0
  51  Cabinet         -2.963         0.388          3.459          0              0              0
  52  Cabinet         -2.992         0.388          2.683          0              0              0
  53  Cabinet         -3.352         2.205          1.715          0              0              0
  54  Cabinet         -3.352         2.205          2.653          0              0              0
  55  Cabinet         -2.189         0.388          3.466          0              0              0
  56  Cabinet         -3.365         1.931          3.963          0              0              0
  57  Cabinet         -3.365         1.931          1.056          0              0              0
  58  Cabinet         -2.992         0.388          1.037          0              0              0
  59  StoveBurner     -3.143         0.958          1.971          0              0              0
  60  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  61  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  62  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  64  Toaster         -2.654         0.902          4.064          0              180            0
  65  Fridge          -0.439         0.014          3.996          0              0              0
  66  LightSwitch     0.25           1.383          2.085          0              270            0
  67  Window          -1.430         1.338          -0.347         90             0              0
  68  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  69  SinkBasin       -1.802         0.778          3.700          0              0              0
  70  Microwave       -3.484         1.430          2.182          0              90             0
  71  GarbageCan      -1.184         -0.020         3.794          0              270            0
  72  Blinds          -1.404         2.092          -0.296         0              0              0
  73  Stool           -1.373         0.014          1.048          1.214          20.754         0
  74  Faucet          -1.788         0.903          3.931          270            90             0
  75  DiningTable     -1.399         0.010          0.238          0              0              0
  76  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right and walk across the room and turn right to face the end of the table. | STEP 2: Pick up the knife on the table. | STEP 3: Walk to the right of the table across the room to face the counter. | STEP 4: Cut the potato on the counter into slices. | STEP 5: Step to the right and look up to face the microwave. | STEP 6: Place the knife in the microwave and shut it. | STEP 7: Step to the left to face the potato on the counter. | STEP 8: Pick up a slice of potato on the counter. | STEP 9: Step the right and look up to face the microwave. | STEP 10: Heat the slice of potato in the microwave and then remove it. | STEP 11: Turn around and cross the room, then turn right and cross the room and face the end of the table on the right. | STEP 12: Place the potato slice on the end of the table. | END