Task: To heat a potato slice and place it in the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.914          2.75           0              0              0
   1  DishSponge      -3.654         0.915          1.524          0              0              0              56
   2  DishSponge      -3.471         1.454          3.805          0              0              0              64
   3  Fork            -1.391         0.892          0.461          0              180            0              83
   4  Pot             -3.143         0.966          1.971          0              0              0              67
   5  Egg             -0.556         1.309          3.991          0              180            0              73
   6  Egg             -0.673         0.758          3.790          0              180            0              73
   7  Cup             -3.559         0.915          1.189          0              0              0              56
   8  Cup             -0.323         1.273          4.062          0              180            0              73
   9  Plate           -3.272         0.919          1.273          0              0              0              56
  10  Knife           -1.711         0.939          3.490          0              0              0              47
  11  Knife           -1.655         0.915          0.152          0              90             0              83
  12  Tomato          -0.790         1.610          4.136          0              180            0              73
  13  Tomato          -1.666         0.858          3.662          0              0              0              77
  14  SoapBottle      -2.302         0.915          3.890          0              0              0              47
  15  Bowl            -1.787         0.890          0.358          0              90             0              83
  16  Bowl            -3.654         0.914          1.357          0              0              0              56
  17  SaltShaker      -0.994         0.887          0.152          0              90             0              83
  18  PepperShaker    -3.081         0.912          1.106          0              0              0              56
  19  Lettuce         -0.994         0.977          0.358          0              90             0              83
  20  Bread           -0.556         1.067          3.863          0              180            0              73
  21  Bread           -0.790         1.067          4.114          0              180            0              73
  22  Apple           -1.259         0.951          -0.053         0              90             0              83
  23  Apple           -3.505         1.606          2.120          0              90             0              78
  24  Egg             -1.256         0.122          3.724          0              270            0              79
  25  Knife           -1.391         0.915          0.049          0              180            0              83
  26  Fork            -1.523         0.892          0.461          0              90             0              83
  27  Bread           -0.323         1.067          3.988          0              180            0              73
  28  Potato          -3.559         0.948          1.607          0              0              0              56
  29  Plate           -3.006         0.904          3.677          0              0              0              47
  30  Pot             -3.424         0.966          2.374          0              0              0              53
  31  Kettle          -3.145         0.069          2.920          0              270            0              60
  32  WineBottle      -1.391         0.892          0.564          0              90             0              83
  33  Bowl            -0.439         0.721          3.843          0              180            0              73
  34  Tomato          -1.127         0.960          -0.053         0              90             0              83
  35  Cup             -1.707         0.080          3.586          0              0              0              52
  36  Spatula         -0.994         0.906          0.152          0              90             0              83
  37  SoapBottle      -1.161         0.086          3.820          0              270            0              79
  38  Lettuce         -1.259         0.977          0.152          0              90             0              83
  39  Pan             -2.614         0.902          3.620          0              0              0              47
  40  Apple           -1.921         0.849          3.774          0              0              0              77
  41  SaltShaker      -1.127         0.887          0.461          0              90             0              83
  42  PepperShaker    -3.081         0.912          1.189          0              0              0              56
  43  ButterKnife     -1.259         0.891          0.358          0              90             0              83
  44  DishSponge      -3.459         1.994          2.479          0              0              0              62
  45  Spoon           -1.729         0.790          3.737          0              0              0              77
  46  Mug             -3.424         0.945          3.275          0              90             0              47
  47  CounterTop      -3.381         0.950          3.335          0              0              0
  48  Drawer          -3.121         0.775          1.357          0              0              0
  49  Drawer          -3.121         0.777          2.916          0              0              0
  50  StoveBurner     -3.148         0.958          2.374          0              0              0
  51  Sink            -1.797         0.917          3.660          0              0              0
  52  Cabinet         -1.421         0.388          3.459          0              0              0
  53  StoveBurner     -3.424         0.958          2.374          0              0              0
  54  Cabinet         -3.365         1.931          2.676          0              0              0
  55  StoveBurner     -3.424         0.958          1.971          0              0              0
  56  CounterTop      -3.381         0.951          1.356          0              0              0
  57  Drawer          -3.121         0.781          3.295          0              0              0
  58  Cabinet         -2.205         0.388          3.459          0              0              0
  59  Cabinet         -2.963         0.388          3.459          0              0              0
  60  Cabinet         -2.992         0.388          2.683          0              0              0
  61  Cabinet         -3.352         2.205          1.715          0              0              0
  62  Cabinet         -3.352         2.205          2.653          0              0              0
  63  Cabinet         -2.189         0.388          3.466          0              0              0
  64  Cabinet         -3.365         1.931          3.963          0              0              0
  65  Cabinet         -3.365         1.931          1.056          0              0              0
  66  Cabinet         -2.992         0.388          1.037          0              0              0
  67  StoveBurner     -3.143         0.958          1.971          0              0              0
  68  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  69  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  72  Toaster         -2.654         0.902          4.064          0              180            0
  73  Fridge          -0.439         0.014          3.996          0              0              0
  74  LightSwitch     0.25           1.383          2.085          0              270            0
  75  Window          -1.430         1.338          -0.347         90             0              0
  76  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  77  SinkBasin       -1.802         0.778          3.700          0              0              0
  78  Microwave       -3.484         1.430          2.182          0              90             0
  79  GarbageCan      -1.184         -0.020         3.794          0              270            0
  80  Blinds          -1.404         2.092          -0.296         0              0              0
  81  Stool           -1.373         0.014          1.048          1.214          20.754         0
  82  Faucet          -1.788         0.903          3.931          270            90             0
  83  DiningTable     -1.399         0.010          0.238          0              0              0
  84  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Take a step to the right to face the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn around and walk to the right to face the potato on the counter. | STEP 4: Cut the potato on the counter into slices. | STEP 5: Step to the right and face the counter by the coffee maker. | STEP 6: Place the knife on the counter. | 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 to the right and look up to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn around and walk to the left to face the trash can. | STEP 12: Place the potato slice in the trash can. | END