Task: To hear 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           0.901          4.5            0              90             0
   1  Potato          -2.377         0.926          2.573          0              0              0              75
   2  DishSponge      -2.686         0.900          2.441          0              0              0              75
   3  DishSponge      -0.314         0.900          2.731          0              0              0              77
   4  Spatula         -2.628         0.950          3.488          0              90             0              61
   5  Spoon           -0.218         0.663          0.300          0              0              0              43
   6  Spoon           -0.400         0.901          2.932          0              0              0              77
   7  Fork            -2.706         0.936          3.209          0              0              0              61
   8  Fork            -1.904         0.928          0.518          0              0              0              54
   9  Egg             -1.007         0.829          0.281          0              0              0              72
  10  Cup             -2.878         0.298          4.427          0              90             0              71
  11  Cup             -0.191         1.023          0.171          0              0              0              73
  12  Plate           -0.572         0.904          2.329          0              0              0              77
  13  Plate           -2.892         0.904          2.441          0              0              0              75
  14  SoapBottle      -2.686         0.900          2.177          0              0              0              75
  15  SoapBottle      -0.314         0.900          2.329          0              0              0              77
  16  Tomato          -2.805         1.250          4.278          0              90             0              71
  17  Tomato          -2.437         0.992          0.433          0              0              0              54
  18  Bowl            -0.194         1.770          0.251          0              0              0              53
  19  PepperShaker    -0.486         0.896          3.133          0              0              0              77
  20  Lettuce         -2.864         1.015          3.302          0              90             0              61
  21  Lettuce         -0.486         0.980          2.731          0              180            0              77
  22  Egg             -2.816         0.087          0.369          0              26.101         0              78
  23  Plate           -0.314         0.904          2.530          0              0              0              77
  24  Fork            -2.943         0.936          3.209          0              0              0              61
  25  Bread           -2.864         0.940          1.983          0              0              0              75
  26  Apple           -2.888         0.688          4.204          0              90             0              71
  27  Lettuce         -2.480         0.980          2.309          0              0              0              75
  28  Spatula         -1.266         0.810          0.226          0              90             0              72
  29  Knife           -0.143         0.926          2.731          0              90             0              77
  30  Potato          -1.007         0.822          0.447          0              0              0              72
  31  Tomato          -0.657         0.964          3.334          0              0              0              77
  32  Cup             -2.628         0.935          3.209          0              0              0              61
  33  SaltShaker      -1.986         0.658          0.245          0              0              0              57
  34  PepperShaker    -1.219         0.924          0.650          0              0              0              54
  35  ButterKnife     -2.480         0.900          2.573          0              0              0              75
  36  SoapBottle      -1.770         0.927          0.518          0              0              0              54
  37  Pan             -0.535         0.928          4.274          0              0              0              58
  38  DishSponge      -0.314         0.900          3.334          0              0              0              77
  39  Pot             -2.476         0.889          2.050          0              0              0              75
  40  Spoon           -2.269         0.663          0.355          0              0              0              62
  41  Mug             -2.778         1.001          3.714          0              90             0              74
  42  Bowl            -2.831         0.295          4.575          0              90             0              71
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn right, walk forward and turn right to face the white table. | STEP 2: Pick up the knife on the white table. | STEP 3: Cut the potato on the table into slices. | STEP 4: Place the knife on the white table. | STEP 5: Pick up a slice of potato on the table. | STEP 6: Turn left and walk across the room to face the microwave. | STEP 7: Heat the potato slice in the microwave and then remove it. | STEP 8: Turn right and walk across the room, then turn left to face the trash can. | STEP 9: Place the potato slice in the trash can. | END