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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          1.0            0              0              0
   1  Pan             1.328          0.957          -1.688         0              180            0              62
   2  Vase            -0.833         1.655          -1.750         0              0              0              71
   3  Potato          -2.434         0.915          3.207          0              135            0              61
   4  Potato          -0.377         0.425          1.996          0              180            0              84
   5  DishSponge      0.014          0.930          -1.718         0              270            0              56
   6  WineBottle      3.743          0.881          1.861          0              270            0              80
   7  Spatula         -2.081         0.733          -1.579         0              90             0              78
   8  Fork            -2.353         0.879          3.632          0              225            0              61
   9  Spoon           0.482          0.719          -1.376         0              270            0              76
  10  Spoon           0.014          0.929          -1.501         0              270            0              56
  11  Egg             0.307          0.828          2.137          0              180            0              84
  12  Egg             -0.149         0.828          2.137          0              180            0              84
  13  Cup             0.234          0.927          -1.573         0              270            0              56
  14  Cup             -2.300         0.873          2.863          0              135            0              61
  15  Plate           -2.152         0.878          3.296          0              270            0              61
  16  Knife           -2.659         0.896          2.999          0              0              0              61
  17  Knife           -2.584         0.900          2.715          0              0              0              61
  18  SoapBottle      -3.122         0.875          2.968          0              225            0              61
  19  SoapBottle      -0.844         0.193          2.174          0              0              0              89
  20  SaltShaker      1.651          0.906          -1.437         0              0              0              79
  21  PepperShaker    3.743          0.877          1.554          0              270            0              80
  22  PepperShaker    0.755          0.908          -1.369         0              0              0              59
  23  Bread           -2.510         0.961          3.390          0              0              0              61
  24  Bread           -1.738         0.995          0.363          0              0              0              59
  25  Apple           0.079          1.627          2.040          0              180            0              84
  26  Apple           0.079          1.199          2.167          0              180            0              84
  27  Book            -1.738         0.908          -0.614         0              0              0              59
  28  Fork            -2.659         0.875          3.390          0              90             0              61
  29  Tomato          0.307          1.619          1.981          0              180            0              84
  30  Egg             -0.149         1.169          2.206          0              180            0              84
  31  Kettle          -1.961         0.913          -1.265         0              0              0              59
  32  Vase            3.741          0.554          1.553          0              270            0              82
  33  Cup             -0.377         0.801          2.194          0              180            0              84
  34  WineBottle      -2.793         0.875          3.565          0              135            0              61
  35  Plate           -0.149         0.393          2.025          0              180            0              84
  36  Spatula         -2.262         0.893          3.140          0              225            0              61
  37  Potato          0.234          0.967          -1.718         0              270            0              56
  38  Pot             0.974          0.957          -1.419         0              180            0              77
  39  Knife           -2.996         0.900          3.221          0              0              0              61
  40  SaltShaker      3.689          0.877          1.759          0              270            0              80
  41  PepperShaker    1.631          1.651          -1.785         0              0              0              69
  42  Lettuce         -0.149         1.637          2.100          0              180            0              84
  43  ButterKnife     0.234          0.928          -1.501         0              270            0              56
  44  Bread           0.571          0.995          -1.369         0              0              0              59
  45  Vase            -0.237         0.122          -1.373         0              0              0              68
  46  DishSponge      -2.996         0.878          3.444          0              270            0              61
  47  Apple           -2.472         0.933          2.930          0              135            0              61
  48  Pan             1.328          0.957          -1.420         0              180            0              63
  49  Spoon           1.703          0.720          -1.377         0              270            0              75
  50  SoapBottle      -0.871         0.193          2.058          0              90             0              89
  51  Mug             -0.404         0.692          -1.678         0              180            0              88
  52  Statue          3.676          0.168          1.410          0              334.521        0              82
  53  Statue          -0.833         0.910          -1.471         0              0              0              59
  54  Bowl            -1.944         1.655          -1.710         0              0              0              55
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn left and walk across the room and then turn right to face the kitchen table. | STEP 2: Pick up the knife in the middle of the kitchen table. | STEP 3: Step to the right to face the potato on the kitchen table. | STEP 4: Cut the potato on the kitchen table into slices. | STEP 5: Turn around and walk across the room to the left to face the microwave above the stove. | STEP 6: Place the knife in the microwave and shut the door. | STEP 7: Turn around and walk across the room to the left to face the kitchen table. | STEP 8: Pick up a slice of potato on the kitchen table. | STEP 9: Turn around and walk across the room to the left to face the microwave above the stove. | STEP 10: Heat the potato slice in the microwave and then remove it. | STEP 11: Turn around and walk across the room to the left to face the kitchen table. | STEP 12: Place the heated potato slice on the back of the kitchen table. | END